摘要
首先建立了微小型无人直升机较完整的动力学模型,然后利用参考文献提出的无人驾驶直升机自适应控制器,借助RealFlight模拟飞行软件对动力学模型和自适应控制算法进行了仿真。仿真结果表明,本文所建立的动力学模型与实际直升机的特性基本相符;自适应控制算法较好地控制了无人直升机的运动状态,表明该控制算法完全可以满足无人直升机控制的需要。
The authors mainly discussed the modeling and simulation of small - sized unmanned helicopter. They built a relatively integrated aerodynamic model for small - sized unmanned helicopter, and then performed a simulation for the dynamic model and an adaptive control arithmetic by using the adaptive controller for unmanned helicopters presented in the references and RealFlight R/C Flight Simulator, Helicopter was controlled well using the adaptive control arithmetic. The simulation results showed that the characteristics of the dynamic model were basically consistent with that of the real helicopter, and the adaptive control arithmetic could be used for implementing unmanned helicopter control.
出处
《电光与控制》
北大核心
2006年第3期49-53,共5页
Electronics Optics & Control