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Software Simulation and System Design of Flight Control System for an Autonomous Miniature Helicopter

Author: WangSanXi
Tutor: HanBo；LiPing
School: Zhejiang University
Course: Control Theory and Engineering
Keywords: autonomous miniature helicopter model helicopter flight tracking system auto-pilot embedded platform flight test ground control station
CLC: TP391.9
Type: Master's thesis
Year: 2004
Downloads: 573
Quote: 5
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Abstract


Autonomous miniature helicopter is comprehensively applied both in military and civilian areas, which has been used as the study object of many institutions and organizations all over the world for a long time. Flight control system for autonomous miniature helicopter is a complicated system based on computer control which involves many problems such as system modeling, software simulation software and hardware designing and integrating, etc.Developing a perfect simulator is generally an important process of flight navigation for miniature helicopter, control algorithm design, and control system development. In the thesis, system design requirements, system architecture and design process are firstly introduced. And in chapter 2, we modify the general mathematical models for our model helicopter (Raptor?60), present a ground interaction model, and import a gust model and a gust disturb model based on flight mechanism analysis. How to use the available mathematical models and control algorithm for flight navigation to establish a software simulation platform, and how to use the established platform to test the ground interaction model, gust influence at hover and algorithm are described in chapter 3. Hardware selection, design and integration for on-board platform are discussed in chapter 4. Selection and extending of flight control computer, driving circuit design and driver development of servo, selection and debugging of inertial measurement unit and compass are put on emphasis. In chapter 5, we firstly build an environment for on-board computer, which includes booting of bootloader, operating system and root file system and implement driver for peripherals. Then we analyze software design based on the environment, and present two plans for testing harmony performance of on-board hardware platform. In the end, some exploration and prospect about problems of flight control system design for autonomous miniature helicopter are presented.

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Computer simulation
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