The MUAV's Lower Control System Based On The SoC FPSLIC Including AVR And FPGA

The main work of this dissertation is to design and implement a controller system which is based on FPSLIC and can be applied to Mini Unmanned Aerial Vehicle (MUAV) by the joint coordination of both hardware and software.The MUAV has great application potentials in the fields like military and civilian, with the advantages of small size, light weight, high mobility, easy realization for hiding, hovering and hedgehopping, etc.As the real-time MUAV parameters like gestures and heights are needed for reorientation by adjusting the steering state, to acquire these parameters by using micro sensors show its unique contributions here.When the MUAV carries out mission in the air, it needs the real time information about its attitude and altitude in order to adjust the attitude and correct flight route by modulating the steering state. Consequently, it's of great importance for the control of MUAV to gather attitude and altitude information through kinds of micro-sensors and then send signals to change the aircraft state.In this dissertation, a joint control method of upper and lower machines is introduced for the MUAV control system. With the high performance of FPSLIC, the design of lower controller not only gain the advantages like small size, light weight, lower cost, high availability and great extension, but also realize the functions of PWM based steer control, multi-sensor data fusion by employing Kalman filter, and the communication between upper and lower machines.For the control of MUAV, the method of joint upper and lower machines is proposed in this dissertation. For the lower machine, which is mainly discussed in this dissertation, FPSLIC is introduced for its high performance. The final result of the lower machine is of small size, light weight, low price, low power consumption, good real-time, good reliability and scalability and it implements the PWM control of the steer and multi-sensor data fusion based on Kalman Filter as well as the communication between the upper and lower machines.In the first part of this dissertation, the architecture of the control system of MUAV and the modules of the lower machine are introduced. Then some theories about the control principles and methods of steer as well as the multi-sensor data fusion are demonstrated.Then the hardware and software designs of the lower machine controller based on FPSLIC are discussed. For the hardware, the overall design is laid out and the modules are analyzed in detail. For the software, after the workflow and module division, PWM control and measurement based on FPGA as well as the multi-sensor data fusion based on Kalman filter in the AVR section are mainly introduced.Finally, this control system is implemented in the gasoline model helicopter test platform. The results of steer control and latitude tests show as demonstration.