Heading Control and Control Law Design of Mini Helicopter

• Main Authors: Ming-Hung Hsiao, 蕭名紘
• Other Authors: Chang-Huei Wu
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/42701836495810498071

碩士 === 元智大學 === 機械工程學系 === 98 === The purpose of this thesis is to complete the heading control of small-scale unmanned helicopter. This research can make the small-scale helicopter maintain the same azimuth angle continuously. The research would divide into three major steps to finish the thesis. The first step is to finish the building and setting of the hardware. The second step is to do the system identification and design of control laws. The test of the control laws is the third step. The building of the hardware in this research should combine to build the stable structure and except the engine noises, which makes sensors can measure accurate value of number. In the beginning, the research use Matlab to do the numerical simulation, and use HIL (Hardware In the Loop Simulator, HIL) to do the simulation on R90 helicopter at the same time. The most important part of the research is to prove that the designed yaw rate control and heading control laws. We put the helicopter with my control laws on the rotated platform to insure everything perfectly prepared before testing in the sky. The final process in this research, we would do the real flight in the sky, and analyze the effects with different control laws.