Research On A Small Short-range UAV Flight Control System

The short-range small unmanned aerial vehicle is increasingly widespreadapplication in military and civilian areas,gradually become the veritable "VanguardWings". The flight control system as the UAV control center is responsible forreal-time acquisition of flight status and atmospheric environmental parameters,andcombined with ground control information solves control law to complete the attitudeand trajectory adjustment for the steering gear/throttle,thus which completes theappropriate tactical task. Therefore, the study of designing a common UAV flightcontrol system for higher static stability has a strongly engineering significance.Based on researching the characteristics and features of existing flight controlsystem components,as a sample to the conventional fixed-wing UAV this paperexpands the pre-research of its working principle and controller design architecture,andaccording to the default mission requirements and design specifications determines theoverall scheme of a dual-chip system-on-chip as the core of the flight control system.The dual-core architecture meets the general mission of UAV in no major maneuverscase and sets aside enough space for further improvements.The hardware selects Cypress PSoC3series CY8C3866AXI-040respectively asthe main co-processor is responsible for the implementation of the flight control andnavigation functions. In this architecture, device selection and peripheral interfacecircuit hardware design is completed which include mononuclear simplest control unit,memory circuits, micro inertial measurement module, magnetometer, barometricaltimeter, GPS navigation unit, power supply module, data communication link, etc.the design of remote control/hand control part needs to ensure its reliability. Therefore,except to integral filter circuit chip, building a signal conditioning amplifier circuit byConfigurating components such as PGA, Comparator of the PSoC3chip can ensure therapid response of the switching signal. Power by using the principle of self-Four Areathe voltage domain Vddiox supply legitimately allocates different voltage levels inaccordance with the interface resources. In addition, system-on-chip programmablestructural characteristics make it to rapidly build a generic interface so that externaldevice is expanded easily.Using modular design concept completes driven workflow design of underlying units on the software structure.and according to task scheduling and decision-makingmanagement，SINS module and heading angle algorithm is analyzed, thus the amountof data such as speed, position, attitude is parsed out.Finally,by using of the singlenuclear simplest board,the resolution and application testing of sensor data acquisition,GPS navigation module and servo drive section are completed.In addition,this paper establishes a mathematical model of the Micro UAV basedon the prototype taking decoupled linear means,and uses the PID and Matlab SROoptimization package to design the control law of UAV vertical and lateral loop.Thesimulation results demonstrates the design of controller is reasonable and effective,andit has a good application.