小型共轴双翼直升机的控制方法研究+MATLAB程序
毕业论文关键词：小型共轴双翼直升机；飞行控制器；卡尔曼滤波；积分分离PID控制；MATLAB仿真
The control method of small coaxial helicopter
Abstract: The topic for the research of small coaxial helicopter wings, the flight control method using the existing platform.
First of all, the overall analysis of the existing structure and the control of small coaxial unmanned helicopter platform wings. Secondly, the stress analysis of the three kinds of helicopter is carried out, and the nonlinear model of the helicopter is established.. According to the relationship between the helicopter frame and the reference system, a coordinate transformation matrix is established.. Again, according to the mathematical model of the helicopter flight controller design, the classic PID control as the control algorithm, taking into account the integral for the adverse effects of misoperation and aircraft during takeoff and landing. The control algorithm is improved for integral separation PID algorithm. Subsequently, the digital filter algorithm is added to the influence of Gauss noise on the feedback data of the gyroscope.. The reliable and effective Calman filtering algorithm is selected, and the validity of the flight controller and digital filter is verified by MATALB. The simulation results show that the results are good.. At last, the experiment of the aircraft is carried out, and the results of the oscilloscope detect the PWM control signal. The experiment results show that the communication and the motor control program are normal.
Keywords: small and the two wings coaxial helicopter; flight control; Kalman filter; integral separation PID control; MATLAB simulation
目录
小型共轴双翼直升机的控制方法研究 1
摘要. 1
第一章 绪论 4
1.1课题研究的背景和意义 5
1.2 国内外研究现状 6
1.3本文主要研究内容 7
第二章 小型无人共轴双翼直升机系统平台构成 7
2.1 小型无人共轴双翼直升机平台 8
2.1.1整体结构 8
2.1.2控制结构 8
2.2平台硬件系统构成 9
2.2.1 遥控器端 9
2.2.2 机载端 10
2.2.3通信端 11
2.3软件开发环境 13
第三章 共轴双翼直升机数学模型 14
3.1 引言 14
3.2 建立坐标变换矩阵 14
3.3建立数学模型 16
3.3.1垂向飞行动力学建模 16
3.3.2水平行进飞行动力学建模 17
3.3.3航向转动响应建模 17
第四章 飞行控制器设计 19