Abstract
A Radio Control (RC) helicopter, which has various advantages due to small size and wireless operation, has not been used practically because of its difficulty in controlling its flight. In order to fly an RC helicopter desirably, some automatic flight control systems should be implemented.
In this paper, the mathematical model of a hovering helicopter is derived from the real helicopter model by approximating the rotor as one rigid stick and assuming that the direction of total rotor thrust is normal to tip-path-plane. The dynamics of two kinds of sensors, rate gyro and inclinometer are also investigated. Then the digital control system for the experimental RC helicopter mounted on gimbals is designed by using the above model, and it works satisfactorily. From the experimental results, the validity of the model and the control system is confirmed.
