基于DSP的无人机飞控计算机的设计与实现
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摘要
无人机作为新兴的高新技术装备,正以其价格低廉、使用灵活等特点在军用和民用领域中发挥着越来越重要的作用。而无人机飞行控制计算机作为无人机飞控系统的核心组成部分,其性能的高低直接决定了无人机飞控系统的技术水平。面对飞控计算机在处理速度和小型化方面的要求越来越高,采用DSP为核心处理器的新一代无人机飞控计算机已成为目前飞控系统的研究热点之一。
本文针对某小型无人机,提出并实现了基于DSP的无人机飞行控制计算机的设计。系统硬件平台采用模块化的设计方案,以TI公司DSP芯片TMS320LF2407A为核心处理器,辅以外扩存储器、信号采集模块、驱动控制模块、多通道串口通信模块等硬件扩展资源,并采用了复杂可编程逻辑单元(CPLD)实现外围扩展电路的片选与中断控制。在硬件平台的印制电路板(PCB)设计中,着重考虑了系统的电磁兼容(EMC)特性,并采取了一定的硬件抗干扰措施。在系统硬件平台设计完成后,针对系统的硬件调试设计编写了大量的测试程序,对系统进行了全面的调试,并编写了一些底层的驱动软件。
通过对无人机飞控计算机的硬件平台长时间全方面的测试后表明,设计方案合理可行,系统具有可靠性高、实时性好、体积小和功耗低等特点,切实提高了某小型无人机飞行控制系统的控制能力和运算能力。
As kind of emerging high-tech equipments, the UAV (Unmanned Aerial Vehicle) which has characteristics of low cost and flexibly application, is playing a more and more important role both in military and civil. As the core components of the UAV Flight Control System, the performance of The Flight Control Computer to determines the performance of UAV Flight Control System directly. Meeting the demands of the Flight Control Computer’s high processing speed and miniaturization, a new generation of Flight Control Computer using DSP as the core processor has emerged and becames a hot research field.
This paper demonstrates a design of a small UVA’s Flight Control Computer based on DSP (Digital Signal Processor). The hardware platform design utilizes the concept of modularization design, which takes TI's DSP chip TMS320LF2407A as the CPU, with the extension of Memory unit, Signal Acquisition Module, Driver and Control Module, Multi-channel Serial Communication Module and some other Hardware interface resources. And the Flight Control Computer uses a CPLD (Complex Programmable Logic Device) to accomplish the function of chip-selection and interrupt-control for external extension circuit. Emphasis has been put on the EMC (Electro Magnetic Compatibility) when designing the hardware platform PCB (printed circuit board), and many hardware anti-interference measures are taken. After that, we designed the massive software to debug the system's hardware platform. At the end of this paper, we also illustrated some bottom-driven software designed for the hardware platform.
After a long time and a comprehensive test of the Flight Control Computer System, it is showed that the design is reasonable and feasible. In addition, the system has a fine performance with good reliability and good real-time performance, small volume and low power consumption and so on. The control and the operational capability of the small UAV Flight Control System has been improved.
本文针对某小型无人机,提出并实现了基于DSP的无人机飞行控制计算机的设计。系统硬件平台采用模块化的设计方案,以TI公司DSP芯片TMS320LF2407A为核心处理器,辅以外扩存储器、信号采集模块、驱动控制模块、多通道串口通信模块等硬件扩展资源,并采用了复杂可编程逻辑单元(CPLD)实现外围扩展电路的片选与中断控制。在硬件平台的印制电路板(PCB)设计中,着重考虑了系统的电磁兼容(EMC)特性,并采取了一定的硬件抗干扰措施。在系统硬件平台设计完成后,针对系统的硬件调试设计编写了大量的测试程序,对系统进行了全面的调试,并编写了一些底层的驱动软件。
通过对无人机飞控计算机的硬件平台长时间全方面的测试后表明,设计方案合理可行,系统具有可靠性高、实时性好、体积小和功耗低等特点,切实提高了某小型无人机飞行控制系统的控制能力和运算能力。
As kind of emerging high-tech equipments, the UAV (Unmanned Aerial Vehicle) which has characteristics of low cost and flexibly application, is playing a more and more important role both in military and civil. As the core components of the UAV Flight Control System, the performance of The Flight Control Computer to determines the performance of UAV Flight Control System directly. Meeting the demands of the Flight Control Computer’s high processing speed and miniaturization, a new generation of Flight Control Computer using DSP as the core processor has emerged and becames a hot research field.
