矢量推进式航模直升机微型导航与控制系统研究
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摘要
矢量推进式直升机是一种创新形式的复合式直升机。本文的主要工作是以JR-260型航模直升机为研究对象,基于嵌入式Linux操作系统,开发完成了一套微型的组合导航与控制系统。
本项研究利用货架商业产品和公开源代码资源,组建了一套低成本、高集成度和高可靠性的微型组合导航与控制系统。其中硬件由组合导航计算机MNAV100CA和嵌入式飞行控制计算机Stargate组成,软件采用了嵌入式实时Linux系统。在组合导航计算机上集成了固态的加速度计、角速率传感器、磁航向计、大气机和GPS接收机等5个必须的传感器部件,并安装了R/C接收机和脉位调制(PPM)航模舵机接口。飞控计算机上除ARM9 CPU和存贮器件外,还装有和组合导航计算机的连接接口和电源控制电路。传感器信号采集软件设计中采用了扩展的卡曼滤波和状态监视算法,实现了组合导航所需的航姿信息的解算,实时获得直升机在任意时刻的姿态角、角速度和加速度项。在微型嵌入式导航计算机平台上,基于实时Linux的多线程机制编制了导航系统数据采集、导航解算和信号发送模块,在飞控计算机平台上,编制了导航信息采集模块、航模舵机驱动模块、802.11b无线网络实时数据链模块,在便携式地面站上,编制了无线数据接收模块,实现了飞行参数的地面实时监控功能。
本文还利用所研制的信号采集和舵机驱动软件进行了涵道风扇矢量推进系统的气动特性试验研究,针对涵道风扇矢量推进系统试验模型在前飞和悬停状态下的气动力和力矩进行了详细的测量,获得了一些涵道风扇矢量推进系统特有的气动现象。
The vectored-thrust helicopter is an innovative form of the compound helicopter. This article take the JR-260 mold helicopter as the object of study, based on embedded Linux operating system, developing a micro-integrated navigation and control systems.
The work use of the shelf commercial products and open source resources, constitute a low-cost, high integration and high reliability of navigation and control system. Hardware system using the integrated computer navigation system MNAV100CA and embedded flight control computer Stargate, software using the embedded real-time Linux system. A solid integration of the accelerometers, angular rate sensors, magnetic heading of the atmosphere and a GPS receiver, and the R/C receiver pulse-modulation (PPM) Model aircraft steering gear interface. In addition to the flight control computer ARM9 CPU and memory pieces, but also equipped with a navigation computer and a connection interface and power supply control circuit. Software design to Expand Kaman filtering and surveillance methods to achieve the status of navigation systems, Real-time access to a helicopter at any moment the attitude angle, angular velocity and acceleration. Based on real-time Linux threading mechanism of the model aircraft steering gear drivers, to 802.11 b wireless network signals in the air to fly the Senate real-time transmission and the portable ground station on the real-time monitoring.
The detail experiment study on aerodynamics of the Vectored Thrust Ducted Propeller (VTDP) model in the paper. A test VTDP model was developed and the aerodynamics forces and moments were measured in Hover and forward flight condition to investigate the aerodynamic characteristics and the influences of design parameters.
本项研究利用货架商业产品和公开源代码资源,组建了一套低成本、高集成度和高可靠性的微型组合导航与控制系统。其中硬件由组合导航计算机MNAV100CA和嵌入式飞行控制计算机Stargate组成,软件采用了嵌入式实时Linux系统。在组合导航计算机上集成了固态的加速度计、角速率传感器、磁航向计、大气机和GPS接收机等5个必须的传感器部件,并安装了R/C接收机和脉位调制(PPM)航模舵机接口。飞控计算机上除ARM9 CPU和存贮器件外,还装有和组合导航计算机的连接接口和电源控制电路。传感器信号采集软件设计中采用了扩展的卡曼滤波和状态监视算法,实现了组合导航所需的航姿信息的解算,实时获得直升机在任意时刻的姿态角、角速度和加速度项。在微型嵌入式导航计算机平台上,基于实时Linux的多线程机制编制了导航系统数据采集、导航解算和信号发送模块,在飞控计算机平台上,编制了导航信息采集模块、航模舵机驱动模块、802.11b无线网络实时数据链模块,在便携式地面站上,编制了无线数据接收模块,实现了飞行参数的地面实时监控功能。
本文还利用所研制的信号采集和舵机驱动软件进行了涵道风扇矢量推进系统的气动特性试验研究,针对涵道风扇矢量推进系统试验模型在前飞和悬停状态下的气动力和力矩进行了详细的测量,获得了一些涵道风扇矢量推进系统特有的气动现象。
The vectored-thrust helicopter is an innovative form of the compound helicopter. This article take the JR-260 mold helicopter as the object of study, based on embedded Linux operating system, developing a micro-integrated navigation and control systems.
