A 6-degree-of-freedom testbed for small model helicopters control evaluation.

摘要

In this project, we want to develop a control system for the helicopter and test the control system. To confirm that our control algorithm can interpret the physical data correctly, we built a testbed which can perform experiments safely and give us raw data to check with the output of our algorithm. To meet the objective, we (1) acquired the dynamical data of the helicopter while avoid unexpected crashes by designing the tesbed based on strength calculations which ensures sufficient strength and reduces the cost. (2) derived the formulas for the dynamical parameters of the helicopter based on the knowledge in robotics. (3) setup an encoder data system. By collecting the required data and transmitting them into a computer program, we are able to obtain position and orientation data of the helicopter. (4) carried out some experiments to check the accuracy and repeatability of the encoder data system and reached satisfied results.