Research On The Flight Control Software And Simulation System For Small Unmanned Helicopter

At present,the small unmanned helicopter's application demands of the domestic and international's military and civil is urgent.It needs to solve the flight control technology and over the horizon flight,and perform various missions. This article is written in this background and the actual project demand. Designed the flight control software of the DSP/ARM double CPU system based onμC/OS-II real-time operation system,and also built the verification and simulation platform based on the open source FlightGear software,the result of this research satisfied the project's need.This article analyzes the domestic and international small unmanned helicopter's development situation,the difficulty and development needs of the flight system research, as well as simulation system requirements,And in this background ,designed the flight control software which included the transplant ofμC/OS-Ⅱto two different CPU(ARM and DSP),the design of flight control computer driver and communication of double CPU used DPRAM,and then according to the modular design idea,designed the function software part of the flight control software,it also includes the decoding of atmospheric pressure altimeter and air speed gauge's using the interpolation algorithm in the sensor module,the sharing serial port of the test software and the remote software as well as the reliable communication about the half-duplex radio in the radio module,the designing of control law software and control law development routes in the control law module,finished numerous flight modality in the guide module,which included a waypoint route. because of the difficuty to get the accurate unmanned helicopter model and the similar character of the small unmanned helicopter,modified the FlightGear software,built the simulation system of small unmanned helicopter.Finally, simulated the research contents, examed and verified the flight control software architecture and the control policy,and also proved the FlightGear is suitable for the simulation of small unmanned helicopter.