Autonomous Flight Control System Design And Implementation For Electric Helicopter

Electric helicopter has the ability of vertical takeoff and landing, hovering and cruising flight, and easy to operate, low cost, so they are widely used in floods and earthquakes emergency situations.In order to design autonomous flight control system for electric helicopter, this paper mainly studied hardware and software design, and the dynamic model and controller design for Electric helicopter were analyzed. The main contents of this article are summarized as follows:The paper firstly introduced the background and significance of the subject. On the basis of understanding domestic and foreign research present situation and development trend, and according to the characteristics of small unmanned helicopter, the overall scheme design of the system was given and flight control hardware system of the total frame was determined. The circuit design of flight control board was introduced. Meanwhile, this thesis introduced the circuit design of UBEC, sensor hardware system, RGB indicator light, OLED_SD module and the layout principle of PCB design.On the basis of introducing the hardware design of flight control system, the design of embedded software system was discussed and the embedded software framework of the system was given. The software design process of the control board was introduced, and the thesis gave the details of the communication, voltage detection and firmware upgrade software. The thesis expounded the software design process of the AHRS, GPS module, module of magnetic compass, RGB and OLED SD module.On the basis of completing software and hardware design, the unmanned helicopter airframe structure dynamic system was analyzed. The dynamics of main rotor and stabilizer bar was discussed. Line movement and posture movement of the small unmanned helicopter was analyzed. Dynamic model of the small unmanned helicopter was analyzed, and system identification was carried out through system identification toolbox in MATLAB. This paper discussed the linear quadratic integral control method to complete the design of the control system.After the design of hardware, software and the controller was completed, the feasibility of the software and hardware of flight control platform was verified by experiments. Then used a small radio helicopter STGLE equipped with the entire control system for outdoor flight experiments. The experiment data were recorded, and the autonomous flight of the unmanned helicopter was completed.