Adevebpment of flight control systems for an autonomous small helicopter

最近，无人驾驶飞行器被开发用于科学观测、灾害探测、交通监视和军队目标。这项研究的目的是为自主小型直升机开发飞行控制系统。首先研究了直升机纵向运动的飞行控制设计，即直升机在起始位置悬停，保持一定巡航速度移动到目标位置，然后在目标位置再次悬停。设计了一种增益调度状态反馈律来稳定飞行器，跟踪实现飞行任务的基准。利用MatLab/Simulink对所提出的飞行控制系统进行了计算机仿真，评估了系统的有效性。接下来，构建了一个基于无线电控制直升机的小型自主直升机系统。进行了飞行实验，对PC机自动控制进行了评价。

Recently, unmanned aerial vehicles have been developed for the purposes of scientific observations, detecting disasters, surveillance of traffic and army objectives. The aim of this research is to develop flight control systems for an autonomous small helicopter. A flight control design for longitudinal motion of helicopter was first studied in which the helicopter hovers at a start position, moves to a goal position with keeping a specified cruise velocity and hovers again at the goal A gain scheduling state feedback law was designed to stabilize the vehicle and track a reference which realizes the flight mission. The effectiveness of the proposed flight control system was evaluated by computer simulation using Matlab / Simulink. Next, a small autonomous helicopter system based on a radio controlled helicopter was constructed. A flight experiment was performed to evaluate the automatic control by a PC.