MODEL FOLLOWING CONTROL FOR MD500 HELICOPTER

摘要

This paper describes the design results of a helicopter attitude control law based on the Model Following Control(MFC) method. The attitude controller is developed using a model appropriate for an unmanned helicopter, a dynamic inverse model that generates feed-forward MFC commands, and an error compensator with a PID to reduce the effects of model error. A de-coupling logic is designed to reduce the orders of inverse models separately. All components of the MFC is based on a linear helicopter model, including actuators, to represent a generic MD500 helicopter. The simulation results indicate that the attitude controller accurately follows the command model for multi-axis commands without the need for fine tuning of control gains. This study will be use for the base of MD500 helicopter unmanned technology.