小型无人直升机电子系统和控制器设计
THE DESIGN OF AVIONICS SYSTEM AND CONTROLLER FOR SMALL UNMANNED HELICOPTER
摘 要
ABSTRACT
NOMENCLATURE
LIST OF TABLES
LIST OF FIGURES
CHAPTER1 INTRODUCTION
1.1 Goal and Motivation
1.2 Overview of UAV Research
1.3 Relevant Research
1.4 Dissertation Overview
CHAPTER2 HARDWARE DESIGN AND INTEGRATION
2.1 Airframe
2.2 Sensors
2.3 Flight Computer Design
2.4 Overall System Setup
2.5 System Test
CHAPTER3 SOFTWARE DESIGN
3.1 Software Architecture
3.2 Servomotor control
3.3 PWM Signal Collection
3.4 SPI Communication
3.5 Safe Mode
CHAPTER4 FLIGHT CONTROL SYSTEM DESIGN
4.1 The Classical Control System
4.2 Controller Design
CHAPTER5 OUTDOOR FLIGHT EXPERIMENTS
5.1 Experimental Approach
5.2 Experimental Results
CHAPTER6 CONCLUSIONS AND FUTURE WORK
6.1 Conclusions
6.2 Future Work
REFERNCES
哈尔滨工业大学硕士学位论文原创性声明
哈尔滨工业大学硕士学位论文使用授权书
ACKNOWLEDGEMENTS