The Design Of Flight Control System Of Gas Helicopter Based On The CCPM Mode

CCPM mode is a widely used structure mode in modern and contemporary model helicopter and the helicopter flight control platform designed according to this type of helicopter has high portability and versatility. Combined with actual engineering project,mainly from the point of view of engineering application,this paper makes the small oil-drive helicopter of CCPM mode as the flight test platform,puts forward a design scheme of feasible helicopter flight control system with low cost and does development on the basis of summarizing the design of domestic and foreign excellent flight control systems.According to the characteristics of oil-drive helicopter of CCPM mode,an overall design scheme is proposed. The scheme mainly designs airborne flight control system with STM32F103 series as the main control chip. In the aspect of hardware,this paper explains GPS positioning receiving module pressure altitude sensor module,digital compass module,six axis attitude sensor module,extensional SD memory card and other knowledge. In the aspect of software,this paper concretely analyses necessary work needed in building the operating environment of flight control system,including capturing multi-channel PWM signal and outputting multi-channel controllable PWM signal,about which,detailed annotations are made.then,the control law of roll,pitch and yaw channel is designed with classical PID control method. At last,PID parameters are adjusted in the flight link through experiment.At the end,the paper gives concluded experience,verified and designed PID control law and corresponding PID parameters gotten from the process of experiment and posture information debugging is done based on Ground Station of ANO_TC.