Embedded Control System for Unmanned Helicopter
碩士 === 元智大學 === 機械工程學系 === 96 === In this paper we were designed the avionics for UAH, and combined PIC controller with PC104 single board computer. The PIC controller was developed by C code. The PIC controller has integrated all of UAH sensors, and controlled RC servomotors. The single board compu...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2008
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| Online Access: | http://ndltd.ncl.edu.tw/handle/03170792339845253457 |
| Summary: | 碩士 === 元智大學 === 機械工程學系 === 96 === In this paper we were designed the avionics for UAH, and combined PIC controller with PC104 single board computer. The PIC controller was developed by C code. The PIC controller has integrated all of UAH sensors, and controlled RC servomotors. The single board computer was developed by Matlab xPC Target and Matlab Simulink. The single board computer has designed controller for UAH.
The PIC controller had include for the following functions.
- 6 channels PWM R/C servo output;
- R/C Receiver signal decoding;.
- Integrated IMU consisting of 3-axis gyro and 3-axis accelerometer;
- Measurement of the rotor speed;
- Integrated ultrasonic distance sensor.
In this paper we complete a PI controller for the rotor speed with anti-windup, and reduce the rotor speed error to from 1.5 rps under open loop control to 0.4 rps. The controller can switch between manual and automatic control modes with bumpless transfer. The controller also includes an IMU which combines 3-axis gyro with 3-axis accelerometer to estimate the attitudinal angle of the UAH with complementary filter approach.
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