【摘要】 在实际飞行中设计调整小型无人直升机控制器存在很多危险,为了达到小型无人直升机的姿态稳定控制,设计小型无人直升机试验平台.通过试验,采集控制器输入信号和相应无人直升机飞行姿态角信号,提出了动态系统辨识模型,运用神经网络对所提模型进行了辨识.应用输出反馈实现姿态的稳定解耦控制,仿真结果验证了辨识模型和控制算法的有效性.更多还原

【Abstract】 There are many dangerous factors in designing and adjusting smallscale helicopter controller in free flight.In order to design a stable attitude controller of small-scale helicopter,an experimental test platform of flying helicopter was established.The input control signals and the output attitude angles are gathered on the platform through the experiments,and the dynamic identified system model is proposed,neural network is used to identify the model with the data gathered.Simultaneously the output feedback control is used to realize the stable decoupled attitude control of the small-scale helicopter.The experimental simulation validates the feasibility of the model and the control method.更多还原