Development Of Interference Compensation Control Technology And Experimental Test Platform For Small Unmanned Helicopters

Small unmanned helicopters have received more and more attention from military and civilian use because of their small size,light weight,complete flight function,and relatively low price.Many domestic and foreign scientific researchers have devoted their energy to the research and development of unmanned helicopters.However,the structure of the unmanned helicopter is relatively complicated,which causes its control system to have strong coupling,multi-variable,and nonlinear characteristics,which makes it difficult to design the control method of the unmanned helicopter.And during the flight,it will be disturbed by the external environment.Blindly flying in the field may cause a certain degree of damage to the unmanned helicopter.Therefore,it is very necessary to design appropriate anti-disturbance control technology and flight test platform.Aiming at the above-mentioned problems,this thesis first establishes an appropriate mathematical model of a small unmanned helicopter using the principles of rigid body mechanics and dynamics.Then,based on the principle of disturbance observation,a finite-time convergence disturbance observer that meets the characteristics of the unmanned helicopter is designed.Combined with sliding mode control technology,the control algorithm of attitude control loop of unmanned helicopter is designed.At the same time,this paper uses the simulation tool in MATLAB to simulate and test the designed control algorithm and compare it with the traditional PID control algorithm.After compare,the results show that the disturbance observer designed in this paper can track the changes of external disturbances fast.Compared with the traditional PID control algorithm,the control algorithm adopted in this paper has the advantages of strong anti-disturbance and strong system stability.Finally,this thesis designs and develops the experimental system of a small unmanned helicopter,including the selection of flight control hardware,the design of autonomous flight mode programs,the improvement of ground station functions,and designed a way of communication schemes between ground station and flight control hardware.After developing the experimental test platform,the developed functions are tested and analyzed to prove the completeness of the experimental test platform built in this paper.