Hongcheng Zhou
Unmanned helicopter, attitude control loop, speed control loop, state feedback
The flight dynamics of unmanned helicopters are the core of their dynamic simulation system. In response to the linearised equation of the unmanned helicopter given, a closed-loop control law for the attitude control loop and speed control loop was designed by introducing state feedback, while satisfying the controllability and observability of the system. The helicopter was transformed from a static unstable object to a stable and controllable object. A 6-DOF motion simulation strategy for the unmanned helicopter circuit and autopilot circuit was proposed, and the unmanned helicopter control system was combined with a 6-DOF motion simulation platform to construct a 6-DOF motion simulation system for unmanned helicopters. Simulation experiments were conducted on typical flight modes of unmanned helicopters, and the simulation results showed that the robustness of the system was greatly improved.
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