微小型无人机飞行控制系统的设计与实现
摘要
本文对微小型无人机飞控系统进行了研究,设计了一套微小型无人机的自动飞行控制系统。该系统采用微机械和微电子技术的新成果,综合无人机各控制子系统功能和性能,充分发挥了数字式系统的优势。
具体研究的内容如下:
1.本文建立了微小型无人机的数字模型,设计了无人机姿态保持和轨迹控制的控制律。数值仿真结果表明,设计的控制律达到了稳定无人机姿态和按指定航线飞行的功能。
2.设计了微小型无人机飞行控制的硬件系统。器件的选型以满足性能够用、功耗低、小型化、数字化为要求。设计的核心解算与控制单元为TMS320F2809芯片,传感器采用的是微机电系统(MEMS),包括惯性测量单元IMU、小型数字舵机、GPS接收机、磁航向传感器、气压高度和空速传感器等成熟产品,硬件系统经过调试满足设计要求。
3.对飞行控制与管理软件进行了模块化设计,这些模块包括控制律计算子模块、遥控遥测数据的传送子模块、监控信号采集子模块、任务设备管理子模块等。开发的飞控软件实现了对无人机的控制和管理,满足无人机飞行控制和任务管理的设计要求。
4.最后本文介绍了各种地面和飞行试验的系统组成,完成了全套系统的半实物仿真试验,针对传感器的动态性能进行了跑车试验,验收阶段进行了实际飞行试验,各项试验数据满足系统的总体设计要求。
本文设计的微小型无人机飞控系统有较强的工程应用价值和市场价值。
Micro UAV flight control system (FCS) is researched in this paper, and the automatic FCS is designed. The system uses a large number of new products of micromechanical and microelectronic technology, compositing the functionality and performance of the UAV control subsystem, the advantages of digital systems are fully exerted.
The specific contents of the study are as follows:
1. This paper sets up a micro UAV’s figure model in this paper and develops a control law for attitude hold and trajectory control of unmanned planes. The numerical simulation results showed that the control law achieved the function of pose stability and posture according to the designated route.
2. A micro-UAV flight control hardware system has been designed. The selection of units must meet the requirements of adequate performance, low power consumption, miniaturization and digitalization.
The core solver and control unit is TMS320F2809 chip, sensors adopts the Micro-Electro-Mechanical System(MEMS), including mature products such as inertia measurement unit (IMU), small size digitalized steering engine, GPS receiver, magnetic course sensor, pressure-altitude and airspeed sensor, etc. The hardware system meets the requirements after debugging .
3. Modular designs on flight control and management software are carried out in this paper, which includes sub-module of control law computation, sub-module of telemetry & telecontrol data transmission, sub-module for monitoring signal collection as well as management of task and equipment, etc. The developed flight control software realizes control and management of unmanned planes and meets the design requirements on flight control and task management of unmanned planes.
In conclusion, this paper describes various grounds and system configuration of the flight tests and completes a hardware-in-loop simulation test of the whole system, a sports car test was done to verify the dynamic performance of the sensors, during the acceptance period, we did a actual flight test and found all data meet the general design requirements.
The Mini UAV flight control system design in this paper has a strong value in engineering application and marketing.
具体研究的内容如下:
1.本文建立了微小型无人机的数字模型,设计了无人机姿态保持和轨迹控制的控制律。数值仿真结果表明,设计的控制律达到了稳定无人机姿态和按指定航线飞行的功能。
2.设计了微小型无人机飞行控制的硬件系统。器件的选型以满足性能够用、功耗低、小型化、数字化为要求。设计的核心解算与控制单元为TMS320F2809芯片,传感器采用的是微机电系统(MEMS),包括惯性测量单元IMU、小型数字舵机、GPS接收机、磁航向传感器、气压高度和空速传感器等成熟产品,硬件系统经过调试满足设计要求。
3.对飞行控制与管理软件进行了模块化设计,这些模块包括控制律计算子模块、遥控遥测数据的传送子模块、监控信号采集子模块、任务设备管理子模块等。开发的飞控软件实现了对无人机的控制和管理,满足无人机飞行控制和任务管理的设计要求。
4.最后本文介绍了各种地面和飞行试验的系统组成,完成了全套系统的半实物仿真试验,针对传感器的动态性能进行了跑车试验,验收阶段进行了实际飞行试验,各项试验数据满足系统的总体设计要求。
本文设计的微小型无人机飞控系统有较强的工程应用价值和市场价值。
Micro UAV flight control system (FCS) is researched in this paper, and the automatic FCS is designed. The system uses a large number of new products of micromechanical and microelectronic technology, compositing the functionality and performance of the UAV control subsystem, the advantages of digital systems are fully exerted.
