抄録
In spite that an RC helicopter has various advantages due to its small size and wireless operation, because of its inherent instability, some automatic flight control system is desirable to be implemented in order to fly it desirably. In this paper, a control system for the RC helicopter with five degrees of freedom which can be used for the training simulator is proposed and implemented by minicomputer. The design technique based on discrete Model Following Servo control system, where the criteion function is specified in continuous time is proposed. This technique is effective when the sampling time can't be decided a priori or has to be changed due to the change of program because the designed closed loop characteristic is equivalent to the continuous one. Reference models whose time scale is changed and whose degrees of freedom are restricted are used. The simulator can mimic the motion of RC helicopter and the validity of the model and the control system is confirmed experimentally.