The work use of the shelf commercial products and open source resources, constitute a low-cost, high integration and high reliability of navigation and control system. Hardware system using the integrated computer navigation system MNAV100CA and embedded flight control computer Stargate, software using the embedded real-time Linux system. A solid integration of the accelerometers, angular rate sensors, magnetic heading of the atmosphere and a GPS receiver, and the R/C receiver pulse-modulation (PPM) Model aircraft steering gear interface. In addition to the flight control computer ARM9 CPU and memory pieces, but also equipped with a navigation computer and a connection interface and power supply control circuit. Software design to Expand Kaman filtering and surveillance methods to achieve the status of navigation systems, Real-time access to a helicopter at any moment the attitude angle, angular velocity and acceleration. Based on real-time Linux threading mechanism of the model aircraft steering gear drivers, to 802.11 b wireless network signals in the air to fly the Senate real-time transmission and the portable ground station on the real-time monitoring.
The detail experiment study on aerodynamics of the Vectored Thrust Ducted Propeller (VTDP) model in the paper. A test VTDP model was developed and the aerodynamics forces and moments were measured in Hover and forward flight condition to investigate the aerodynamic characteristics and the influences of design parameters.
引文
[1]谈勤怡,涵道螺桨式反扭矩系统工程建模技术研究,硕士学位论文,江苏南京,南京航空航天大学,2008.
[2]张德先,涵道风扇矢量推进系统气动特性研究,硕士学位论文,江苏南京,南京航空航天大学,2007.
[3]王瑞军,微型无人直升机机组合导航技术研究与设计,硕士学位论文,江苏南京,南京理工大学, 2007.
[4]孔维刚,微型无人直升机飞行控制系统研究与设计,硕士学位论文,江苏南京,南京理工大学,2006.
[5]时杰,机载传感器技术的新发展,国际航空,2003年04期.
[6]吕江涛,某型无人机实时数据处理与控制律实现,硕士学位论文,陕西西安,西北工业大学,2007.
[7]张为华,曾庆华,微型飞行器飞行控制问题研究进展,国防科技大学学报,2004年05期.
[8]刘仰魁,郭立帅,彭昌宁,彭世林,发展中的传感器技术,陇东学院学报(自然科学版),2006年01期.
[9]严怀成,黄心汉,王敏,多传感器数据融合技术及其应用。传感器技术,2005年10期.
[10]王律,许民新,无人驾驶飞机机载传感器数字化研究与应用,数据采集与处理,1994.02.
[11] URL://www.xbow.com.
[12] Crossbow Corporation, Stargate Developer’s Guide,Doc.#7430-0317-13 REV.B 2006.
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[14] ATMEL Corporation,ATmega128中文资料,Rev.2467L-AVR-05/04.
[15]李志信,罗小兵,过增元,MEMS在惯性测量中的应用,传感器技术,2001年第20卷第20期.
[16] Buskey.G,Roberts.J,corke.P, Helicopter automation using a low-cost sensing system[J], Proceedings of the Australian conference on Roboticis and Automation,2003.
[17]陆国雷,张晓林,金石,匡巍,无人驾驶直升机遥测系统设计及其实现,北京航空航天大学学报,2003年02期.
[18]应科炜,吴文贡,汤达斌,胡洪年,冯勇建,ADXRS角速度测量陀螺仪原理及应用,传感器世界,2006.01.
[19] Analog Devices,Specification sheet for ADXRS150,2003.
[20]李志信,罗小兵,过增元,MEMS在惯性测量中的应用,传感器技术,2001年第20卷第20期.
[21]周华,徐华,朱均,ADXL202加速度计在振动测试中的应用,传感器技术,2003年第22卷第3期.
[22]刘丽,赵琦,张凤珊,基于DSP的GPS接收机设计,遥测遥控,2008年3月第29卷第2期.
