期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

微型无人直升机姿态控制系统设计和试验研究 被引量：2

Attitude control system design and experiment research of a small-scale unmanned helicopter
下载PDF
导出
摘要 文章介绍了微型无人直升机姿态控制试验平台的组成和工作原理。采用低功耗嵌入式计算机和惯性传感器构建了一个可靠的低成本的姿态控制系统,为了保证飞行试验的安全性,设计了姿态试验装置。利用改进的PID控制算法对微型直升机的姿态进行控制,试验结果说明了姿态控制系统的可靠性以及试验平台和控制算法的有效性。 The architecture of a small-scale helicopter attitude control experimental test-bed is intro duced in this paper. A low-cost and reliable attitude control system is developed by using low power consumption embedded computer and inertial measurement sensor, and an attitude control experimental equipment is designed, which guarantees the safety of flight experiments. To control the small-scale helicopter attitude, an improved PID controller is used. The experiment results demonstrate the reliability of the attitude control system and the effectiveness of the experimental test-bed and the control algorithm.
作者 范才智 宋宝泉 孙鹏 刘云辉
机构地区 国防科技大学电子科学与工程学院
出处 《制造业自动化》 北大核心 2008年第11期64-67,共4页 Manufacturing Automation
基金 国家自然科学基金(60675056)
关键词 无人直升机 姿态控制 试验平台 unmanned helicopter attitude control experimental test-bed
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置] V233.7 [航空宇航科学与技术—航空宇航推进理论与工程]
  • 相关文献

参考文献9

  • 1BORTOFF, S.A. The University of Toronto RC helicopter: a Test-Bed for Nonlinear Control[A]. Proceedings of the 1999 IEEE International Conference on Control Applications[C], pp.333-338, Hawaii, 1999.
  • 2GAVRILETS, V. A. SHTERENBERG, M.A. DAHLEH, E. FERON. Avionics System for a Small Unmanned Helicopter Performing Aggressive Maneuvers[A]. Proceedings of the 19th Digital Avionics Systems Conferences[C], pp. 1E2/1- 1E2/7, Philadelphia, 2000.
  • 3SRIKANTH SARIPALLI, GAURAV S. SUKHATME. Landing on a Moving Target using an Autonomous Helicopter[A]. Proceedings of the International Conference on Field and Service Robotics[C]. Mt Fuji. Japan.2003.
  • 4LUIS MEJIAS, PASCUAL CAMPOY, SRIKANTH SARIPSLLI and GAURAV S. SUKHATME. A Visual Servoing Approach for Tracking Features in Urban Areas Using an Autonomous Helicopter[A]. Proceedings of the 2006 IEEE International Conference on Robotics and Automation[C]. Orlando, Florida, May 2006.
  • 5ANDREW Y. NG. Shaping and Policy Search in Reinforcement Learning[D]. EECS, University of California, Berkeley, 2003.
  • 6谈黎,贾培发.微小型直升机控制系统设计与姿态控制实验研究[J].制造业自动化,2006,28(7):23-27. 被引量：1
  • 7顾冬雷,夏先明,高正.无人直升机飞控系统设计与应用[J].南京航空航天大学学报,2005,37(4):476-478. 被引量：11
  • 8XIN Hou, PING Li, ZHOU Fang, BO Han. An Application of Fuzzy PID Algorithm on Unmanned Helicopter Attitude Control[A]. Proceedings of the 6th World Congress on Intelligent Control and Automation[C]. Dalian, China, June 2006.
  • 9CANERON A, Infelligent Knowledge-based System for Adaptive PID Controller Tuning [J]. Automation, 1986, 27: 133-138.

二级参考文献9

  • 1顾冬雷,高正,孙传伟.无人直升机控制动态特性的频域辨识建模方法[J].南京航空航天大学学报,2004,36(6):688-692. 被引量：20
  • 2谈黎.基于PXA255的嵌入式机器人控制系统——软硬件设计与实现[J].计算机工程与应用,2005,41(10):93-94. 被引量：5
  • 3JOHN C.CMU's autonomous helicopter explores new territory[J].IEEE intelligent systems,1998.
  • 4ALBERT J B,ROBERT K.A low-cost and low-weight attitude Estimate System for an autonomous helicopter[J].IEEE International Conference on Intelligent Engineering System,1997.
  • 5GREG A S.Autonomous aerial vehicle development[J].IEEE national aerospace and electronics conference,1992.
  • 6SUGENO M,HIRANO I,NAKAMURA S,et al.Develop ment of an intelligent unmanned helicopter[J].IEEE international conference on fuzzy systems and the second international fuzzy engineering symposium,1995.
  • 7Tischler M B, Cauffman M G. Frequency-response method for rotorcraft system identification: flight application to BO-105 coupled rotor/fuselage dynamics[J]. Journal of the American Helicopter Society,1992,37(3) :3~17.
  • 8Mettler B, Tischler M B, Kanade T. System identification modeling of a small-scale unmanned rotorcraft for control designEJ-]. Journal of the American Helicopter Society, 2002, 47 (1) : 50~63.
  • 9Mettler B. Modeling small-scale unmanned rotorcraft for advanced flight control design[D]. Pittsburgh:Department of Mechanical Engineering, Carnegie Mellon University, 2001.

共引文献10

同被引文献18

  • 1淳于江民,张珩.微型无人直升机技术研究现状与展望[J].机器人技术与应用,2004(6):6-11. 被引量：11
  • 2WEILENMANN M F,GEERING H P. Test bench for rotorcraft hover control[J].{H}Journal of Guidance Control and Dynamics,1994,(4):729-736.
  • 3VILCHIS A J C,BRDGLIATO B,DZUL A. Nonlinear modeling and control of helicopters[J].{H}AUTOMATICA,2003,(9):1583-1596.
  • 4DZULL A,LOZANO R,CASTILLO P. Adaptive control for a radio-controlled helicopter in a vertical flying stand[J].International Journal of Adaptive Control and Signal Process,2004,(5):473-485.
  • 5辛哲奎;方勇纯;张葛.申辉小型无人直升机云台跟踪控制系统实验平台设计[A],2010.
  • 6VITZILAIOS N I,TSOURVELOUDIS N C. Safe test flights for small rotorcrafts[A].2009.153-166.
  • 7VITZILAIOS N I,TSOURVELOUDIS N C. An experimental test bed for small unmanned helicopters[J].Journal of Intelligent Robot System,2009,(5):769-794.
  • 8VITZILAIOS N I,TSOURVELOUDIS N C. Altitude Control of Small Helicopters Using a Prototype Test Bed[A].2008.77-84.
  • 9HERVE J M. Design of Spring Mechanisms for Balancing the Weight of Robots[A].1986.564-567.
  • 10Weilenmann M F, Geeringt H P. Test Bench for Rotor- craft Hover Control[ J ]. Journal of Guidance, Control and Dynamics, 1994, 17(4) : 729 -736.

引证文献2

制造业自动化
2008年 第11期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部