This paper demonstrates a design of a small UVA’s Flight Control Computer based on DSP (Digital Signal Processor). The hardware platform design utilizes the concept of modularization design, which takes TI's DSP chip TMS320LF2407A as the CPU, with the extension of Memory unit, Signal Acquisition Module, Driver and Control Module, Multi-channel Serial Communication Module and some other Hardware interface resources. And the Flight Control Computer uses a CPLD (Complex Programmable Logic Device) to accomplish the function of chip-selection and interrupt-control for external extension circuit. Emphasis has been put on the EMC (Electro Magnetic Compatibility) when designing the hardware platform PCB (printed circuit board), and many hardware anti-interference measures are taken. After that, we designed the massive software to debug the system's hardware platform. At the end of this paper, we also illustrated some bottom-driven software designed for the hardware platform.
After a long time and a comprehensive test of the Flight Control Computer System, it is showed that the design is reasonable and feasible. In addition, the system has a fine performance with good reliability and good real-time performance, small volume and low power consumption and so on. The control and the operational capability of the small UAV Flight Control System has been improved.
引文
[1] Paul G.Fashlstrom,Thomas J. Gleason.无人机系统导论(吴汉平译).北京:电子工业出社,2003:1~10.
[2]韩冰,张秋菊,徐世录.无人战斗机的现状与发展趋势.飞航导弹,2005,10:45~49.
[3] Peter van BLYENBURGH.UAVs: an Overview.AIR & SPACE EUROPE,1999,1(5) :43~47.
[4]时间.无人战斗机发展概况.海事大观,2006,9:90~92.
[5]苏新兵等.无人机发展综述.航空制造技术,2003,9:28~30.
[6] Hall CE.On board flight computers for flight testing small uninhabited aerial vehicles,2002 45TH MIDWEST SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOL II, CONFERENCE PROCEEDINGS,2002:139~143.
[7]文传源.现代飞行控制系统.北京:北京航空航天大学出版社,1992.
[8]张明廉.飞行控制系统.北京:航空工业出版社,1994.
[9]淳于江民,张珩.无人机的发展现状与展望.飞航导弹,2005,2:24.
[10]张纯学.国外几种无人机的制导与飞行控制.飞航导弹,2003,11:56~61.
[11]曹云峰,苏丙末等.无人机飞行控制系统先进设计技术评述.飞机设计,2001,4:10~14.
[12]张悦.基于ARM处理器的无人机飞行控制计算机设计,[硕士学位论文] .哈尔滨:哈尔滨工程大学,2007:2~3.
[13]张小林.基于PC 104的飞行控制系统.测控技术,2000,19(12):24~25.
[14]潘慕绚,张天宏,黄金泉.基于C8051F020单片机的某无人机飞控系统硬件平台的设计与开发.测控技术,2003,22(1):30~33.
[15] He Qinghua, Yang Min.Design of a small UAV flight control system based on DSP, 2008, 36(n SUPPL.1):254~257.
[16] TMS320LF/LC240xA DSP Controllers Reference Guide System and Periphals.Texas Instruments,2001:1~3.
[17] TMS320LF2407,TMS320LF2406,TMS320LF2402 DSP Cotrollers.Texas Instruments, 2002.
[18] IS61LV6416 HIGH-SPED COMS STAIC RAM WITH 3.3V SUPPLY.Icsi Incorporated, 2005.
[19] DS1258Y/AB Nonvolatile SRAM.DALLAS SEMICONDUCTOR,2005.
[20] TPS76833 FAST-TRANSIENT-RESPONSE VOLTAGE REGULATORS.Texas Instruments Incorporated,1998.
[21]江思敏.TMS320LF240X DSP硬件开发教程[M].北京:机械工业出版社,2003,6: 274~279.
[22]吴皓,刘鹏.基于JTAG的DSP处理器嵌入式调试接口设计.计算机工程,2005,1:228.
[23] TMS320LF2407A DSP Controllers .Texas Instruments,2002.
[24]孙传友,孙晓斌,汉泽西等,测控系统原理与设计.北京:北京航空航天大学出版社,2002:198~240.
[25] Multi-Range,Single +5v,12-Bit DAS with 8+4 Bus Interface.MAXIM Incorporated,2001: 1~14.
[26] DAC7725 12Bit Quad Voltage Output Digital-To-Analog Converter.Burr-Brown Incorporated,April,2000.
[27]付丽,刘卫国,伊强.单片机控制的多路舵机用PWM波产生方法.微特电机,2006,2:28.
[28]罗秋凤.某小型无人机飞控机的通讯系统设计[J] .微计算机信息,2007,10(23):260~261.
