Design Of Coordinated Control System For Four - Axis Aircraft Based On Arm

Quadrocopter is very popular in the field of uav in recent years. most of the existing quadrocopter flight control system is based on single chip processor or common CPU, and their software platform is based on the infinite loop singletask system. When many unmanned aerial vehicles flying at the same time, the processor needs to deal with large amount of data information, it is very hard for the existing control system to take cooperative control of them. we can’t ensure the real-time if only rely on the timer interrupt to schedule tasks.Aiming at the above problem and combining the task requirements of the whole flight control system, the thesis proposes a master-slave multi-machine coordinated control system based on ARM and Linux.The master uses ARM11 microprocessor as core, and the slave uses ARM Cortex-M4 as core.This control system not only can meet the real-time requirement,but also can reduce the system cost.The master uses s3c6410 as core, Os-Linux is adopted as its software platform.The slave uses STM32 as core, the design of communication between the master and slave is based on the 2.4G wireless communication module. Due to the support for Linux, the whole flight control system can greatly improve its real-time and task extensibility. The thesis firstly completes the hardware design and debugging, including wireless remote sensing, master-slave machine wireless communications, electric actuator, navigation and positioning module. Then complete the software design and debugging,mainly about the of host flight control system based on Linux-3.0.1, and also the flight control system applications design such like sensor signal acquisition, attitude algorithm, navigation and path planning, motor control, wireless signal transceiver.In order to verify the feasibility and stability of the flight control system design, this thesis also carried out relevant test experiment. Test content mainly includes the flight control’s sensor detection, attitude algorithm, GPS navigation, attitude control, wireless communication between master-slave machine. The research of flight control system based on ARM-Linux has much reference value for UAV development in military and civilian fields.