小型无人直升机实验平台的设计与实现

高级控制算法对于无人直升机实现高机动性非常重要,但是在实现上也经常受制于鲁棒性和实时性的要求。同时这些控制方法在飞行测试时也会带来高风险。本文介绍了一种自制的安装在机械臂上的直升机作为实验平台去验证控制方法的有效性和可行性,这个平台还能够保证飞行测试的安全性。实验结果显示,能够实现转速跟踪控制以及航向动力学的辨识,并证明平台的有效性。

Advanced control algorithms usually suffer from poor robustness and may be difficult in real-time implementation in despite of importance for unmanned helicopter realizing high maneuverability. Such control method also leads to high risk in flight test. In this paper, a home-made helicopter-in-arm platform is introduced as an experimental testbed that guarantees safety in flight test to validate the effectiveness and feasibility of control algorithms. The experimental result shows that unmanned helicopter can track main-rotor velocity,identify and yaw dynamics and prove the effectiveness of experimental testbed.

国家863计划(2003AA421020)