Modelling and Attitude Control Simulation of Multi-rotor Helicopter

被引：0

作者：

He Zhi Chao ^{[1
]}

You An Hua ^{[2
]}

Ma Guo Liang ^{[3
]}

Zhang Yong ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China

[2] Nanjing Univ Sci & Technol, Sch Mech Engn, Nanjing 210094, Jiangsu, Peoples R China

[3] Nanjing Univ Sci & Technol, Sch Energy & Power Engn, Nanjing 210094, Jiangsu, Peoples R China

来源：

2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年

关键词：

Unmanned Aerial Vehicle (UAV); Multi-rotor; Dynamical Model; Attitude Control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a nonlinear dynamic model and multi attitude controllers are developed for Multi-rotor Helicopter. First, different type of Multi-rotor Helicopter and its flight theory is introduced. Secondly, based on the forces and moments on the Multi-rotor Aircraft during its flight, kinematic and dynamic model is founded. Then, the mathematical model is simplified to design attitude controllers. Finally, the model and attitude controllers are established in Simulink, and the controllers are proved to be effective.

引用

页码：2095 / 2100

页数：6

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