Development of an Autonomous Control System for a Small Fixed Pitch Helicopter

被引：0
|
作者：
McAree, Owen [1 ]
Clarke, Jonathan [1 ]
Chen, Wen-Hua [1 ]
机构：
[1] Univ Loughborough, Dept Aeronaut & Automot Engn, Loughborough, Leics, England
来源：
2ND IEEE INTERNATIONAL CONFERENCE ON ADVANCED COMPUTER CONTROL (ICACC 2010), VOL. 3 | 2010年
关键词：
helicopter; autopilot; flight test; gain scheduling; tracking;
D O I：
10.1109/ICACC.2010.5486728
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The indoor test bed of the Autonomous Systems Laboratory has been used to create a control system for a small fixed pitch helicopter. This paper outlines the challenges posed by such a vehicle and the control system designed to overcome them. The control system utilized a visual tracking system to obtain state information without onboard hardware. Matlab/Simulink environment was used to facilitate rapid prototyping control development. An autopilot consisting of multi-channel PID controllers was implemented for flight tests. Failsafe strategies and gain scheduling were both investigated and implemented with the use of a graphical user interface. A number of flight tests were conducted and the results are provided. The future work of the laboratory is also covered.
引用
收藏
页码：13 / 17
页数：5
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