[23]郑灵翔等编著,《嵌入式系统设计与应用开发》,北京航空航天大学出版社。2006.2.
[24](美)Labrosse Jean J著.UC/OS-II一源代码公开的实时嵌入式操作系统(第二版)邵贝贝译.北京:北京航空航天大学出版社,2003.206-208.
[25] Qing Li,Caroline Yao, Real-Time Concepts for Embedded Systems.Berkeley:CMP Books,2003.134-136.
[26] Anton Cervin.Merging Real Time and Control Theory for Improving the Performance of Embedded Control Systems[J]Department of Computer Engineering and System Science University of Pavia,Italy,2004,9(15):455-460.
[27] P Mantegazza,E Bianchi,L Dozio.RTAI:Real-Time Application Interface. Linux Journal Magazine. 2000,4(6):45-47.
[28]黄庆生,吴振华,苏哲。《Linux基础教程》,人民邮电出版社,1999.6.
[29]王三喜,航模直升机自动飞行控制系统,《工业控制计算机》2004年17卷第3期.
[30]陈安宁,基于传感器融合的超小型无人直升机导航系统研究,硕士学位论文,浙江杭州,浙江大学,2006.
[31]周传祥,基于DSP的导航/飞控嵌入式系统设计,硕士学位论文,陕西西安,西北工业大学,2007.
[32] Jung Soon Jang , Automation of small UAVS using a low cost MEMS sensor and embedded computing platform, Crossbow, October 15,2006.
[33] Albert-jan, Baerveldt, Robert. kleng, A Low-cost and Low-weight Attitude Estimation system for an Autonomous Helicopter[J],IEEE, International Conference On Intelligent Engineering System,1997:391-395.
[34] Jonathan Roberts, Peter corke, and G.Buskey. Low-cost Flight Control System for a Small Autonomous Helicopter. In Proceeddings of IEEE Int, conf.on Robotics and Automation, taipai, 2003,P546-551.
[35] M.Kottmann,Software for Model Helicopter Flight Control. Technical Report #316,Institute for Computer Systems,ETHZ,1999.
[36]王建东,刘云辉,樊玮虹,范才智,MEMS传感器的惯性测量模块的设计与初始校验,传感器与微系统,2006年第25卷第10期.
[37] Munzinger, Christian, Development of a Real-Time F1ight Simulator For an Experimental Model Helicopter,Diploma Thesis,Georgia Institute of Technology,Atlanta,GA,1998.
[38] J.K. Langendoen, Realtime navigation design and implementation for guidance and control,Delft University of Technology, Master of science Thesis, December 2004.
[39] Elston, Jack, Argrow, Brian, and Frew,Eric,2005,A Distributed Avionics Package for Small UAVs , Arlington, VA, AIAA Infotech at Aerospace.
[40] Futaba Corporation,Introduction to the 6XAS/6XHS Systems.
[41]李玉峰,秦志刚,某机载电子设备的抗振设计,电子机械工程,2007年第23卷第3期.
[42]陆利民,某电子设备的隔振设计,电子机械工程,2002年第18卷第5期.
[2]张德先,涵道风扇矢量推进系统气动特性研究,硕士学位论文,江苏南京,南京航空航天大学,2007.
[3]王瑞军,微型无人直升机机组合导航技术研究与设计,硕士学位论文,江苏南京,南京理工大学, 2007.
[4]孔维刚,微型无人直升机飞行控制系统研究与设计,硕士学位论文,江苏南京,南京理工大学,2006.
[5]时杰,机载传感器技术的新发展,国际航空,2003年04期.
[6]吕江涛,某型无人机实时数据处理与控制律实现,硕士学位论文,陕西西安,西北工业大学,2007.
[7]张为华,曾庆华,微型飞行器飞行控制问题研究进展,国防科技大学学报,2004年05期.
[8]刘仰魁,郭立帅,彭昌宁,彭世林,发展中的传感器技术,陇东学院学报(自然科学版),2006年01期.
[9]严怀成,黄心汉,王敏,多传感器数据融合技术及其应用。传感器技术,2005年10期.
[10]王律,许民新,无人驾驶飞机机载传感器数字化研究与应用,数据采集与处理,1994.02.
[11] URL://www.xbow.com.
[12] Crossbow Corporation, Stargate Developer’s Guide,Doc.#7430-0317-13 REV.B 2006.
