“天行者”小型无人直升机自主飞行控制系统设计

Development of Autonomous Flight Control System for Small Size Unmanned Helicopter Sky-explorer

介绍了上海交通大学"天行者"小型无人直升机自主飞行控制系统的设计及实现技术。首先引入了德国柏林工业大学基于牛顿力学建立的小型无人直升机动力学模型,然后基于此模型设计了直升机飞行姿态控制器。之后引入一种针对二次积分模型基于期望响应轨迹设计控制器的控制算法,文中简称为MTC,设计实现了直升机飞行位置的不超调控制和飞行速度控制。实际飞行控制试验结果验证了飞行控制算法的有效性。仿真试验表明,基于MTC算法所设计的飞行导引点方法,可用于实现多航点路径的不减速连续曲线轨迹的飞行控制。

An autonomous flight control system for small size unmanned helicopter Sky-explorer based on dynamics model at Shanghai Jiaotong University is presented. At first, a mathematical model for small size helicopter based on Newton＇s mechanics is introduced. It is cited from Technical University of Berlin. Then the flight attitude controller based on this dynamics model for small size unmanned helicopter is presented. After that, a control algorithm- model and trajectory based controller named MTC by the author is introduced. It is a simple but effective control algorithm for a double integrator. Based on MTC, a flight position controller is achieved without overshooting. The MTC block is also used to achieve the translation velocity control and no stopping multi-way-point flight control by guide-position method along any defined curve course. The simulation result and the performance in real flight experiment demonstrate that the controller presented in this paper is a successful and practical flight controller for small size helicopter with a stiff main rotor.