Design And Realization Of Ultra - Small Unmanned Helicopter Flight Control System Based On ARM

Compared to the fixed-wing UAVs, unmanned helicopters can rise or fall vertically, hover in the air, fly forward, fly back, fly to the side and turn on the spot, land safely when a fault occurs, because of the significant advantages it is widely used in military and civilian fields. With more and more widespread application of unmanned helicopter, more and more research institutions and scientists begin to study it. The flight control system of unmanned helicopter is the core of unmanned helicopter. Because the hardwares of flight control system are too many, the flight control computer requires abundant interface resources and can receive and process large amounts of data. Flight control system is very complex, it often needs to handle multiple tasks and has a high real-time requirement, so the flight control software should be designed and built based on a reliable operating system.For the two requirements above, used the processor based on ARM Cortex-M3 core as the flight control computer, and designed flight control software based on μC/OS-II real-time operating system. Firstly, in the terms of hardware, analyzed the hardware functional requirements of the ultra-small unmanned helicopter flight control system, according to this demand, gave the hardware architecture design, and described hardwares involved in the works, interface mode, communication method and so on. Then, analyzed the software needs of ultra-small unmanned helicopter flight control system, and based on the needs, the software functions were divided. On the basis of the hardware structure, designed the onboard flight control software and PC data transfer software, the onboard flight control software is based on μC/OS-II real-time operating system, and it is divided into nine tasks, the tasks used mailboxes and semaphore to synchronize; PC data transfer software is designed based on LabVIEW, for passing control parameters before the plane took off. Finally, described the software development environment, software debugging and the test results of the flight control software. The results showed that ultra-small unmanned helicopter flight control system designed in this paper can achieve the basic functional requirements.