【作者】 郑晓川；

【导师】 黄一敏；

【作者基本信息】 南京航空航天大学 ， 导航、制导与控制， 2009， 硕士

【摘要】 本文基于嵌入式实时操作系统μC/OS-Ⅱ,构造以μC/OS-Ⅱ为核心的无人机飞行控制软件设计的新型开发方法。本文将飞行控制软件按开发阶段分为等效飞行控制软件和机载飞行控制软件,为飞行控制开发不同的阶段服务。同时,这两套软件相互联系,相互补充,它们之间的区别仅仅在于底层驱动部分,其控制导航核心代码可以100%进行移植。首先在传统飞行控制软件设计方法的基础上,根据实验室背景提出基于μC/OS-Ⅱ的新型飞行控制软件开发方法。其次,根据新型飞行控制软件开发方法设计了等效飞行仿真系统,在完成μC/OS-Ⅱ在Windows环境仿真运行移植的基础下,设计了等效飞行控制软件、集成仿真环境,并解决了等效飞行仿真系统的通信问题。经设计等效飞行仿真系统可以完成对上层飞行控制软件的全航线仿真测试,并且可以实现将控制导航核心代码100%移植到机载飞行控制软件中。之后,机载飞行控制软件的上层控制导航代码由上述等效飞行控制软件100%移植而来,然后完成了机载飞行控制软件的底层软件设计,解决了μC/OS-Ⅱ在MPCC555处理器上的移植、MPC555异常体系下μC/OS-Ⅱ中断服务程序设计、CPU资源驱动设计、外围板卡驱动等关键问题。并且设计了针对μC/OS-Ⅱ实时操作系统的三个外围扩展模块。包括串行中断通讯模块(OSCom模块)、精确时间测量模块(OSBench模块)、软件监视模块(通用PC模块)。最后,对本文所有工作进行了系统、精确的试验验证。其中精确测量了μC/OS-Ⅱ在MPC555处理器的运行性能,证明该飞行控制软件平台的可用性;等效飞行仿真实验验证了等效飞行控制软件的逻辑正确性、控制可行性;半物理实时仿真验证了机载飞行控制软件的设计。本文提出的新型飞行控制软件开发方法已经在实验室内部开始使用,本文设计的新型机载飞行控制软件已经使用在某项目中,已经进行了与无人机的现场联调,即将试飞。更多还原

【Abstract】 This article puts emphasis on building a new flight control software development structure based on the real time operation systemμC/OS-Ⅱ.Design the embedded part and windows part respectively,and both of them worked on the different period of the software development,and the difference of them is only the low-level driver,but the control law code can be transplanted 100%.Firstly, based on the traditionally way to R&D flight control systerm software, and the actuality of our laboratory, the new way of flight control systerm software has been brought forward.Secondly, based on this paper realized new way to R&D of software, equivalent flight emulation systerm is been designed. Based theμC/OS-Ⅱsimulation operation on Windosw,designs the related software of the equivalent flight control system.This systerm can be used to test the flight control system software,and after that the application layer of the software can be transplanted to the embed flight control software.Thirdly, after the transplantion, the bottom of the embed software has been designed here. The pivotal technology includes the driver for thr source of CPU,the driver for the extend source and theμC/OS-Ⅱoperation on MPC555 has been figured out. Three modules include the serial communication module with the interrupt method (OSCom module), the general monitoring for software (PC module), the meterage for exactitude time (OSBench module) has been expanded.Finally,all of the works have an accurate test and emulation include the capability of theμC/OS-Ⅱoperation on MPC555,the equivalent flight emulate system and the embed flight control software in the physical entironment.The new flight control software development structure has been used firstly.The embed flight control software has been tested with the UAV and will be used on high.更多还原