Design And Implementation Of Operation Control System Based On VxWorks For An Unmanned Helicopter

Flight control system is one core system of an unmanned helicopter, which plays a crucial role in its flight proformance. Operator control system is a key and indispensable componoent in flight control system of unmanned helicopter. In this paper, an operator control system of unmanned helicopter is developed and implemented for flight control system of certain unmanned helicopter.Firstly, a mathematical model of the actuator and its servo-loop was founded. The proformance of the servo-loop and the design method of control law were analyzed. A servo-loop was designed and constructed on a basis of the mathematical model and analyzing results.Secondly, the rotor operation mechanism was analyzed. The transform relation between operating deflection and control input of servo was established. The hardware of the servo control system designed according to the requirements of servo-loop, which involved the embedded computer, data acquisition and process board, power driver module, signal adapter. Hardware integration and system debugging were finished.Thirdly, based on analyzing the VxWorks system, a development environment of operator control system was configurated. The outline of software design based on VxWorks was indicated. A driver management of I/O devices was discussed. The driver software of data acquisition module was designed. Network communication between flight control computer of and ground station was implemented.Finally, performance of servo control system was tested and validation. Online debugging was conducted.