The specific contents of the study are as follows:
1. This paper sets up a micro UAV’s figure model in this paper and develops a control law for attitude hold and trajectory control of unmanned planes. The numerical simulation results showed that the control law achieved the function of pose stability and posture according to the designated route.
2. A micro-UAV flight control hardware system has been designed. The selection of units must meet the requirements of adequate performance, low power consumption, miniaturization and digitalization.
The core solver and control unit is TMS320F2809 chip, sensors adopts the Micro-Electro-Mechanical System(MEMS), including mature products such as inertia measurement unit (IMU), small size digitalized steering engine, GPS receiver, magnetic course sensor, pressure-altitude and airspeed sensor, etc. The hardware system meets the requirements after debugging .
3. Modular designs on flight control and management software are carried out in this paper, which includes sub-module of control law computation, sub-module of telemetry & telecontrol data transmission, sub-module for monitoring signal collection as well as management of task and equipment, etc. The developed flight control software realizes control and management of unmanned planes and meets the design requirements on flight control and task management of unmanned planes.
In conclusion, this paper describes various grounds and system configuration of the flight tests and completes a hardware-in-loop simulation test of the whole system, a sports car test was done to verify the dynamic performance of the sensors, during the acceptance period, we did a actual flight test and found all data meet the general design requirements.
The Mini UAV flight control system design in this paper has a strong value in engineering application and marketing.
引文
[1] ZHANG Xiao, FANG Jian cheng. Design of low power,high capability GNC system of micro unmanned aerial vehicle[C]. AIAA Guidance,Navigation,and Control Conference, 2005: 4473-4483
[2]郝飞.小型无人侦察机飞控系统实时软件设计与试飞研究[硕士学位论文].西北工业大学,2006.3
[3]张乐,张东阳,周浚哲.浅谈无人机的发展.科技信息,2008.9:116-119
[4]吴森堂,费玉华.飞行控制系统.北京航空航天大学出版社,2005.9
[5] Sergio de La Parra, Javier Angel, Low cost navigation system for UAV’s[J]. Aerospace Science and Technology, 2005, 9(6): 504-516
[6]房建成,张霄.小型无人机自动驾驶仪技术.中国惯性技术学报,2007.12: 238-242
[7]张明廉.西北工业大学飞行控制系统讲义.航空工业出版社,1993.8
[8]王永林.Matlab/Simulink环境下无人机全过程飞行仿真技术研究[硕士学位论文].南京航空航天大学,2006.2
[9]孙春贞.无人机最简控制系统研究[硕士学位论文].南京航空航天大学,2003.2
[10]刘银春.小型无人机控制律设计及仿真研究[硕士学位论文].中南大学,2008.4
[11] Texas Instruments Incorporated, TMS320F2809, TMS320F2808, TMS320F2806, TMS320F2802, TMS320F2801, TMS320C2802, TMS320C2801, and TMS320F2801x DSPs Data Manual. 2007.5
[12] Texas Instruments Incorporated, TMS320C28x CPU and InstructionSet Reference Guide. 2001.8
[13] Protel International Lemited, Getting Started with PCB Design. 2008.2
[14] Texas Instruments Incorporated, PCB Design Guidelines For Reduced EMI. 1999.11
[15] MAXIM Integrated Products, MAX329 Reference Guide. 2004.11
[16] Texas Instruments Incorporated, Programming TMS320x28xx and 28xxx Peripherals in C/C++. 2009.9
