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针对共轴双桨直升机主动旋翼控制的工作原理及其硬件设计方案进行了介绍.该系统主要由三轴加速度计ADXL345和三轴陀螺L3G4200D及TMS320F28335 DSP组成捷联惯导系统.并在捷联惯导姿态控制中增加了旋翼受力反馈环路,提高了惯导对外界扰动的响应速度.通过实验验证,该系统对于提高悬停稳定性和高度控制响应速度具有较好的效果.
Aiming at the working principle and hardware design scheme of active rotor control of coaxial double-bladed helicopter, this system mainly consists of three-axis accelerometer ADXL345 and three-axis gyroscope L3G4200D and TMS320F28335 DSP, The rotor feedback loop is added to the attitude control, which improves the response speed of the inertial navigation to external disturbances.According to the experimental results, this system has a good effect on improving the hovering stability and the height control response speed.