Design And Flight Control Of A Swashplateless Micro Unmanned Helicopter

With the rapid development of microprocessor technology,sensor technology and autonomous control approach,the micro aerial vehicle(MAV)has become a hotspot in recent years.The Micro Unmanned Helicopter(MUH)has high maneuverability,hovering flight,strong concealment and easy to carry and other unique advantages,which has an important practical value in the single combat reconnaissance.Compared to conventional MUH,the new micro unmanned helicopters without swashplate are easier to handle and more portable in weight for they do not have complex swashplate mechanisms.In this paper,we study the swashplateless MUH,and designed a full system of the swashplateless MUH.Based on its nonlinear modeling,the attitude stabilization controller is designed and the relevant experiment is carried out.The main work and contribution of this paper are carried out as follows:(1)Design of the swashplateless MUH systemAccording to the basic process of micro-aircraft design,following the specific principle from part to the whole,drawing on the design scheme of mature commercial unmanned helicopter,design the system of Micro Unmanned Helicopter without swashplate and build a lightweight,low-power test platform.In addition,for the lack of integrated flight control,it has been optimized rationally,the independent attitude reference module for attitude measurement is designed,and the stability and reliability of the system are verified by flight test.(2)Non-linear modeling of Swashplateless MUHA nonlinear dynamic model of Micro Unmanned Helicopter without swashplate which is a special multi-body dynamic system is established by means of analytical mechanics.In addition,through the measurement and experimental means,the relevant parameters of the design of the MUH without swashplate are obtained,which lays the foundation for the numerical simulation.(3)Attitude stabilization control and experiments on the Swashplateless MUHBased on the simplified kinetic model,the typical PID controller is designed for the attitude control of the MUH without swashplate.On this basis,the numerical simulation model is built by MATLAB/SIMULINK and the simulation analysis is carried out.In addition,based on the experimental platform and the Pixfalcon flight controller hardware,the algorithm is implemented.Finally,the feasibility and effectiveness of the designed attitude control algorithm are verified by stabilize test and hover test.