基于VxWorks的无人机飞行控制软件设计
|
摘要
飞行控制软件是无人机飞行控制系统的重要组成部分,在飞行控制系统设计中越来越重要,其性能直接关系到无人机的飞行成败。本文设计以嵌入式实时操作系统VxWorks为软件平台的无人机飞行控制软件,提出采用一种新的基于“等效飞控”的飞行控制软件设计方法,把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。飞行控制软件中的上层核心模块控制和导航模块由基于PC机的等效飞行控制软件来完成,底层模块和其余上层功能模块在目标机环境下开发完成。最后,实现将控制和导航模块100%移植到目标机环境下,共同组成机载飞行控制软件。
首先,针对新的MPC565目标机,开发飞行控制软件的底层驱动。完成MPC565自带串口以及CPU目标板上相关硬件资源的驱动开发;在继承实验室原有成果的基础上,完成飞控机中相应的PC104总线各个扩展板卡在VxWorks下驱动的移植设计。
其次,依据VxWorks的多任务机制,完成飞行控制软件中上层功能模块在VxWorks实时操作系统下的的移植。这些功能模块主要包括:执行机构模块、传感器模块、遥控遥测模块、地面检测模块、机载设备模块等。
最后,根据“等效飞控”的思想,借助Win32-POSIX函数库,在VC6.0环境下完成等效飞行控制软件的设计。同时,继承实验室已有的等效飞行仿真控制台软件,采用基于WIL库的UDP网络通信机制,建立与等效飞行控制软件之间的通信,二者构成等效飞行仿真系统,用于验证设计的控制和导航模块的正确性。
本文对上述所做工作进行了系统的试验验证。完成了内核性能、软件性能、底层驱动等测试,验证了基于MPC565和VxWorks的飞行控制软件平台的可用性;在半物理仿真环境下,验证了基于VxWorks的机载飞行控制软件。结果表明采用“等效飞控”的飞行控制软件设计方法是切实可行的。
Flight control software is one of the most important part of UAV flight control system, it becomes more and more important and determines the success of the flight directly. This paper designs the UAV flight control software based on the real time operation system VxWorks, and put forward a new approach to design the flight control software based on“equivalent flight control”. It Designs the embedded part and windows part respectively on the different period of the software development.The control and navigation modules of flight control software were designed based on Windows, the driver and the rest of the functional modules of flight control software were designed based on embedded environment, the control and navigation modules can be transplanted 100%.
Firstly, it develops the driver of flight control software based on new MPC565 target.These driver contains the MPC565 serial and the relevant hardware resources of target Board.In addition, the driver of the other PC104 I/O board can be transplanted from existing driver.
Secondly, Based on VxWorks multitasking mechanism, it transplants the functional modules of FCS to VxWorks environment.These functional modules including: Actuators module, Sensor module, Test module, Remote module, Device module such as the module.
Finally, based on“equivalent flight control”, it develops equivalent flight control software useing Win32-POSIX libraries in the VC6.0 development enviroments.Meanwhile,based on the WIL-UDP network of communication mechanism, this paper designs the equivalent flight control simulation system,that is used to verify the accuracy of control and navigation modules of flight control software .
All of the works have an comprehensive test and emulation.The result shows that the method of flight control design based on“equivalent flight control”is conscientiously feasible in project.
