Model[l]ing and simulation of stabilizer for remote controlled helicopter

Abstract

Ever since the first helicopter was invented it has never stopped to contribute to the everyday life around the world. As time has passed technological innovation have made it possible for every ordinary man to own a small helicopter and maneuver it by the help of a remote controller. Where the pilot in a full scale helicopter would make use of a onboard computer to control the movement a person with a RC helicopter would need to rely on his finger skills and vision to make sure the helicopter maintain the desired path via remote control from the ground. This has often shown to bee quite difficult for first time users and may in many cases lead to expensive crashes throughout a long period of training. It would save both money and time if it in some way would be possible to reduce the time spent on training by connecting something to the helicopter and thereby control and stabilize the helicopter for the user. The idea is to investigate the possibility of constructing a stabilizer which reduces this complexity. A desired solution is to let the pilot control one movement in one direction or rotation around one axis while a microcontroller attached to the helicopters body controls the remaining degrees of freedom. An important question is how this should be done and what kind of model this would be based on. It would be useful if it was possible to implement this control system on a onboard microcontroller in assosciation with sensors and measuring devices. This thesis is ment to give a novice reader a good overview over the complexity of controlling a helicopter. In chapter ?? the concept helicopter movement is explained in detail and the differntial equations of motion is presented. In chapter ?? the differnt linearized models is explained and suitable contol methods is presented.. A purposed simulation model is constructed. At last some simulaton results is presented in ?? alnong with a chapter about instrumentation and how one could implement this on a physical helicopter.