Design And Simulation Of PID Embedded Controller Of Three DOF Helicopter

The helicopter, which has many advantages that other aircraft is difficult orimpossible to achieve, has been widely used. Because of the vertical take-off andlanding, helicopter can not have a large area of the main airport for tourism, firerescue, and first aid at sea, smuggling narcotics, fire protection, commercialtransportation, medical assistance, communication and insecticide spraying pesticidesto eradicate pests, exploration of resources and so on.Three DOF helicopter systems is a typical high order multi input-multi outputsystem. The system has strong coupling and nonlinear, it is difficult to accuratelydescribe by the mathematical model. And it belongs to the processing object which isnot easy to control engineering.In order to simulate the the flight state of Row helicopter, meet the actual needsin flight,according to the laboratory equipment, improved the control scheme of threedegree of freedom helicopter platform, use cable rocker and embedded processor(DSP) mode, put forward a new plan.Make design of AD conversion module of therocker given the input analog signal to digital signal, position sensor feedback signaldetection module, PWM output module interface;In the calculation of the output,according to the given and the feedback quantity, used to calculate the incrementalPID control.