Research On Unmanned Helicopter Flight Control System Software Based On μC/OS-Ⅱ

Due to the particular ability of flying,unmanned helicopter have been great needed in army and civil fields.It's very important to make a research on unmanned helicopter control technology. Unmanned helicopter flying control software is one of the most important part of flight control system,it becames more and more important and determines the success of the flight directly. This article puts emphasis on building a new flight control software development structure based on the real time operation systemμC/OS-Ⅱ.Design the embedded part and windows part respectively,and both of them worked on the different period of the software development,and the difference of them is only the low-level driver,but the control law code can be transplanted 100%.Firstly, according to the existing technology, this paper port theμC/OS-Ⅱto the unmanned helicopter flying control computer.The pivotal technology includes the compiler,the CPU,the reading/writing of the global variable,the floating-point operation with Fixed-Point arithmetic and so on.This paper also analyses the interrupt principle of theμC/OS-Ⅱ,and designs the serial communication module with the interrupt method(OSCom module).Not only realized the independent interrupt,but also realized the shared interrupt.Finally, this paper realized"equivalent flight control"technology.Based theμC/OS-Ⅱsimulation operation on Windosw,designs the related software of the"equivalent flight control"system.All the working above have been verified in the physical entironment.The result shows that the design of unmanned helicopter flight control software based onμC/OS-Ⅱis conscientiously feasible in project.