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微型四旋翼直升机是由4个电机作为动力装置,通过调节电机转速来实现飞行的无人机系统.首先,文章在滑流理论的基础上介绍了微型四旋翼直升机飞行原理;其次,提出微型四旋翼直升机的飞行控制系统整体架构;第三,讨论了内环姿态控制规律,并通过simu link对所建立的俯仰通道进行仿真,仿真结果表明,设计的控制规律有良好的实时跟踪控制效果;最后,进行了飞行控制系统的硬件设计,搭建了飞行平台,利用飞行平台进行了室内飞行试验,记录的实验数据进一步验证了该控制器具有良好的实时控制性能.
Micro four-rotor helicopters are four unmanned aerial vehicles (UAVs) with four motors as the power unit, which can realize the flight by adjusting the motor speed.Firstly, the paper introduces the principle of micro four-rotor helicopters on the basis of the slipstream theory. Secondly, Rotorcraft helicopter flight control system overall structure; Third, the inner loop attitude control law is discussed and the established pitch channel is simulated by simu link. The simulation results show that the design control law has a good real-time tracking control effect; finally , Carried out the hardware design of the flight control system, set up the flight platform, carried out the indoor flight test using the flight platform, and the experimental data recorded further verified that the controller has good real-time control performance.