[29]吴益明等.无人机遥控遥测数据的实时处理研究.计算机测量与控制,2006,14(5) :681-682.
[30] TL16C754A ASYCHRONOUS-COMMUNICATIONS ELEMENT.Texas Instruments Incorporated,2000.
[31]仲筱艳.基于DSP飞控计算机的研究设计,[硕士学位论文] .南京:南京航空航天大学,2004:3.
[32] MAX7000 Programmable Logic Device Family.Alter Incoporated,2003.
[33]求是科技编著.CPLD/FPGA应用开发技术与工程实践.北京:人民邮电出版社,2005.
[34]侯伯亨.VHDL硬件描述语言与数字逻辑电路设计.西安:西安电子科技大学出版社,1999.
[35]于枫等.ALTERA可编程逻辑器件应用技术.北京:科学出版社,2004.
[36] VRA_D-10W & VRB_D-10W系列10W,2:1宽电压输入,隔离稳压正负双路/单路,DIP封装DC-DC模块电源.广州金升阳科技有限公司,2007:2.
[37] VRA_D-5W & VRB_D-5W系列5W,2:1宽电压输入,隔离稳压正负双路/单路,DIP封装DC-DC模块电源.广州金升阳科技有限公司,2007:2.
[38]阎冬.印刷电路板的基本设计方法及在高频电路中的布线技巧.集成电路通讯,2006,24(2):8~11.
[39]向君.基于DSP的字符识别系统的硬件设计,[硕士学位论文] .沈阳:沈阳工业大学,2004.
[40] (英)Tim William著.电磁兼容设计与测试(李迪等译).北京:电子工业出版社,2008.
[41] Mark I.Montrose著.电磁兼容和印刷电路板(刘元安等译).北京:人民邮电出版社,2002.
[42]顾海洲,马双武著.PCB电磁兼容技术.北京:清华大学出版社,2004:6.
[43] TMS320C2x/C2xx/C5x Optimizing C Compiler User’s Guide.Texas Instruments,1999:2~45.
[44]尹勇等.DSP集成开发环境CCS开发指南.北京:北京航空航天大学出版社,2003,6: 18~47.
[45]清源科技.TMS320LF240X DSP应用程序设计教程.北京:机械工业出版社,2003,7: 297~325.
[46]周德卿.CCS集成开发环境下C与汇编的混合编程实现.微电子技术,2002,30(2): 23~36.
[47] Code Composer Studio Getting Started Guide.Texas Instruments,2001:35~64.
[48]颜荣江.多量程可程控12位A/D采集系统MAX197.热门集成电路与应用,1996,3:36.
[49] Texas Instruments Incorporated.TMS320LF/LC24系列DSP的CPU与外设.北京:清华大学出版社,2004:16~23.
[50]何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术.北京:电子工业出版社,2005,7:240~247.
[2]韩冰,张秋菊,徐世录.无人战斗机的现状与发展趋势.飞航导弹,2005,10:45~49.
[3] Peter van BLYENBURGH.UAVs: an Overview.AIR & SPACE EUROPE,1999,1(5) :43~47.
[4]时间.无人战斗机发展概况.海事大观,2006,9:90~92.
[5]苏新兵等.无人机发展综述.航空制造技术,2003,9:28~30.
[6] Hall CE.On board flight computers for flight testing small uninhabited aerial vehicles,2002 45TH MIDWEST SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOL II, CONFERENCE PROCEEDINGS,2002:139~143.
[7]文传源.现代飞行控制系统.北京:北京航空航天大学出版社,1992.
[8]张明廉.飞行控制系统.北京:航空工业出版社,1994.
[9]淳于江民,张珩.无人机的发展现状与展望.飞航导弹,2005,2:24.
[10]张纯学.国外几种无人机的制导与飞行控制.飞航导弹,2003,11:56~61.
[11]曹云峰,苏丙末等.无人机飞行控制系统先进设计技术评述.飞机设计,2001,4:10~14.
[12]张悦.基于ARM处理器的无人机飞行控制计算机设计,[硕士学位论文] .哈尔滨:哈尔滨工程大学,2007:2~3.
[13]张小林.基于PC 104的飞行控制系统.测控技术,2000,19(12):24~25.
[14]潘慕绚,张天宏,黄金泉.基于C8051F020单片机的某无人机飞控系统硬件平台的设计与开发.测控技术,2003,22(1):30~33.
[15] He Qinghua, Yang Min.Design of a small UAV flight control system based on DSP, 2008, 36(n SUPPL.1):254~257.
