Research On Technology For Small Unmanned Helicopter Modeling And Control System Design

In this paper,the modeling and design for autonomous flight controller based on theoretical analysis and numerical simulation are concerned.The main contents of this dissertation can be summarized as follows:Firstly,the paper introduces the structure and operating system of unmanned helicopters,analyzes their aerodynamic characteristics,and the main components of the unmanned helicopter dynamics model is established using mechanism modeling method.Secondly,this paper analyzes the step response of four channels.Then the model is trimmed and linearized to get the state space expression model at the trim point.Movement modes of an unmanned helicopter are analyzed by solving eigenvalues of the state matrix and transfer function expressions.The above provides support for the task of the following controller design.Thirdly,an attitude controller is designed based on the PID control as well as active disturbance rejection control technique.This paper describes the design method of two kinds of controller and program structure in details.To enhance the robustness and the control performance of the system,the tracking differentiator and ESO observation are designed,tracking differentiator is to arrange the transition process of state error signal reasonably,and ESO observation is to eliminate the disturbance of the model.Noise interference is added in the control input,and the results of the attitude response of the two controllers are simulated and analyzed in the MATLAB.Finally,in terms of the structural features of the unmanned helicopter,a flight trajectory controller based on hierarchical inner-outer loop structure is proposed.The outer loop is to track the reference trajectory,while the inner loop is to improve the response speed of the system that designed by ADRC techniques.The vertical position,lateral positon,the height of the automatic transition control law and the three dimensional class of rectangular constituted by six route points are designed and simulated under the wind disturbance.Results of the simulation show that the controller has a good tracking performance.Based on the theoretical research of helicopter dynamic modeling,attitude controller design and trajectory tracking control,this paper will provide theoretical support for the research on the semi physical simulation of flight control system and autonomous control technology of the laboratory.