首先,针对新的MPC565目标机,开发飞行控制软件的底层驱动。完成MPC565自带串口以及CPU目标板上相关硬件资源的驱动开发;在继承实验室原有成果的基础上,完成飞控机中相应的PC104总线各个扩展板卡在VxWorks下驱动的移植设计。
其次,依据VxWorks的多任务机制,完成飞行控制软件中上层功能模块在VxWorks实时操作系统下的的移植。这些功能模块主要包括:执行机构模块、传感器模块、遥控遥测模块、地面检测模块、机载设备模块等。
最后,根据“等效飞控”的思想,借助Win32-POSIX函数库,在VC6.0环境下完成等效飞行控制软件的设计。同时,继承实验室已有的等效飞行仿真控制台软件,采用基于WIL库的UDP网络通信机制,建立与等效飞行控制软件之间的通信,二者构成等效飞行仿真系统,用于验证设计的控制和导航模块的正确性。
本文对上述所做工作进行了系统的试验验证。完成了内核性能、软件性能、底层驱动等测试,验证了基于MPC565和VxWorks的飞行控制软件平台的可用性;在半物理仿真环境下,验证了基于VxWorks的机载飞行控制软件。结果表明采用“等效飞控”的飞行控制软件设计方法是切实可行的。
Flight control software is one of the most important part of UAV flight control system, it becomes more and more important and determines the success of the flight directly. This paper designs the UAV flight control software based on the real time operation system VxWorks, and put forward a new approach to design the flight control software based on“equivalent flight control”. It Designs the embedded part and windows part respectively on the different period of the software development.The control and navigation modules of flight control software were designed based on Windows, the driver and the rest of the functional modules of flight control software were designed based on embedded environment, the control and navigation modules can be transplanted 100%.
Firstly, it develops the driver of flight control software based on new MPC565 target.These driver contains the MPC565 serial and the relevant hardware resources of target Board.In addition, the driver of the other PC104 I/O board can be transplanted from existing driver.
Secondly, Based on VxWorks multitasking mechanism, it transplants the functional modules of FCS to VxWorks environment.These functional modules including: Actuators module, Sensor module, Test module, Remote module, Device module such as the module.
Finally, based on“equivalent flight control”, it develops equivalent flight control software useing Win32-POSIX libraries in the VC6.0 development enviroments.Meanwhile,based on the WIL-UDP network of communication mechanism, this paper designs the equivalent flight control simulation system,that is used to verify the accuracy of control and navigation modules of flight control software .
All of the works have an comprehensive test and emulation.The result shows that the method of flight control design based on“equivalent flight control”is conscientiously feasible in project.
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]唐强.国外无人机自主飞行控制研究[J],系统工程与电子技术,2004,3.
[3] Roger Pratt,Flight control systems:practical issues in design and implementation,IEE Control Engineering Series,2000:57.
[4]张明廉.飞行控制系统.北京:航空工业出版社,1994:13~16.
[5] Brian Stevens,Frank Lewis,Aircraft controland simutation,John Wiley&Sons Inc,1992:25~26
[6] Micheli G D,Gupta R K,Hardware/software code sign,Proceedings of the IEEE,1997,85(3):349～366.
[7]徐桂甲.基于MPC555和μC/OS-Ⅱ的无人机飞行控制软件开发技术研究,[硕士学位论文].南京:南京航空航天大学,2009.
[8]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.
[9]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.
[10] Halang Wolfgang,Alexander D Stoyenko,Constructing Predictable Real Time Systems,Kluwer Academic Publishers Group,1991:211~205.
[11] Ramamritham K,Stankovic J,Scheduling Algorithms and Operating Systems Support for Real-Time Systems,Proceedings of the IEEE,1994,(1):25~26.
[12]王奕.基于μCOS-Ⅱ的无人直升机飞行控制系统软件设计,[硕士学位论文].南京:南京航空航天大学,2008.
[13] 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.
[14]罗国庆,等.VxWorks与嵌入式软件开发.北京:机械工业出版社,2003:5~39.
[15]陈智育,温彦军,陈琪.VxWorks程序开发实践.北京:人民邮电出版社,2004:13~284.
[16]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.
[17]刘小军.基于VxWorks的实时仿真系统开发,[硕士学位论文],南京:南京航空航天大学,2008.
[18]王永亮.基于VxWorks的无人机飞行控制软件设计与开发,[硕士学位论文],南京:南京航空航天大学,2009.
[19] WindRiver,Tornado Training Workshop,WinderRiver System Inc.1999.
