Design And Research On Redundant Flight Control Software For Uav

With the performance requirements of a new UAV continue to increase, the demand for redundant flight control system is increasingly urgent. Redundant flight control software for UAV is the core of redundant flight control system, and its performance, efficiency and code quality play a decisive role in the UAV flight performance and security. In order to improve the reliability of redundant flight control software, to shorten the software development cycle and improve the efficiency of software development, it is necessary to research the key technologies on redundant flight control software design and development.According to the hardware of the sample redundant flight control computer, the design and research on redundant flight control software were carried out, and the major research achievements included that: (1)In the light of function distribution principles, management centralization, load balancing and a small amount of information interaction, a modular-software design method was adopted to ensure the real-time and the coordination of the software, and then a number of relatively independent software function modules were allocated properly. (2)To ensure the real-time and the reliability of the date transmission in the computer, CAN communication mode and data transmission scheme were determined, and the data links were designed. At the same time, according to degree of fault to determine the requirements, the redundancy management strategies and the voting strategies were determined to ensure that the sample redundant flight control computer meets FO/FO/FS reliability requirements. (3)The design of the high reliable flight management module based on SCADE was completed, and the correctness of the SCADE modules was verified through SCADE simulation and formal verification. High-quality ANSI C codes were generated automatically used SCADE code generator, and were integrated with the manual codes.After the function verification tests of task synchronization and redundancy management were completed, the semi-hardware-in-loop UAV flight simulation test was carried out. The results of the tests showed that the functionality and performance of the software met the design requirements, and that the software design plan was correct, reasonable and feasible.