[17] Texas Instruments Incorporated, TMS320x280x, 2801x, 2804x DSP System Control and Interrupts Reference Guide. 2004.11
[18] Texas Instruments Incorporated, TMS320x280x, 2801x, 2804x DSP ,Analog-to-Digital Converter (ADC) Reference Guide. 2005.10
[19] Texas Instruments Incorporated, TMS320x280x, 28xxx, DSP Serial Peripheral Interface(SPI) Reference Guide. 2006.11
[20] Texas Instruments Incorporated, TMS320x280x, 28xxx DSP Serial Communicaton Interface (SCI) Reference Guide. 2004.11
[21] MAXIM Integrated Products, MAX3233E Reference Guide. 2005.5
[22] Protel International Lemited, Protel 99 SE Training Manual PCB Design. 2001.9
[23]杨智涛.微小型无人机飞控系统研究[硕士学位论文].西北工业大学,2009.3
[24] Texas Instruments Incorporated, Getting Started With TMS320C28x Digital Signal Controllers. 2007.5
[25] Texas Instruments Incorporated, TMS320C28x Optimizing C/C++ Compiler v5.0.0 User's Guide. 2007.9
[26] Texas Instruments Incorporated, TMS320C28x Assembly Language Tools v5.0.0 User's Guide, 2007.10
[27] Texas Instruments Incorporated , DSP/BIOS Sizing Guidelines for TMS320C2000/C5000/C6000 DSPs. 2006.5
[28]谢东仁.微小型无人机组合导航技术研究[硕士学位论文].西北工业大学,2009.3
[29]李小奇,陈蕾,王永亮.飞行仿真技术.吉林科学技术出版社,2004.9
[30] Eric N. Johnson, Sumit Mishra, Flight Simulation For The Development Of An Experimental UAV. AIAA Modeling and Simulation Technologies Conference and Exhibit, 2002.8: 4975-4981
[31] Jonathan How, Ellis King, Yoshiaki Kuwata, Flight Demonstrations of Cooperative Control for UAV Teams. AIAA 3rd "Unmanned Unlimited" Technical Conference, Workshop and Exhibit, 2004.9: 6490-6499
[32]吴重光.仿真技术.化学工业出版社,2000.5
[33]康凤举.现代仿真技术与应用.国防工业出版社,2001.7
[34]周雪芹,安锦文.计算机控制系统.西北工业大学出版社,1998.1
[35]文传源.现代飞行控制系统.北京航空航天大学出版社,1992.8
[36] Kamuran Turko Glu, Elbrousm. Jafarov, H inf. , Loop Shaping Robust Control vs. Classical PI(D) Control: A case study on the Longitudinal Dynamics of Hezarfen UAV. 2nd WSEAS International Conference, 2006.8: 105-110
[37]黄小安,艾剑良,罗昌行.基于PID神经网络控制器的飞控系统设计.微计算机信息,2008.8: 78-82
[38] S. Shankar Sastry, Alberto Isidori, Adaptive Control of Linearizable System. IEEE Transactions On Automatic Control, 1989.11(3): 1123-1126
[39]刘艳芳,孙秀霞,秦硕.基于模糊控制理论的无人机飞控系统设计.弹箭与制导学报,2008.2: 221-225
[40]宋玉华,张利萍,林淑明.21世纪无人机关键技术.现代防御技术,2004.10: 30-35
[41]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西北工业大学出版社, 2004.7
[42]路晓丽,葛伟,龚晓庆.软件测试技术.机械工业出版社,2007.9
[43] Hani Rizk Chris, Papachristou, Francis Wolff, Designing Self Test Programs for Embedded DSP Cores. Proceedings of the conference on Design, automation and test in Europe, 2004(2): 20816-20823
[44]刘斌,马晓平,王和平,周康生.小型电动无人机总体参数设计方法研究.西北工业大学学报,2005.6: 396-400
[2]郝飞.小型无人侦察机飞控系统实时软件设计与试飞研究[硕士学位论文].西北工业大学,2006.3
[3]张乐,张东阳,周浚哲.浅谈无人机的发展.科技信息,2008.9:116-119
[4]吴森堂,费玉华.飞行控制系统.北京航空航天大学出版社,2005.9
[5] Sergio de La Parra, Javier Angel, Low cost navigation system for UAV’s[J]. Aerospace Science and Technology, 2005, 9(6): 504-516
[6]房建成,张霄.小型无人机自动驾驶仪技术.中国惯性技术学报,2007.12: 238-242
[7]张明廉.西北工业大学飞行控制系统讲义.航空工业出版社,1993.8
[8]王永林.Matlab/Simulink环境下无人机全过程飞行仿真技术研究[硕士学位论文].南京航空航天大学,2006.2
[9]孙春贞.无人机最简控制系统研究[硕士学位论文].南京航空航天大学,2003.2
[10]刘银春.小型无人机控制律设计及仿真研究[硕士学位论文].中南大学,2008.4