[20] WindRiver,Tornado User’s Guid(Windows Version),WinderRiver System Inc.1999.
[21] Paul G Fahlstrom.无人机系统导论(第2版)(吴汉平).北京:电子工业出版社,2003.
[22]王奕,黄一敏,王刚.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.
[23] [美]Wind River著,王金刚,苏琪等译.VxWorks BSP开发人员指南[M].北京:清华大学出版社,2003:2~131.
[24] 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.
[25]李方敏编著.VxWorks高级程序设计.北京:清华大学出版社,2004:2~131.
[26]吴了泥.可重复使用运载器亚轨道再入段制导与控制技术研究,[博士学位论文],南京:南京航空航天大学,2009.
[27]安军社,刘艳秋等.VxWorks操作系统板级支持包设计与实现,计算机工程,2003.
[28] WindRiver.VxWorks Programmer’s Guide[DB/OL],WindRiver System.Inc,2006:5~24.
[29]王金刚,宫霄霖,苏琪等.基于VxWorks的嵌入式实时系统设计.北京:清华大学出版社,2004:70~172.
[30]周启平,张杨编著.VxWorks下设备驱动程序及BSP开发指南.北京:中国电力出版社,2004:193~203.
[31]王学龙.嵌入式VxWorks系统开发与应用.北京:人民邮电出版社,2003:86~93.
[32]胥静,嵌入式系统设计与开发实例详解—基于ARM的应用,北京:北京航空航天大学出版社,2005:70~172.
[33]魏洪兴,康一梅等.嵌入式系统设计师教程.北京:清华大学出版社,2006:135~141.
[34]耿通奋.集成化仿真设备实时仿真软件设计与研究,硕士学位论文,南京:南京航空航天大学,2003.
[35]邝坚.Tornado/Vxworks入门与提高.北京:科学出版社,2004:35~44.
[36]孔祥营,柏桂枝.嵌入式实时操作系统VxWorks及其开发环境Tornado.北京:中国电力出版社,2001:5~72.
[37]吴旭光,何军红编著.嵌入式操作系统原理与应用.北京:化学工业出版社,2007:42~127.
[38]程敬原.VxWorks软件开发项目实例完全解析.北京:中国电力出版社,2005:15~68.
[39]刘培强.小型无人直升机飞行控制软件及仿真系统的开发,[硕士学位论文],南京:南京航空航天大学.
[40] [美]David R.Butenhof著,于磊,曾刚译.POSIX多线程程序设计.中国电力出版社,2001:267~302.
[41]江建会,唐智杰.测量嵌入式操作系统实时性能参数的新方法.同济大学学报,2008,36(9).
[42]戴亮,戴胜华.μCOS-Ⅱ实时性能测试与研究.单片机与嵌入式系统应用,2007,(7),5~7.
[43]张杨,于银涛编著.VxWorks内核、设备驱动与BSP开发详解.北京:人民邮电出版社,2009:145~147.
[44]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,[博士学位论文],南京:南京航空航天大学.
[2]唐强.国外无人机自主飞行控制研究[J],系统工程与电子技术,2004,3.
[3] Roger Pratt,Flight control systems:practical issues in design and implementation,IEE Control Engineering Series,2000:57.
[4]张明廉.飞行控制系统.北京:航空工业出版社,1994:13~16.
[5] Brian Stevens,Frank Lewis,Aircraft controland simutation,John Wiley&Sons Inc,1992:25~26
[6] Micheli G D,Gupta R K,Hardware/software code sign,Proceedings of the IEEE,1997,85(3):349～366.
[7]徐桂甲.基于MPC555和μC/OS-Ⅱ的无人机飞行控制软件开发技术研究,[硕士学位论文].南京:南京航空航天大学,2009.
[8]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.
[9]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.
[10] Halang Wolfgang,Alexander D Stoyenko,Constructing Predictable Real Time Systems,Kluwer Academic Publishers Group,1991:211~205.
