Control And Simulation Environment Design For Small Unmanned Vehicle

With the UAV functional enhancements and control accuracy improved, flight control softwarefor real-time performance and reliability were serious challenged. Comprehensive simulation testingenvironment is an important way to ensure that the UAV flight control software security, which caneffectively improved the reliability of the flight control system by verifing the correctness of the flightcontrol logic and detecting the defects in the system. Therefor, this paper taking a sample UAV asobject, designed and developed a control and simulation environment for UAV.The development situation of domestic and international UAV was introduced at the frist part ofthis paper, after analysis the architecture of control and simulation system, the design approach onflight control software and simulation system was also given. According to the characteristics ofSUAV’s hardware and software development environment, the transplant of μC/OS-Ⅱ as well as CANcommunication drive were accomplished; method of multitask priority assignment was statedaccording to μC/OS-Ⅱ operation characteristics and real-time requirement of flight control system;several crucial modules were designed in detail, including event control module, remote module,status monitor module, control-law module and navigate module and the UAV’s flight controlfunction was realized. After this, the paper developed a interface software by using LabVIEWprogramming language, making it possible to communicate between FlightGear and flight controlsoftware by CAN bus. Thus, the three dimensional visualization simulation base on FlightGear’s innerdigit airplane model and telemetered data was realized.Finally, the function of the control and simulation environment were tested by theHardware-In-the-Loop simulation platform, including autonomous flight control, instruction flightcontrol, manual flight control and3D visualization simulation. The results showed that the control andsimluation environment designed by this paper was effectively to meet the UAV’s flight control andtest requirements.