[11] Texas Instruments Incorporated, TMS320F2809, TMS320F2808, TMS320F2806, TMS320F2802, TMS320F2801, TMS320C2802, TMS320C2801, and TMS320F2801x DSPs Data Manual. 2007.5
[12] Texas Instruments Incorporated, TMS320C28x CPU and InstructionSet Reference Guide. 2001.8
[13] Protel International Lemited, Getting Started with PCB Design. 2008.2
[14] Texas Instruments Incorporated, PCB Design Guidelines For Reduced EMI. 1999.11
[15] MAXIM Integrated Products, MAX329 Reference Guide. 2004.11
[16] Texas Instruments Incorporated, Programming TMS320x28xx and 28xxx Peripherals in C/C++. 2009.9
[17] Texas Instruments Incorporated, TMS320x280x, 2801x, 2804x DSP System Control and Interrupts Reference Guide. 2004.11
[18] Texas Instruments Incorporated, TMS320x280x, 2801x, 2804x DSP ,Analog-to-Digital Converter (ADC) Reference Guide. 2005.10
[19] Texas Instruments Incorporated, TMS320x280x, 28xxx, DSP Serial Peripheral Interface(SPI) Reference Guide. 2006.11
[20] Texas Instruments Incorporated, TMS320x280x, 28xxx DSP Serial Communicaton Interface (SCI) Reference Guide. 2004.11
[21] MAXIM Integrated Products, MAX3233E Reference Guide. 2005.5
[22] Protel International Lemited, Protel 99 SE Training Manual PCB Design. 2001.9
[23]杨智涛.微小型无人机飞控系统研究[硕士学位论文].西北工业大学,2009.3
[24] Texas Instruments Incorporated, Getting Started With TMS320C28x Digital Signal Controllers. 2007.5
[25] Texas Instruments Incorporated, TMS320C28x Optimizing C/C++ Compiler v5.0.0 User's Guide. 2007.9
[26] Texas Instruments Incorporated, TMS320C28x Assembly Language Tools v5.0.0 User's Guide, 2007.10
[27] Texas Instruments Incorporated , DSP/BIOS Sizing Guidelines for TMS320C2000/C5000/C6000 DSPs. 2006.5
[28]谢东仁.微小型无人机组合导航技术研究[硕士学位论文].西北工业大学,2009.3
[29]李小奇,陈蕾,王永亮.飞行仿真技术.吉林科学技术出版社,2004.9
[30] Eric N. Johnson, Sumit Mishra, Flight Simulation For The Development Of An Experimental UAV. AIAA Modeling and Simulation Technologies Conference and Exhibit, 2002.8: 4975-4981
[31] Jonathan How, Ellis King, Yoshiaki Kuwata, Flight Demonstrations of Cooperative Control for UAV Teams. AIAA 3rd "Unmanned Unlimited" Technical Conference, Workshop and Exhibit, 2004.9: 6490-6499
[32]吴重光.仿真技术.化学工业出版社,2000.5
[33]康凤举.现代仿真技术与应用.国防工业出版社,2001.7
[34]周雪芹,安锦文.计算机控制系统.西北工业大学出版社,1998.1
[35]文传源.现代飞行控制系统.北京航空航天大学出版社,1992.8
[36] Kamuran Turko Glu, Elbrousm. Jafarov, H inf. , Loop Shaping Robust Control vs. Classical PI(D) Control: A case study on the Longitudinal Dynamics of Hezarfen UAV. 2nd WSEAS International Conference, 2006.8: 105-110
[37]黄小安,艾剑良,罗昌行.基于PID神经网络控制器的飞控系统设计.微计算机信息,2008.8: 78-82
[38] S. Shankar Sastry, Alberto Isidori, Adaptive Control of Linearizable System. IEEE Transactions On Automatic Control, 1989.11(3): 1123-1126
[39]刘艳芳,孙秀霞,秦硕.基于模糊控制理论的无人机飞控系统设计.弹箭与制导学报,2008.2: 221-225
[40]宋玉华,张利萍,林淑明.21世纪无人机关键技术.现代防御技术,2004.10: 30-35
[41]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西北工业大学出版社, 2004.7
[42]路晓丽,葛伟,龚晓庆.软件测试技术.机械工业出版社,2007.9
[43] Hani Rizk Chris, Papachristou, Francis Wolff, Designing Self Test Programs for Embedded DSP Cores. Proceedings of the conference on Design, automation and test in Europe, 2004(2): 20816-20823
[44]刘斌,马晓平,王和平,周康生.小型电动无人机总体参数设计方法研究.西北工业大学学报,2005.6: 396-400
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