摘要
介绍了一个微小型自主直升机试验平台的系统组成和工作原理。基于嵌入式计算机和MEMS传感器技术,构建了一个小巧的低成本飞行控制系统;针对微小型直升机的姿态控制问题,提出了一种基于多传感器测量的姿态数据融合方法和姿态控制算法,并进行了飞行试验研究,同时探讨了初期试验阶段的实用安全装置和方法,给出了单自由度、三自由度和系留飞行姿态控制试验的结果与分析。
This paper describes the architecture of a small-scale autonomous helicopter research platform. A low-cost and low-weight flight control system is developed based on embedded computing technology and MEMS sensors. To solve the attitude control problem, a multisensor fusion and attitude control algorithm is developed and applied to flight experiment. Some equipments and methods are introduced which can improve the safety of the expriment in the early stage. The results of one-degree of freedom, three-degree of freedom and tied flight expriment are presented and analysed.
出处
《制造业自动化》
北大核心
2006年第7期23-27,共5页
Manufacturing Automation
关键词
微小型直升机
飞行控制系统
姿态控制
飞行试验
small-scale helicopter
flight control system
attitude control
flight experiment