[16] TMS320LF/LC240xA DSP Controllers Reference Guide System and Periphals.Texas Instruments,2001:1~3.
[17] TMS320LF2407,TMS320LF2406,TMS320LF2402 DSP Cotrollers.Texas Instruments, 2002.
[18] IS61LV6416 HIGH-SPED COMS STAIC RAM WITH 3.3V SUPPLY.Icsi Incorporated, 2005.
[19] DS1258Y/AB Nonvolatile SRAM.DALLAS SEMICONDUCTOR,2005.
[20] TPS76833 FAST-TRANSIENT-RESPONSE VOLTAGE REGULATORS.Texas Instruments Incorporated,1998.
[21]江思敏.TMS320LF240X DSP硬件开发教程[M].北京:机械工业出版社,2003,6: 274~279.
[22]吴皓,刘鹏.基于JTAG的DSP处理器嵌入式调试接口设计.计算机工程,2005,1:228.
[23] TMS320LF2407A DSP Controllers .Texas Instruments,2002.
[24]孙传友,孙晓斌,汉泽西等,测控系统原理与设计.北京:北京航空航天大学出版社,2002:198~240.
[25] Multi-Range,Single +5v,12-Bit DAS with 8+4 Bus Interface.MAXIM Incorporated,2001: 1~14.
[26] DAC7725 12Bit Quad Voltage Output Digital-To-Analog Converter.Burr-Brown Incorporated,April,2000.
[27]付丽,刘卫国,伊强.单片机控制的多路舵机用PWM波产生方法.微特电机,2006,2:28.
[28]罗秋凤.某小型无人机飞控机的通讯系统设计[J] .微计算机信息,2007,10(23):260~261.
[29]吴益明等.无人机遥控遥测数据的实时处理研究.计算机测量与控制,2006,14(5) :681-682.
[30] TL16C754A ASYCHRONOUS-COMMUNICATIONS ELEMENT.Texas Instruments Incorporated,2000.
[31]仲筱艳.基于DSP飞控计算机的研究设计,[硕士学位论文] .南京:南京航空航天大学,2004:3.
[32] MAX7000 Programmable Logic Device Family.Alter Incoporated,2003.
[33]求是科技编著.CPLD/FPGA应用开发技术与工程实践.北京:人民邮电出版社,2005.
[34]侯伯亨.VHDL硬件描述语言与数字逻辑电路设计.西安:西安电子科技大学出版社,1999.
[35]于枫等.ALTERA可编程逻辑器件应用技术.北京:科学出版社,2004.
[36] VRA_D-10W & VRB_D-10W系列10W,2:1宽电压输入,隔离稳压正负双路/单路,DIP封装DC-DC模块电源.广州金升阳科技有限公司,2007:2.
[37] VRA_D-5W & VRB_D-5W系列5W,2:1宽电压输入,隔离稳压正负双路/单路,DIP封装DC-DC模块电源.广州金升阳科技有限公司,2007:2.
[38]阎冬.印刷电路板的基本设计方法及在高频电路中的布线技巧.集成电路通讯,2006,24(2):8~11.
[39]向君.基于DSP的字符识别系统的硬件设计,[硕士学位论文] .沈阳:沈阳工业大学,2004.
[40] (英)Tim William著.电磁兼容设计与测试(李迪等译).北京:电子工业出版社,2008.
[41] Mark I.Montrose著.电磁兼容和印刷电路板(刘元安等译).北京:人民邮电出版社,2002.
[42]顾海洲,马双武著.PCB电磁兼容技术.北京:清华大学出版社,2004:6.
[43] TMS320C2x/C2xx/C5x Optimizing C Compiler User’s Guide.Texas Instruments,1999:2~45.
[44]尹勇等.DSP集成开发环境CCS开发指南.北京:北京航空航天大学出版社,2003,6: 18~47.
[45]清源科技.TMS320LF240X DSP应用程序设计教程.北京:机械工业出版社,2003,7: 297~325.
[46]周德卿.CCS集成开发环境下C与汇编的混合编程实现.微电子技术,2002,30(2): 23~36.
[47] Code Composer Studio Getting Started Guide.Texas Instruments,2001:35~64.
[48]颜荣江.多量程可程控12位A/D采集系统MAX197.热门集成电路与应用,1996,3:36.
[49] Texas Instruments Incorporated.TMS320LF/LC24系列DSP的CPU与外设.北京:清华大学出版社,2004:16~23.
[50]何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术.北京:电子工业出版社,2005,7:240~247.