无人机控制器软件研制与控制算法设计

【作者】 薛尧舜；

【导师】 卢京潮；

【作者基本信息】 西北工业大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 本文主要涉及了无人机控制器的硬件研制和软件编写问题。该控制器和通讯机通讯，获取地面控制信息并且回传信息；通过机载传感器获取无人机位置姿态信息；进行飞行控制计算；输出控制量，驱动执行机构调整飞机姿态；在失控的情况下能够对飞机进行保护。 飞行控制器的控制程序的实现是本文的主要目的，文中详细叙述了系统的软件框架，采用了Tasking C196编译器，将实时操作系统μC／OS-Ⅱ移植到了Intel的80C196KC上，并对采用了实时操作系统控制的的单片机编程进行了探索。本文中也对RS232串口通讯进行了一定程度的探讨。最后，也根据已有得飞机参数构造了飞控仿真程序和模块，对飞机进行了仿真，并采用经典控制方法设计了控制律，得到了比较好的仿真结果。更多还原

【Abstract】 This paper mainly focuses on the hardware design of the/a set of mini-UAV and the implementation of the flight control software for the UAV. The functions of the flight controller are: communicating with the communication computer by a RS-232 protocol; getting commands from the ground for the UAV; reporting the position and attitude information to the ground control station via the communication computer; obtaining the position and attitude of the UAV by sensors; processing the incoming sensors’ data and calculating the control output; driving the actuators to keep the UAV under control. If the UAV is out of control, the flight controller will deal with it.The main purpose of this paper is to implement a control application. A detailedsoftware frame is given in this article. The writer ports the RTOS μ C/OS-II to theINTEL 80cl96kc with the Tasking C196 compiler, and discovers the method of programming with RTOS. Communication between the two devices via RS232 protocol is discussed, too. At last, with the gained parameters of the UAV, The author analyzed the UAV model’s characteristics, and designed the compensators for the UAV and simulated the whole system under MATLAB environment using the MATLAB script language and SIMULINK blocks.更多还原