摘要：本课题针对小型共轴双翼直升机，利用现有平台研究其飞行控制方法。首先，分析现有的小型共轴双翼无人直升机平台的整体结构和控制要求。其次，对直升机三种飞行状态分别进行受力分析，建立牛顿动力学方程，直升机的非线性模型。根据直升机坐标系对地面参考系的关系，建立坐标变换矩阵。再次，根据直升机的数学模型设计飞行控制器，选择经典PID控制作为其控制算法，考虑到积分环节对于误操作和飞机在起降时的不良影响，将控制算法改进为积分分离PID算法。随后，考虑到高斯噪声对陀螺仪反馈数据的影响添加了数字滤波算法。选择了可靠有效的卡尔曼滤波算法，并用MATALB对飞行控制器和数字滤波器的有效性加以验证，仿真结果显示取得了很好的效果。最后，进行飞行器实物实验，通过示波器检测PWM控制信号，实验结果显示通信和各电机控制程序工作正常。39045
毕业论文关键词：小型共轴双翼直升机；飞行控制器；卡尔曼滤波；积分分离PID控制；MATLAB仿真
 The control method of small coaxial helicopter
Abstract: The topic for the research of small coaxial helicopter wings, the flight control method using the existing platform.
First of all, the overall analysis of the existing structure and the control of small coaxial unmanned helicopter platform wings. Secondly, the stress analysis of the three kinds of helicopter is carried out, and the nonlinear model of the helicopter is established.. According to the relationship between the helicopter frame and the reference system, a coordinate transformation matrix is established.. Again, according to the mathematical model of the helicopter flight controller design, the classic PID control as the control algorithm, taking into account the integral for the adverse effects of misoperation and aircraft during takeoff and landing. The control algorithm is improved for integral separation PID algorithm. Subsequently, the digital filter algorithm is added to the influence of Gauss noise on the feedback data of the gyroscope.. The reliable and effective Calman filtering algorithm is selected, and the validity of the flight controller and digital filter is verified by MATALB. The simulation results show that the results are good.. At last, the experiment of the aircraft is carried out, and the results of the oscilloscope detect the PWM control signal. The experiment results show that the communication and the motor control program are normal.
Keywords: small and the two wings coaxial helicopter; flight control; Kalman filter; integral separation PID control; MATLAB simulation
目录
小型共轴双翼直升机的控制方法研究    1
摘要.    1
第一章    绪论    4
1.1课题研究的背景和意义    5
1.2 国内外研究现状    6
1.3本文主要研究内容    7
第二章    小型无人共轴双翼直升机系统平台构成    7
2.1 小型无人共轴双翼直升机平台    8
2.1.1整体结构    8
2.1.2控制结构    8
2.2平台硬件系统构成    9
2.2.1 遥控器端    9
2.2.2 机载端    10
2.2.3通信端    11
2.3软件开发环境    13
第三章    共轴双翼直升机数学模型    14
3.1 引言    14
3.2 建立坐标变换矩阵    14
3.3建立数学模型    16
3.3.1垂向飞行动力学建模    16
3.3.2水平行进飞行动力学建模    17
3.3.3航向转动响应建模    17
第四章    飞行控制器设计    19 小型共轴双翼直升机的控制方法研究+MATLAB程序:http://www.youerw.com/zidonghua/lunwen_38151.html