Development of a Low-Cost, Low-Weight Flight Control System for an Electrically Powered Model Helicopter

[摘要] This project started a new research area in rotary-wing °ight control in the Computer andControl group at the University of Stellenbosch. Initial attempts to build a quad-rotorvehicle exposed di±culties which motivated changing to a standard model helicopter asa test vehicle. A JR Voyager E electrically powered model helicopter was instrumentedwith low-cost, low-weight sensors and a data communication RF link.The total cost of the sensor, communication and microcontroller hardware used isapproximately US$ 1000 and the added onboard hardware weighs less than 0:4 kg. Thesensors used to control the helicopter include a non-di®erential u-Blox GPS receiver,Analog Devices ADXRS150 rate gyroscopes, Analog Devices ADXL202 accelerometers, aPolaroid ultrasonic range sensor and a Honeywell HMC2003 magnetometer.Successful yaw, height and longitudinal position control was demonstrated. Signi¯cantfurther work is proposed, based on the literature study performed and the insights andachievements of the ¯rst rotary-wing unmanned aerial vehicle project in the group.

[发布机构] Stellenbosch University