基于μC/OS-Ⅱ的无人机飞行控制系统软件设计
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。
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.
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。
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.
引文
[1]党芬,王敏芳,汪银辉,无人机发展现状及趋势,地面防空武器,2005,(3):49~54
[2] Roger Pratt,Flight control systems:practical issues in design and implementation,IEE Control Engineering Series,2000:57
[3]张明廉,飞行控制系统,北京,航空工业出版社,1994:13~16
[4] Peter Amey,Correctness by Construction: better can also be cheaper,Journal of Defense Software Engineering,2002,(3):24~30
[5]马卫华,飞行控制软件可靠性设计探讨,北京,航天控制,2002:77~81
[6]宋征宇,飞行控制软件可靠性设计,北京,导弹与航天运载技术,1997:5~10
[7] Halang Wolfgang,Alexander D Stoyenko,Constructing Predictable Real Time Systems,Kluwer Academic Publishers Group,1991:211~205
[8] Ramamritham K,Stankovic J,Scheduling Algorithms and Operating Systems Support for Real-Time Systems,Proceedings of the IEEE,1994,(1):25~26
[9]耿通奋,无人机实时仿真与测试系统综合设计,[硕士学位论文],南京,南京航空航天大学,2003
[10] Brian Stevens,Frank Lewis,Aircraft controland simutation,John Wiley&Sons Inc,1992:25~26
[11] Micheli G D,Gupta R K,Hardware/software code sign,Proceedings of the IEEE,1997,85(3):349～366
[12] Roger Pratt,Flight control systems:practical issues in design and implementation,IEE Control Engineering Series,2000:57
[13]芦彩林,丁刚毅,嵌入式软件全数字仿真测试环境设计,北京,计算机仿真,2007:296~297
[14]周广忠,樊琼剑,沈春林,飞行控制计算机的抗干扰性设计,现代电子技术,2006,6:119～121
[15] Auslander D M,Tham C H,Real-Time Software for Control Program Examples in C,Hall.International (UK) Ltd,1990:23~25
[16]路蔼梅,李新军,何进,王松,一种无人机通用综合检测系统,北京航空航天大学学报,2006,32(1):27~30
[17]苏永振,胡延霖,赵菲,基于ARM的无人机飞行控制系统的实现,河南,计算机测量与控制,2005:1063~1065
[18] MPC555 / MPC556 USER’S MANUAL,Freescale Semiconductor.Inc,2000:459~510
[19] Philips Melanson,Siamak Tafozoli,A Selection Methodology for the RTOS market,Canadian Space Agency,2003:23~29
[20]冉汉政,嵌入式实时操作系统μC/OS-Ⅱ在控制系统中的应用,现代电子技术,2003,(13):84~86
[21]刘铁志,μC/OS-Ⅱ在嵌入式系统中的研究与应用,[硕士学位论文],成都,电子科技大学,2005
[22] Micheli G D,Gupta R K,Hardware/software code sign,Proceedings of the IEEE,1997,85(3):349～366
[23] Jean J.Labrosse,嵌入式实时操作系统μC/OS-Ⅱ(第2版)(邵贝贝),北京,北京航空航天大学出版社,2003:1~115
[24]杨柳庆,肖前贵,刘久富,无人机飞行控制软件抗干扰设计,微型电脑应用,2007:1~2
[25]王奕,黄一敏,王刚,等,小型无人直升机机载飞行控制软件设计,第一届导航、制导与控制会议,北京,2007
[26]王辉,徐锦法,基于组件的飞行控制系统软件设计方法,计算机仿真,2004:24~27
[27] I. R. Kendall and R. P. Jones,An investigation into the use of hardware-in-the-loop simulation testing for automotive electronic control systems,Control Engineering Practice,1999:1343~1356
[28]路蔼梅,李新军,何进,王松,一种无人机通用综合检测系统,北京航空航天大学学报,2006,32(1):27~30
[29]耿通奋,无人机实时仿真与测试系统综合设计,[硕士学位论文],南京,南京航空航天大学,2003
[30]蔡强军,飞行控制计算机地面综合测试软件的开发与设计,[硕士学位论文],南京,南京航空航天大学,2007
[31] Jean J.Labrosse,Embedded Systems Building Blocks(Second Edition),R&D Books,2000:115~118
[32]周航慈,吴光文,基于嵌入式实时操作系统的程序设计技术,北京,北京航空航天大学出版社,2006:1~206
[33]刘铁志,μC/OS-Ⅱ在嵌入式系统中的研究与应用,[硕士学位论文],成都,电子科技大学,2005
[34]李推博,甘海云,张俊智,卢青春,实时嵌人式操作系统μC/OS-Ⅱ在MPC555上的移植,计算机应用,2003:19~21
[35]李雅博、甘海云,实时嵌入式操作系统μC/OS-Ⅱ在MPC555上的移植,计算机应用,2003.12
[36]甘海云、张俊智、卢青春,基于MPC555高性能32位单片机的混合动力汽车工况控制研究,维普资讯,2004.11
[37] MPC555/MPC556 USER’S MANUAL,Freescale Semiconductor.Inc,2000:205~259
