Modeling and Control System Design of a Small-Scale Unmanned Helicopter

摘要：

This paper investigates the modeling and control system design of a small-scale unmanned helicopter.We employ a system identification method to get the attitude angular velocity transfer function of a helicopter,and apply a nested PID approach to design the control system,which can be used to control the attitude and position of a helicopter.Experiment results show that the identified model has well accuracy and the control system designed based on the model can control the attitude and position of a helicopter quite well.

关键词： unmanned helicopter modeling control.

作者: Wang Jinhua Bai Zhiqiang Liu Peizhi Hu Xiongwen

作者单位: Intelligence and Integrated Measurement & Control Department Beijing Institute of Computer Application,Beijing,China

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）