| 基于加速度计和角速率陀螺的超小无人直升机姿态控制系统 |
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| 引用本文： | 高同跃,龚振邦,罗均,冯伟.基于加速度计和角速率陀螺的超小无人直升机姿态控制系统[J].飞行器测控学报,2007,26(1):70-73. |
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| 作者姓名： | 高同跃 龚振邦 罗均 冯伟 |
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| 作者单位： | 上海大学机自学院精密机械系,上海200072 |
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| 基金项目： | 本论文研究得到国家863计划课题（编号：2005AA404290）资助、上海大学机械电子工程国家重点学科和上海市重点学科的资助. |
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| 摘 要： | 设计了一种基于加速度计和角速率陀螺的超小型无人直升机姿态控制系统；由卡尔曼滤波算法融合加速度计和陀螺数据，实时估计最优的直升机姿态信号；根据最优的姿态反馈信号，飞行控制系统采用参数自整定的模糊PID控制方法得到舵机控制信号，从而实现了超小型无人直升机的姿态控制。
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| 关 键 词： | 超小型无人直升机 卡尔曼滤波 模糊PID 姿态控制 |
| 收稿时间： | 2006-09-01 |
| 修稿时间： | 2006-10-10 |
An Attitude Control System for Small Unmanned Helicopters based on Accelerometer and Angular Rate Gyroscope |
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| GAO Tong-yue ,GONG Zhen-bang, LUO Jun, FENG Wei.An Attitude Control System for Small Unmanned Helicopters based on Accelerometer and Angular Rate Gyroscope[J].Journal of Spacecraft TT&C Technology,2007,26(1):70-73. |
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| Authors: | GAO Tong-yue GONG Zhen-bang LUO Jun FENG Wei |
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| Institution: | School of Mechatronics and Automation, Shanghai University, Shanghai 200072 |
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| Abstract: | An attitude control system for small unmanned helicopters based on accelerometer and angular rate gyroscope is designed in this paper. The data of accelerometer and rate gyroscope is fused by a Kalman filter to get the optimal attitude of helicopters. The flight control system uses the above optimal attitude as feedback signal and adopts fuzzy PID method to get steering engine control signal. |
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| Keywords: | Small Unmanned Helicopter Kalman Filter Fuzzy PID Attitude Control |
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