摘要： 为使微小型无人直升机(MUH)可以在各种地理环境及天气状况下平稳飞行，设计实现一个低成本的姿态增稳控制系统。其中，姿态获取模块通过基于滤波切换的重力场互补滤波估计算法得到高精度的姿态反馈，增稳控制模块采用多回路串级模糊PI控制，利用角速率内环提高系统的稳定性。实验结果表明，该系统具有良好的增稳控制效果，且成本低廉，便于应用推广。

关键词: 姿态解算, 角速率反馈, 模糊PI控制, 姿态增稳, 微小型无人直升机, 地面站

Abstract: This paper designs and realizes an attitude stability augmentation control system for Mini Unmanned Helicopter(MUH), which is low-cost, independent, safe and reliable. It is applied to maintain the stability of MUH. The precision attitude values which are obtained by the estimate algorithm of gravitational complementary filter based on filtering switching are used as the feedback of this system. Multi-loop fuzzy PI cascade control is introduced because it does not require high accurate model. Experimental results show that the system has satisfactory performance on stability augmentation effect, and it is cheap for application.

Key words: attitude calculation, angular rate feedback, fuzzy PI control, attitude stability augmentation Mini Unmanned Helicopter(MUH), ground station

中图分类号: 

• N945