摘要： 为提高无人直升机的飞行性能，针对其飞行环境复杂、飞行状态变化快等特点，建立发动机的数学模型，采用总矩前馈与转速反馈的串级控制结构，设计实现一个基于嵌入式单片机MC9S08的恒定转速控制系统。实验结果证明，该系统的转速控制精度高，系统响应速度快，安全性及控制效果良好。

关键词: 无人直升机, 恒定转速, 发动机模型, 总矩前馈, 串级控制, 嵌入式单片机

Abstract: With the premise of improving the performance of unmanned helicopter, this paper designs a constant rotating speed control system for engine based on embedded microchip MC9S08, which works in the complex environment with fast state change of flight mode. By constructing engine model, the cascade control system is composed of collective feedforward block and speed feedback block. Experimental results prove that the system has advantages of high accuracy, security and excellent properties of fast response.

Key words: unmanned helicopter, constant rotating speed, engine model, collective feedforward, cascade control, embedded single-chip

中图分类号: 

• N945