Development of an Autonomous Control System for a Small Fixed Pitch Helicopter

摘要：

The indoor test bed of the Autonomous Systems Laboratory has been used to create a control system for a small fixed pitch helicopter. This paper outlines the challenges posed by such a vehicle and the control system designed to overcome them. The control system utilizcd a visual tracking system to obtain state information without onboard hardware. Matlab/Simulink environment was used to facilitate rapid prototyping control development. An autopilot consisting of multi-channel PID controllers was implemented for flight tests. Failsafe strategies and gain scheduling wtre both investigated and implemented with tht use of a graphical user interface. A number of flight tests were conducted and the results are provided. The future work of the laboratory is also covered.

关键词： helicopter autopilot flight test gain scheduling tracking

作者: Owen McAree Jonathan Clarke Wen-Hua Chen

作者单位: Department of Aeronautical and Arrtomotive Engineering,Loughborough University,Loughborough, United Department of Aeronautical and Arrtomotive Engineering,Loughborough University,Loughborough,United K

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 13-17

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）