The Design And Implementation Of The Experimental Platform For The Real-time Control System Of A Small Unmanned Helicopter

Nowadays,small unmanned helicopter has become a research hotspot.The design of the experimental platform of the control system also facilitates the research of the small-scale unmanned helicopters.This topic is designed for the control system experimental platform.The content is divided into three parts: real-time simulation hardware platform construction,PC software design and attitude control algorithm.When building a small-scale unmanned helicopter simulation hardware platform,this project selects the AD7011-EVA with real-time and rich peripheral interface as the core,and it is equipped with Integrated IMU's onboard task management module,wireless communication module and execution servo.In the design of control algorithm,in order to meet the design requirements of controlling the attitude of small-scale unmanned helicopters,the mathematical modeling of small-scale unmanned helicopters was first carried out,then the design of small-scale unmanned helicopter attitude controller was divided into inner and outer rings,and a kind of design was designed.The attitude control algorithm of the new sliding mode is firstly simulated by MATLAB,which shows that the control algorithm can control the attitude of the helicopter well and meet the requirements,which lays a foundation for the latter semi-physical simulation.In the aspect of control platform software design,this topic is based on the hardware platform,and the previously established attitude control model is slightly modified.The software design of the host side and the target machine is carried out by using the Model Definition software and Virtual Console software matched with AD7011-EVA..The semi-physical simulation is carried out on the built hardware platform.The traditional PID control method and the semi-physical simulation results of the new sliding mode control method are compared and analyzed,and the effectiveness of thenew sliding mode control algorithm and experimental platform is further verified.Experiments show that the design scheme of this paper can be used to control the attitude of small unmanned helicopters,which has certain practical uses,and provides reference and help for the later research on small unmanned helicopter control system.