节点文献
微小型无人机飞行控制系统的设计与实现
The Design and Implementation of the Micro-uav Flight Control System
【作者】 谷新宇；
【导师】 李宗伯；
【作者基本信息】 国防科学技术大学 ， 计算机科学与技术， 2010， 硕士
【摘要】 本文对微小型无人机飞控系统进行了研究,设计了一套微小型无人机的自动飞行控制系统。该系统采用微机械和微电子技术的新成果,综合无人机各控制子系统功能和性能,充分发挥了数字式系统的优势。具体研究的内容如下:1.本文建立了微小型无人机的数字模型,设计了无人机姿态保持和轨迹控制的控制律。数值仿真结果表明,设计的控制律达到了稳定无人机姿态和按指定航线飞行的功能。2.设计了微小型无人机飞行控制的硬件系统。器件的选型以满足性能够用、功耗低、小型化、数字化为要求。设计的核心解算与控制单元为TMS320F2809芯片,传感器采用的是微机电系统(MEMS),包括惯性测量单元IMU、小型数字舵机、GPS接收机、磁航向传感器、气压高度和空速传感器等成熟产品,硬件系统经过调试满足设计要求。3.对飞行控制与管理软件进行了模块化设计,这些模块包括控制律计算子模块、遥控遥测数据的传送子模块、监控信号采集子模块、任务设备管理子模块等。开发的飞控软件实现了对无人机的控制和管理,满足无人机飞行控制和任务管理的设计要求。4.最后本文介绍了各种地面和飞行试验的系统组成,完成了全套系统的半实物仿真试验,针对传感器的动态性能进行了跑车试验,验收阶段进行了实际飞行试验,各项试验数据满足系统的总体设计要求。本文设计的微小型无人机飞控系统有较强的工程应用价值和市场价值。
【Abstract】 Micro UAV flight control system (FCS) is researched in this paper, and the automatic FCS is designed. The system uses a large number of new products of micromechanical and microelectronic technology, compositing the functionality and performance of the UAV control subsystem, the advantages of digital systems are fully exerted.The specific contents of the study are as follows:1. This paper sets up a micro UAV’s figure model in this paper and develops a control law for attitude hold and trajectory control of unmanned planes. The numerical simulation results showed that the control law achieved the function of pose stability and posture according to the designated route.2. A micro-UAV flight control hardware system has been designed. The selection of units must meet the requirements of adequate performance, low power consumption, miniaturization and digitalization.The core solver and control unit is TMS320F2809 chip, sensors adopts the Micro-Electro-Mechanical System(MEMS), including mature products such as inertia measurement unit (IMU), small size digitalized steering engine, GPS receiver, magnetic course sensor, pressure-altitude and airspeed sensor, etc. The hardware system meets the requirements after debugging .3. Modular designs on flight control and management software are carried out in this paper, which includes sub-module of control law computation, sub-module of telemetry & telecontrol data transmission, sub-module for monitoring signal collection as well as management of task and equipment, etc. The developed flight control software realizes control and management of unmanned planes and meets the design requirements on flight control and task management of unmanned planes.In conclusion, this paper describes various grounds and system configuration of the flight tests and completes a hardware-in-loop simulation test of the whole system, a sports car test was done to verify the dynamic performance of the sensors, during the acceptance period, we did a actual flight test and found all data meet the general design requirements.The Mini UAV flight control system design in this paper has a strong value in engineering application and marketing.