基于微机的某型无人机飞控系统的硬件设计及软件实现
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摘要
本文主要研究某型无人机飞控系统的硬件设计、大气数据系统的改进设计与软件实现。
飞行控制器是无人机的重要组成部分，在设计时要求机载设备有足够的抗干扰能力，有很强的工作实时性，在长时间工作条件下具备很高的可靠性。基于上面的种种苛刻要求，在飞控系统设计时采用双单片机同步执行各自任务，以双端口RAM进行数据共享交换的硬件设计方案。单片机采用C8051F120高速高性能混合信号片上系统级芯片，采用多路串行(RS422、CAN)和并行(基于IDT71V256SA~([37])、双口RAM)方式进行通讯。本文给出了较为详细的硬件电路结构设计方案，实现了信号采集、信号处理、数据通信、手遥程控切换、舵机控制等电路功能设计。本文对飞控系统的可靠性也作了一定程度的探讨。
大气数据系统是无人机地面调试时必不可少的组成部分。为了对大气数据系统进行改进设计，需要全数字仿真进行控制器优化，采用不完全微分PID方法设计了跟踪阶跃信号的控制器，采用加入了积分环节的非线性模糊PD方法设计了跟踪斜坡信号的控制器，以求某些控制指标更加符合无人机地面调试的某些要求。在全数字仿真基础上将全数字仿真中建立的代表实物的数学模型都用具体实物代替运用RTW提供的外部模式进行系统实时半物理仿真将参数进一步的整定，然后将设计好的控制律部分提取出来运用RTW在特定设置下进行代码的自动创建。为了能将控制器模型表示的行为能在高精度定时中断控制下在CB环境中周期实时执行，将在特定设置下创建的ANSI C代码进行相应改动，通过具体编程实践将多媒体定时器针对CB环境进行移植，将生成的代码与多媒体定时器一起在CB环境中进行系统总集成。
This paper mainly concerns about the hardware design of Flight Control System(FCS) of a certain Unmanned Air Vehicle(UAV) , the improved design and software realization of a certain atmosphere data system(ADS).
The FCS is one of the most important parts of a certain UAV. The FCS demands adequate anti-jamming ability、 strong real-time ability and long-time high reliability, so the FCS design scheme is adopted which uses double Micro Controller Unit(MCU) working separately at the same time, dual-port SRAM sharing data between two MCUs. The C8051F120 chip is adopted in the FCS, which is a high-speed high-performance mixed-signal System-on-a-Chip MCU. The communication of FCS is composed of multi-serial ports(such as RS422 and CAN) and parallel ports based on dual-port SRAM. The detailed hardware structure design scheme is provided in this paper, which carries out all functional circuit designs such as data collecting、 signal processing、 data communication、 switch shift between manual control and program control、 rudder control. Also the FCS dependability is made a certain attempt in the paper.
The ADS is an absolutely necessary part during ground system test. As for the improved the ADS, the controller's optimization design will be done through the digital simulation. The trace controller of step-function signal is designed through the incomplete derivative PED method and the trace controller of ramp signal is designed through the nonlinear fuzzy PD plus integration method in order to make some control indexes more suitable for some needs at the period of ground system test. On the basis of digital simulation, in order to do the semi-physical simulation using RTW it is required to replace the mathematic models which represent the real entities. The controller's parameters will be settled more practically through the semi-physical simulation. After that the part of controller will be drawn from the system in order to make automatic code generation under specific setting. In order to execute periodly the behavior which the controller's model represents under the control of multi-media timer interrupt in the environment CB, the created ANSI C codes' modifiabilities and the multi-media timer's transplant will be done, eventually the whole system integration is realized in the environment of CB successfully.
飞行控制器是无人机的重要组成部分，在设计时要求机载设备有足够的抗干扰能力，有很强的工作实时性，在长时间工作条件下具备很高的可靠性。基于上面的种种苛刻要求，在飞控系统设计时采用双单片机同步执行各自任务，以双端口RAM进行数据共享交换的硬件设计方案。单片机采用C8051F120高速高性能混合信号片上系统级芯片，采用多路串行(RS422、CAN)和并行(基于IDT71V256SA~([37])、双口RAM)方式进行通讯。本文给出了较为详细的硬件电路结构设计方案，实现了信号采集、信号处理、数据通信、手遥程控切换、舵机控制等电路功能设计。本文对飞控系统的可靠性也作了一定程度的探讨。
大气数据系统是无人机地面调试时必不可少的组成部分。为了对大气数据系统进行改进设计，需要全数字仿真进行控制器优化，采用不完全微分PID方法设计了跟踪阶跃信号的控制器，采用加入了积分环节的非线性模糊PD方法设计了跟踪斜坡信号的控制器，以求某些控制指标更加符合无人机地面调试的某些要求。在全数字仿真基础上将全数字仿真中建立的代表实物的数学模型都用具体实物代替运用RTW提供的外部模式进行系统实时半物理仿真将参数进一步的整定，然后将设计好的控制律部分提取出来运用RTW在特定设置下进行代码的自动创建。为了能将控制器模型表示的行为能在高精度定时中断控制下在CB环境中周期实时执行，将在特定设置下创建的ANSI C代码进行相应改动，通过具体编程实践将多媒体定时器针对CB环境进行移植，将生成的代码与多媒体定时器一起在CB环境中进行系统总集成。
This paper mainly concerns about the hardware design of Flight Control System(FCS) of a certain Unmanned Air Vehicle(UAV) , the improved design and software realization of a certain atmosphere data system(ADS).
The FCS is one of the most important parts of a certain UAV. The FCS demands adequate anti-jamming ability、 strong real-time ability and long-time high reliability, so the FCS design scheme is adopted which uses double Micro Controller Unit(MCU) working separately at the same time, dual-port SRAM sharing data between two MCUs. The C8051F120 chip is adopted in the FCS, which is a high-speed high-performance mixed-signal System-on-a-Chip MCU. The communication of FCS is composed of multi-serial ports(such as RS422 and CAN) and parallel ports based on dual-port SRAM. The detailed hardware structure design scheme is provided in this paper, which carries out all functional circuit designs such as data collecting、 signal processing、 data communication、 switch shift between manual control and program control、 rudder control. Also the FCS dependability is made a certain attempt in the paper.
The ADS is an absolutely necessary part during ground system test. As for the improved the ADS, the controller's optimization design will be done through the digital simulation. The trace controller of step-function signal is designed through the incomplete derivative PED method and the trace controller of ramp signal is designed through the nonlinear fuzzy PD plus integration method in order to make some control indexes more suitable for some needs at the period of ground system test. On the basis of digital simulation, in order to do the semi-physical simulation using RTW it is required to replace the mathematic models which represent the real entities. The controller's parameters will be settled more practically through the semi-physical simulation. After that the part of controller will be drawn from the system in order to make automatic code generation under specific setting. In order to execute periodly the behavior which the controller's model represents under the control of multi-media timer interrupt in the environment CB, the created ANSI C codes' modifiabilities and the multi-media timer's transplant will be done, eventually the whole system integration is realized in the environment of CB successfully.
引文
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