[38]周航慈,吴光文,基于嵌入式实时操作系统的程序设计技术,北京,北京航空航天大学出版社,2006:1~206
[39]孙春贞,重复使用运载器末端区域能量管理轨迹鲁棒性分析,[硕士学位论文],南京,南京航空航天大学,2008
[2] Roger Pratt,Flight control systems:practical issues in design and implementation,IEE Control Engineering Series,2000:57
[3]张明廉,飞行控制系统,北京,航空工业出版社,1994:13~16
[4] Peter Amey,Correctness by Construction: better can also be cheaper,Journal of Defense Software Engineering,2002,(3):24~30
[5]马卫华,飞行控制软件可靠性设计探讨,北京,航天控制,2002:77~81
[6]宋征宇,飞行控制软件可靠性设计,北京,导弹与航天运载技术,1997:5~10
[7] Halang Wolfgang,Alexander D Stoyenko,Constructing Predictable Real Time Systems,Kluwer Academic Publishers Group,1991:211~205
[8] Ramamritham K,Stankovic J,Scheduling Algorithms and Operating Systems Support for Real-Time Systems,Proceedings of the IEEE,1994,(1):25~26
[9]耿通奋,无人机实时仿真与测试系统综合设计,[硕士学位论文],南京,南京航空航天大学,2003
[10] Brian Stevens,Frank Lewis,Aircraft controland simutation,John Wiley&Sons Inc,1992:25~26
[11] Micheli G D,Gupta R K,Hardware/software code sign,Proceedings of the IEEE,1997,85(3):349～366
[12] Roger Pratt,Flight control systems:practical issues in design and implementation,IEE Control Engineering Series,2000:57
[13]芦彩林,丁刚毅,嵌入式软件全数字仿真测试环境设计,北京,计算机仿真,2007:296~297
[14]周广忠,樊琼剑,沈春林,飞行控制计算机的抗干扰性设计,现代电子技术,2006,6:119～121
[15] Auslander D M,Tham C H,Real-Time Software for Control Program Examples in C,Hall.International (UK) Ltd,1990:23~25
[16]路蔼梅,李新军,何进,王松,一种无人机通用综合检测系统,北京航空航天大学学报,2006,32(1):27~30
[17]苏永振,胡延霖,赵菲,基于ARM的无人机飞行控制系统的实现,河南,计算机测量与控制,2005:1063~1065
[18] MPC555 / MPC556 USER’S MANUAL,Freescale Semiconductor.Inc,2000:459~510
[19] Philips Melanson,Siamak Tafozoli,A Selection Methodology for the RTOS market,Canadian Space Agency,2003:23~29
[20]冉汉政,嵌入式实时操作系统μC/OS-Ⅱ在控制系统中的应用,现代电子技术,2003,(13):84~86
[21]刘铁志,μC/OS-Ⅱ在嵌入式系统中的研究与应用,[硕士学位论文],成都,电子科技大学,2005
[22] Micheli G D,Gupta R K,Hardware/software code sign,Proceedings of the IEEE,1997,85(3):349～366
[23] Jean J.Labrosse,嵌入式实时操作系统μC/OS-Ⅱ(第2版)(邵贝贝),北京,北京航空航天大学出版社,2003:1~115
[24]杨柳庆,肖前贵,刘久富,无人机飞行控制软件抗干扰设计,微型电脑应用,2007:1~2
[25]王奕,黄一敏,王刚,等,小型无人直升机机载飞行控制软件设计,第一届导航、制导与控制会议,北京,2007
[26]王辉,徐锦法,基于组件的飞行控制系统软件设计方法,计算机仿真,2004:24~27
[27] I. R. Kendall and R. P. Jones,An investigation into the use of hardware-in-the-loop simulation testing for automotive electronic control systems,Control Engineering Practice,1999:1343~1356
[28]路蔼梅,李新军,何进,王松,一种无人机通用综合检测系统,北京航空航天大学学报,2006,32(1):27~30
[29]耿通奋,无人机实时仿真与测试系统综合设计,[硕士学位论文],南京,南京航空航天大学,2003
[30]蔡强军,飞行控制计算机地面综合测试软件的开发与设计,[硕士学位论文],南京,南京航空航天大学,2007
[31] Jean J.Labrosse,Embedded Systems Building Blocks(Second Edition),R&D Books,2000:115~118
[32]周航慈,吴光文,基于嵌入式实时操作系统的程序设计技术,北京,北京航空航天大学出版社,2006:1~206
[33]刘铁志,μC/OS-Ⅱ在嵌入式系统中的研究与应用,[硕士学位论文],成都,电子科技大学,2005
[34]李推博,甘海云,张俊智,卢青春,实时嵌人式操作系统μC/OS-Ⅱ在MPC555上的移植,计算机应用,2003:19~21
[35]李雅博、甘海云,实时嵌入式操作系统μC/OS-Ⅱ在MPC555上的移植,计算机应用,2003.12
[36]甘海云、张俊智、卢青春,基于MPC555高性能32位单片机的混合动力汽车工况控制研究,维普资讯,2004.11
[37] MPC555/MPC556 USER’S MANUAL,Freescale Semiconductor.Inc,2000:205~259
[38]周航慈,吴光文,基于嵌入式实时操作系统的程序设计技术,北京,北京航空航天大学出版社,2006:1~206
[39]孙春贞,重复使用运载器末端区域能量管理轨迹鲁棒性分析,[硕士学位论文],南京,南京航空航天大学,2008