小型无人直升机模糊飞行控制系统设计

为了实现小型无人直升机的自主飞行,本文研究了它的飞行控制系统。基于模糊控制技术,根据某小型无人直升机飞行动力学数学模型,设计了模糊控制规则,并研究了模糊规则的表格查询学习算法;通过无人直升机操作手的经验,对模糊规则进行评价,并通过试验进行校正和更改,在此基础上,引入积分环节进一步提高控制系统的性能。

Flight Control System of Small Unmanned Helicopter Based on Fuzzy Logic

In order to realize autonomous flight of the unmanned small-scaled helicopter,the flight control system of the unmanned helicopter is researched.Based on fuzzy control technologies,fuzzy control rules are acquired by using flight the mathematical model of flight dynamics.Learning arithmetic of control rules is presented.The operator of unmanned helicopter can directly evaluate,observe and modify those rules to ameliorate fuzzy control laws.The integrate control loop is design based on fuzzy control loop to improve control performance.The scheme of the control system of the unmanned helicopter is presented and validated by flight tests.