模型直升机自主返回系统的设计与实现

设计了一架具有自主返回模块和增稳模块的模型直升机。该直升机硬件电路以C8051F020单片机作为机载部分控制器，使用MEMS陀螺仪和MEMS~JI速度计测量姿态信息，运用无线收发模块实现和地面站的通信。文章介绍了模型直升机系统的软件流程和实现，用系统辨识法分通道建立了直升机模型，设计了直升机的增稳控制模块。设计的模型直升机可完成悬停、返回、着陆等简单的自主飞行任务，为后续舰载小型模型直升机自主起降开发与验证平台的研制奠定了基础。

Design and Realization of Autonomous-Return System for A Model Helicopter

This paper is for the purpose of designing a model helicopter with a self-return module and a stabili- ty augmentation module. The helicopter circuits uses C8051F020 MCU as its controller and uses the wireless transceiver module for communication with ground station. MEMS gyro and MEMS accelerometer are used for measuring the attitude information. The software process of the model helicopter system was introduced. System identification method was used to establish each channel of helicopter＇s mathematical model and a stability aug- mentation module was designed. The designed helicopter could complete simple aerial missions, such as hover- ing, return, landing, etc. It laid the foundation for the subsequent development and validation of small ship- borne model helicopter＇s independent taking off and landing platform.