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为使微小型无人直升机(MUH)可以在各种地理环境及天气状况下平稳飞行,设计实现一个低成本的姿态增稳控制系统。其中,姿态获取模块通过基于滤波切换的重力场互补滤波估计算法得到高精度的姿态反馈,增稳控制模块采用多回路串级模糊PI控制,利用角速率内环提高系统的稳定性。实验结果表明,该系统具有良好的增稳控制效果,且成本低廉,便于应用推广。
In order to enable the MUC (Micro Unmanned Helicopter) to fly smoothly under various geographical conditions and weather conditions, a low-cost attitude stabilization control system is designed and implemented. The attitude acquisition module obtains the high-precision attitude feedback through the filtering algorithm based on the filtering of the complementary filter of gravitational field. The stability control module adopts multi-loop cascade fuzzy PI control, and the inner loop of the angular rate improves the system stability. Experimental results show that the system has a good stability control effect, and low cost, easy to promote applications.