Control And Simulation Of Small Unmanned Helicopter Based On LPV Model

The small-scale unmanned helicopter(SUH)is widespread concern by many people and has considerable potential in both military and civil areas,duo to its unique flight features of fixed position hovering,vertically take-off and landing,sideward flight,rearward flight,low altitude and small size,high mobility,low noise,strong concealment.It has a great theoretical signification and application value to research on modeling and flight control of unmanned helicopter.However,the system of unmanned helicopter is typical unstable,strong coupling,time-varying,nonlinear and so on,so it has been a challenging task to research on unmanned helicopter.Firstly,this dissertation using a test platform of certain SUH,gives a analysis of the force condition and moment condition to the component parts of the SUH,and gives the mathematical descriptions to them respectively,then completed the nonlinear model of the SUH according to the knowledge of aerodynamics and kinematics.Secondly,to the established of the nonlinear model,if use the nonlinear control directly,the real-time is bad and harmful to the realization of the controller.Then,the Linear Parameter-Varying(LPV)model is established by Jacobian Linearization method based on the nonlinear model.On the basis of model predictive control theory,a controller is designed based on the Quasi-Min-Max predictive control,by solving the Linear Matrix Inequality(LMI)can obtain the optimal solution of the controller,which to control the SUH.Finally,the simulation analysis shows the effectiveness of the control algorithm,and can control the helicopter's attitude well.So the control algorithm meet the system requirements.