小型单旋翼无人直升机系统的设计与实现

摘要

In order to construct the dynamic model of unmanned helicopter a system of small‐scale single‐rotor unmanned helicopter consisting of the flight platform, data communication system and ground sur‐veillance platform is structered. The Raptor‐50 helicopter and corresponding designed flight control sys‐tem are selected as flight platform which can measure and record data under different flight status. The communication betweewn the electric equipment on the small ‐scale single‐rotor unmanned helicopter and ground platform is accomplished via communication system. The ground surveillance platform is used to monitor the flight status and realize the function of Human‐Machine Interaction. The field experiment demonstrates that the designed system can satisfy the requirement of the verification system for studying the modeling and control method for small‐scale single‐rotor unmanned helicopter.%针对无人直升机动力学建模与飞行控制方法研究的问题，构建了一个由空中飞行平台、数据传输设备以及地面监控平台组成的小型单旋翼无人直升机验证系统。系统中空中飞行平台由Raptor‐50型直升机和自主研制的飞行控制系统组成，可以实现不同飞行模态下飞行状态的测量与记录功能；数据传输设备完成小型单旋翼无人直升机机载电子设备与地面站间的通讯传输功能。地面监控平台用于监控飞行状态以及实现人机交互等功能；地面监控平台用于监控飞行状态以及实现人机交互等功能。通过实际的飞行测试，所构建的系统能够满足小型单旋翼无人直升机系统建模与控制方法的研究内容对系统性能的要求。