无人直升机飞行姿态控制平台设计  

The Design of the Unmanned Helicopter Attitude Control Platform

作　　者：尚羽佳 Shang Yujia(Instrumentation Technology and Economy Institute, Beijing 100055)

机构地区：[1]机械工业仪器仪表综合技术经济研究所,北京市100055

出　　处：《仪器仪表标准化与计量》2018年第4期16-19,37,共5页Instrument Standardization & Metrology

基　　金：国家自然科学基金项目(61403274);天津市应用基础及前沿技术研究计划(13JCQNJC03600)

摘　　要：无人直升机飞行姿态控制平台建设是实现其无人自主飞行的关键环节。为小型单旋翼带尾桨式微型航模直升机("雷虎90")设计构建了基于PC104以及DSP+CPLD的飞行姿态控制平台。采用"机载上位机-机载下位机-地面站"的系统架构方式,保证了机载系统的可靠性并具有足够的信息处理能力。使用数字增量式PID控制算法对无人机飞行姿态的控制,并通过飞行试验对控制平台和控制算法进行验证。Unmanned helicopter（UH） flight attitude control platform construction is the key link to achieve autonomous flight of UAV. This paper selected a small UH with a single main rotor and a tail rotor（＂Thunder Tiger 90＂）, a set of unmanned helicopter flight attitude control test platform based on PC104 and DSP＋CPLD is designed. The system architecture of the test platform is ＂onboard lower computer-onboard upper computer-ground station＂, which ensures the reliability and scalability of the system, and digital incremental PID control algorithm control is used. The control platform and the control algorithm are verified by flight test.

关 键 词：无人直升机 姿态控制 DSP+CPLD 硬件平台 导航 

分 类 号：V279[航空宇航科学与技术—飞行器设计]