[11] Ramamritham K,Stankovic J,Scheduling Algorithms and Operating Systems Support for Real-Time Systems,Proceedings of the IEEE,1994,(1):25~26.
[12]王奕.基于μCOS-Ⅱ的无人直升机飞行控制系统软件设计,[硕士学位论文].南京:南京航空航天大学,2008.
[13] 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.
[14]罗国庆,等.VxWorks与嵌入式软件开发.北京:机械工业出版社,2003:5~39.
[15]陈智育,温彦军,陈琪.VxWorks程序开发实践.北京:人民邮电出版社,2004:13~284.
[16]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.
[17]刘小军.基于VxWorks的实时仿真系统开发,[硕士学位论文],南京:南京航空航天大学,2008.
[18]王永亮.基于VxWorks的无人机飞行控制软件设计与开发,[硕士学位论文],南京:南京航空航天大学,2009.
[19] WindRiver,Tornado Training Workshop,WinderRiver System Inc.1999.
[20] WindRiver,Tornado User’s Guid(Windows Version),WinderRiver System Inc.1999.
[21] Paul G Fahlstrom.无人机系统导论(第2版)(吴汉平).北京:电子工业出版社,2003.
[22]王奕,黄一敏,王刚.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.
[23] [美]Wind River著,王金刚,苏琪等译.VxWorks BSP开发人员指南[M].北京:清华大学出版社,2003:2~131.
[24] 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.
[25]李方敏编著.VxWorks高级程序设计.北京:清华大学出版社,2004:2~131.
[26]吴了泥.可重复使用运载器亚轨道再入段制导与控制技术研究,[博士学位论文],南京:南京航空航天大学,2009.
[27]安军社,刘艳秋等.VxWorks操作系统板级支持包设计与实现,计算机工程,2003.
[28] WindRiver.VxWorks Programmer’s Guide[DB/OL],WindRiver System.Inc,2006:5~24.
[29]王金刚,宫霄霖,苏琪等.基于VxWorks的嵌入式实时系统设计.北京:清华大学出版社,2004:70~172.
[30]周启平,张杨编著.VxWorks下设备驱动程序及BSP开发指南.北京:中国电力出版社,2004:193~203.
[31]王学龙.嵌入式VxWorks系统开发与应用.北京:人民邮电出版社,2003:86~93.
[32]胥静,嵌入式系统设计与开发实例详解—基于ARM的应用,北京:北京航空航天大学出版社,2005:70~172.
[33]魏洪兴,康一梅等.嵌入式系统设计师教程.北京:清华大学出版社,2006:135~141.
[34]耿通奋.集成化仿真设备实时仿真软件设计与研究,硕士学位论文,南京:南京航空航天大学,2003.
[35]邝坚.Tornado/Vxworks入门与提高.北京:科学出版社,2004:35~44.
[36]孔祥营,柏桂枝.嵌入式实时操作系统VxWorks及其开发环境Tornado.北京:中国电力出版社,2001:5~72.
[37]吴旭光,何军红编著.嵌入式操作系统原理与应用.北京:化学工业出版社,2007:42~127.
[38]程敬原.VxWorks软件开发项目实例完全解析.北京:中国电力出版社,2005:15~68.
[39]刘培强.小型无人直升机飞行控制软件及仿真系统的开发,[硕士学位论文],南京:南京航空航天大学.
[40] [美]David R.Butenhof著,于磊,曾刚译.POSIX多线程程序设计.中国电力出版社,2001:267~302.
[41]江建会,唐智杰.测量嵌入式操作系统实时性能参数的新方法.同济大学学报,2008,36(9).
[42]戴亮,戴胜华.μCOS-Ⅱ实时性能测试与研究.单片机与嵌入式系统应用,2007,(7),5~7.
[43]张杨,于银涛编著.VxWorks内核、设备驱动与BSP开发详解.北京:人民邮电出版社,2009:145~147.
[44]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,[博士学位论文],南京:南京航空航天大学.