The Exploration of Dynamical Model and Control Analysis Based on DOF Small Scale Helicopters

In order to stimulate the movement of small scale helicopters, DOF flight test platform based on the similarity theory has been thought out. Accordingly, considering the platform to be the researching object and combing the Lagrange-Euler equation with the equivalent moment method, the system kinetic model is worked out and the physical parameter is pre-estimated. The relationship between the lift force and the change of the rotation speed is acquired by the experiment with the fixed collective angle. According to the dynamic equation, a PID revised feed-forward controlling algorithm with robust characteristic was devised and the MATLAB simulation is applied to verify fast astringency and validity of the controller