Indoor autonomous hovering control for a small unmanned coaxial helicopter

S. Wu, Zheng Zheng, K. Cai
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引用次数: 9

Abstract

For the nonlinear and open-loop unstable characteristics of the small helicopter, autonomous flight control is a challenging problem. In order to reduce the complexity of the helicopter autonomous control, this paper constructs an indoor autonomous flight control platform for a small coaxial helicopter ESky LAMA4, which is convenient for data collection, data analysis and control law design. Firstly, the Vicon Mx Motion Capture System is installed to obtain the attitudes and positions of the coaxial helicopter. Secondly, a PCTx converter for the radio controller is used to convert the control commands into PPM signals which are sent into the radio controller. Hence the attitude and translational motion can be controlled. Then in the inner attitude loop and outer translational loop, several PID controllers are designed for the autonomous hovering control of the small coaxial helicopter. Finally the flight results demonstrate the feasibility of the proposed approach, which can be adopted into the study of small unmanned helicopters in the future.
小型同轴无人直升机室内自主悬停控制
针对小型直升机的非线性和开环不稳定特性,自主飞行控制是一个具有挑战性的问题。为了降低直升机自主控制的复杂性,本文为小型同轴直升机ESky LAMA4构建了一个便于数据采集、数据分析和控制律设计的室内自主飞行控制平台。首先,安装Vicon Mx运动捕捉系统,获取同轴直升机的姿态和位置。其次,用于无线电控制器的PCTx转换器用于将控制命令转换为发送到无线电控制器的PPM信号。因此姿态和平移运动是可以控制的。然后在姿态内环和平移外环设计了多个PID控制器,实现了小型同轴直升机的自主悬停控制。最后,飞行结果验证了该方法的可行性,可用于未来小型无人直升机的研究。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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