Loading...

Design and Implementation of an Automatic Flight Control System for an Unmanned Helicopter for Hover Flight and Trajectory Tracking

Khalesi, Mohammad Hossein | 2019

527 Viewed
  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 52659 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Salarieh, Hassan; Saadat Foumani, Mahmoud
  7. Abstract:
  8. Unmanned Aerial Vehicles (UAVs) have attracted huge attention in recent years due to the technology improvements. Among them, Unmanned Helicopters (UHs) have great importance because of their special abilities. In this research, the problem of design and implementation of an actual flight control system for an unmanned helicopter is investigated. For this purpose, first a multi-level flight simulation environment is developed in Simulink software environment to model the helicopter flight dynamics. The system identification, control system design and implementation are successfully performed in this flight simulator. Next, the actual helicopter flight control system is designed and produced based on Raspberry Pi minicomputer. Using the Raspberry Pi board will create several benefits with respect to previous flight control system including ease of programming and re-programming, low cost and time required, low weight and dimensions, performing on a real time operating system, wireless communication ability and complete interaction with Matlab software. After successful results obtained in model in the loop (MIL) and hardware in the loop (HIL) tests, actual flight experiments were performed on a 5 DoF testbed. Due to the rotational dynamics importance in stabilizing and control of unmanned helicopters, control system implementation for helicopter attitude has great importance. After logging test data including lateral and longitudinal cyclic inputs and helicopter roll and pitch angles, system identification of helicopter attitute dynamics is performed. Results obtained from verifying identified model predictions compared with test data show that the model can appropriately simulate real system dynamic behavior. Next a linear robust control system is designed and implemented in order to control helicopter roll and pitch angles. Evaluating system performance in actual flight tests shows that the proposed control system can successfully stabilize helicopter attitude and track predefined roll and pitch angles. Based on performance obtained from flight control system during these tests, it can be concluded that by considering slight modifications, this platform can be utilized in real flight tests and helicopter free flight control in next steps of the research
  9. Keywords:
  10. Unmanned Helicopter ; System Identification ; Robust Control ; Flight Control ; Test Platform ; Simulator Design

 Digital Object List

 Bookmark

No TOC