模型直升机自主返回系统的设计与实现  

Design and Realization of Autonomous-Return System for A Model Helicopter

作　　者：韩胜男[1] 王新华[1] 江驹[1] 鲁盈悦 王硕[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《海军航空工程学院学报》2013年第5期521-526,共6页Journal of Naval Aeronautical and Astronautical University

基　　金：中央高校基本科研业务专项资金资助项目(NZ2012006);南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj120203);南京航空航天大学研究生创新实验竞赛资助项目

摘　　要：设计了一架具有自主返回模块和增稳模块的模型直升机。该直升机硬件电路以C8051F020单片机作为机载部分控制器,使用MEMS陀螺仪和MEMS加速度计测量姿态信息,运用无线收发模块实现和地面站的通信。文章介绍了模型直升机系统的软件流程和实现,用系统辨识法分通道建立了直升机模型,设计了直升机的增稳控制模块。设计的模型直升机可完成悬停、返回、着陆等简单的自主飞行任务,为后续舰载小型模型直升机自主起降开发与验证平台的研制奠定了基础。This paper is for the purpose of designing a model helicopter with a self-return module and a stabili- ty augmentation module. The helicopter circuits uses C8051F020 MCU as its controller and uses the wireless transceiver module for communication with ground station. MEMS gyro and MEMS accelerometer are used for measuring the attitude information. The software process of the model helicopter system was introduced. System identification method was used to establish each channel of helicopter＇s mathematical model and a stability aug- mentation module was designed. The designed helicopter could complete simple aerial missions, such as hover- ing, return, landing, etc. It laid the foundation for the subsequent development and validation of small ship- borne model helicopter＇s independent taking off and landing platform.

关 键 词：模型直升机 自主返回 增稳控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]