Research On Small Scale Unmanned Helicopter Flight Control System And Its Test Bed

The flight ability of unmanned helicopter make it have an irreplaceable position in allfields. Such as VTOL and hovering at fixed point. Small scale unmanned helicopter has itsspecial characters, for example high speed of main rotor, most of them have bell stabilizerbar, worse stabilize, better agility and so on. It is close to our life and more researchinstitutes chose it as research object, because of its feature of smaller, cheaper etc.There are three steps in the small scale unmanned helicopter auto flight control designsystem. They are simulation, half-simulation and fly test. This paper involved two ahead. Asample small scale unmanned helicopter is chosen as research object in simulation process.The Simulink model of the small scale unmanned helicopter is built by combiningmechanization and identification. The unmanned helicopter flight control system is takeninto three parts according to the feather of them, they are fast mode controller, middle modecontroller and slow mode controller. Sliding mode controller is used in fast mode andmiddle mode control system and MTC is adopted in slow mode control system. Simulationshows that this hybrid control system designed in this paper perform better than PID controlsystem. The paper also design a small scale unmanned helicopter test bed which is used insemi-physical simulation process. They contain attitude simulation, ground effectsimulation and crosswind simulation equipment. This test bed use new method to achievethe real flight of unmanned helicopter and get real-time data of working helicopter byconnecting test bed and upper monitor.At last, a series of experiments are designed to testify that the designed control systemis workable in theory and well in performance. In the matter of test bed, this paper havecompleted design, selection and budget. These work provide references and assists for theresearch of small scale unmanned helicopter in the future.