[13] Crossbow Corporation, MNAV100CA User’s Manual , Doc.#7430-0198-01 REV.B 2007.
[14] ATMEL Corporation,ATmega128中文资料,Rev.2467L-AVR-05/04.
[15]李志信,罗小兵,过增元,MEMS在惯性测量中的应用,传感器技术,2001年第20卷第20期.
[16] Buskey.G,Roberts.J,corke.P, Helicopter automation using a low-cost sensing system[J], Proceedings of the Australian conference on Roboticis and Automation,2003.
[17]陆国雷,张晓林,金石,匡巍,无人驾驶直升机遥测系统设计及其实现,北京航空航天大学学报,2003年02期.
[18]应科炜,吴文贡,汤达斌,胡洪年,冯勇建,ADXRS角速度测量陀螺仪原理及应用,传感器世界,2006.01.
[19] Analog Devices,Specification sheet for ADXRS150,2003.
[20]李志信,罗小兵,过增元,MEMS在惯性测量中的应用,传感器技术,2001年第20卷第20期.
[21]周华,徐华,朱均,ADXL202加速度计在振动测试中的应用,传感器技术,2003年第22卷第3期.
[22]刘丽,赵琦,张凤珊,基于DSP的GPS接收机设计,遥测遥控,2008年3月第29卷第2期.
[23]郑灵翔等编著,《嵌入式系统设计与应用开发》,北京航空航天大学出版社。2006.2.
[24](美)Labrosse Jean J著.UC/OS-II一源代码公开的实时嵌入式操作系统(第二版)邵贝贝译.北京:北京航空航天大学出版社,2003.206-208.
[25] Qing Li,Caroline Yao, Real-Time Concepts for Embedded Systems.Berkeley:CMP Books,2003.134-136.
[26] Anton Cervin.Merging Real Time and Control Theory for Improving the Performance of Embedded Control Systems[J]Department of Computer Engineering and System Science University of Pavia,Italy,2004,9(15):455-460.
[27] P Mantegazza,E Bianchi,L Dozio.RTAI:Real-Time Application Interface. Linux Journal Magazine. 2000,4(6):45-47.
[28]黄庆生,吴振华,苏哲。《Linux基础教程》,人民邮电出版社,1999.6.
[29]王三喜,航模直升机自动飞行控制系统,《工业控制计算机》2004年17卷第3期.
[30]陈安宁,基于传感器融合的超小型无人直升机导航系统研究,硕士学位论文,浙江杭州,浙江大学,2006.
[31]周传祥,基于DSP的导航/飞控嵌入式系统设计,硕士学位论文,陕西西安,西北工业大学,2007.
[32] Jung Soon Jang , Automation of small UAVS using a low cost MEMS sensor and embedded computing platform, Crossbow, October 15,2006.
[33] Albert-jan, Baerveldt, Robert. kleng, A Low-cost and Low-weight Attitude Estimation system for an Autonomous Helicopter[J],IEEE, International Conference On Intelligent Engineering System,1997:391-395.
[34] Jonathan Roberts, Peter corke, and G.Buskey. Low-cost Flight Control System for a Small Autonomous Helicopter. In Proceeddings of IEEE Int, conf.on Robotics and Automation, taipai, 2003,P546-551.
[35] M.Kottmann,Software for Model Helicopter Flight Control. Technical Report #316,Institute for Computer Systems,ETHZ,1999.
[36]王建东,刘云辉,樊玮虹,范才智,MEMS传感器的惯性测量模块的设计与初始校验,传感器与微系统,2006年第25卷第10期.
[37] Munzinger, Christian, Development of a Real-Time F1ight Simulator For an Experimental Model Helicopter,Diploma Thesis,Georgia Institute of Technology,Atlanta,GA,1998.
[38] J.K. Langendoen, Realtime navigation design and implementation for guidance and control,Delft University of Technology, Master of science Thesis, December 2004.
[39] Elston, Jack, Argrow, Brian, and Frew,Eric,2005,A Distributed Avionics Package for Small UAVs , Arlington, VA, AIAA Infotech at Aerospace.
[40] Futaba Corporation,Introduction to the 6XAS/6XHS Systems.
[41]李玉峰,秦志刚,某机载电子设备的抗振设计,电子机械工程,2007年第23卷第3期.
[42]陆利民,某电子设备的隔振设计,电子机械工程,2002年第18卷第5期.