SYSTEM DESIGNING FOR A SMALL-SCALE AUTONOMOUS HELICOPTER

作     者：WENBING CHEN MING LIU YUNJIAN GE 

作者机构：Institute of Intelligent Machines Chinese Academy of Sciences Department of Automation University of Science and Technology of China Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne Australia Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui China 

出 版 物：《International Journal of Information Acquisition》 

年 卷 期：2006年第3卷第4期

页      面：359-367页

学科分类：08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：Helicopter MP2128 MOESP Fuzzy PID controller 

摘      要：This paper presents the design of a relative low-cost and more compatible autonomous helicopter system using HIROBO 50 scale as an experimental platform. Because of the limit of helicopter payload, we choose the MP2128 Autopilot and a number of sensors to build the system and the weight of instrumentation is about 500 g, much less than the payload capability of model helicopter. Thus it is feasible to design the binocular stereo-camera system to achieve full autonomous flight and the whole weight (include power) of instrumentation is about 1500 g. After getting the model of the helicopter using the subspace model identification (SMI) algorithms, we present the structure of fuzzy PID controller.