| 基于ARM小型直升机飞控系统设计与实现 |
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| 引用本文： | 陈勇,裴海龙,陈远炫.基于ARM小型直升机飞控系统设计与实现[J].计算机测量与控制,2010,18(2). |
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| 作者姓名： | 陈勇 裴海龙 陈远炫 |
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| 作者单位： | 广州华南理工大学,自动化科学与工程学院,广东广州,510640 |
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| 基金项目： | 国家自然科学基金资助项目(60574004);;国家自然科学基金资助重点项目(60736024);;教育部科技创新工程重大项目培育资金项目(708069) |
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| 摘 要： | 介绍基于ARM7某型直升机自主飞行控制系统的设计及实现;先简要说明飞控系统的ARM硬件实现和软件架构,然后在该INS基础上,设计并实现扩展卡尔曼滤波器,融合INS数据以准确获得飞机姿态角;进一步设计实现基于位置和速度跟踪的飞行控制器,通过对飞机位置和速度的规划,实现飞机的多任务、长距离飞行任务;地面测试和试飞表明该飞控系统达到设计的要求,性能稳定。
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| 关 键 词： | 主飞行直升机 飞行控制 扩展卡尔曼滤波器 位置/速度控制器 多任务点规划飞行 |
Development of Autonomous Flight Control System for small helicopter based on ARM |
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| Chen Yong,Pei Hai long,Chen Yuanxuan.Development of Autonomous Flight Control System for small helicopter based on ARM[J].Computer Measurement & Control,2010,18(2). |
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| Authors: | Chen Yong Pei Hai long Chen Yuanxuan |
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| Affiliation: | College of Automation Science and Engineering/a>;South China University of Technology/a>;Guangzhou 510640/a>;China |
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| Abstract: | An autonomous flight control system based on ARM7 is presented. At first,the avionic system is introduced briefly,Then based on the INS system,a data-fusion method-Extended Kalman Filter is designed to get the attitude of the helicopter,After that,con-trol algorithm which aims to track the given trajectory and velocity is introduced. And by the layout of the task'the helicopter can achieve multi-way-point flight autonomous. |
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| Keywords: | UAV flight control extended Kalman filter trajectory/velocity controller multi-task layout flight |
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