无人直升机自主飞行控制仿真研究.PDFVIP

The simulation is very important in the development of the autonomous flight control system for an unmanned helicopter. Based on the autonomous flight project for the unmanned helicopter, which is the early successful one in China,the key technologies in its autonomous flight control simulation are discussed.The flight tests prove that it provides an important reference. unmanned helicopter autonomous flight flight control simulation 31 X = AX + BU Y = CX + DU X = [u v w θ γ ψ q p r ] u v pqr γ w θ δc δe D=0 U δp [δ e δ a δ p δ c ] δ a ψ U C ψ0 ψg Simulink 2 PID ψg ψ 01 ψ ψg J ψg ψ J K(t) 5s 1