Design And Research Of Micro Flight Controller Based On DSP

As the control and mission core of UAVs, the flight controller is a comprehensive applicationplatform of UAV control theory and practice which contains the study of automation, airplane design,MEMS technology and sensors. In this paper, we have presented the design objectives of micro flightcontroller for the performance and mission requirements of micro UAVs which widely used inmilitary and civilian areas. Based on the detailed program and hardware design, the attitude referencesystem has been implemented as a fundamental function of the controller. Hardware and software ofthe controller have been test and verified by the stability flight control of a quadrotor UAV.Firstly, optimized design requirements and performance indicators have been presented based onanalyzing mature fixed-wing and rotary-wing UAVs’ controllers. The modular embedded system ideais our core concept throughout the entire process from the start of program to the selection of corecontroller and sensors. The division of hardware and software functions meets the fulfillment ofhighly integration, low coupling and functional expansion.Secondly, the hardware circuit has been achieved including operation principle, parametersselection and communication interface. For the special environment of inertial sensors, independentPCB design and stacked installation are applied to protect and improve the measurement accuracy.The hardware schematic and related specifications for anti-jamming are taken into account to meet thedesign requirements and performance.Thirdly, attitude reference system has been theoretical analyzed and implemented. Noise anderror models have been set up by Allan variance analysis of the static data of inertial sensors for theengineering data calibration. The conversion relationship between body and inertial coordinate systemhas been established for deriving the attitude state and observation equation based on quaternions. Thedynamic information of gyroscope and static of accelerometer/magnetometer has been integratedaccording extended Kalman filter for the accuracy and real-time requirements of attitude.Finally, the hardware and software performance of flight controller has been validated by theattitude stability flight control of a quadrotor. The control law of the hovering state has been designedaccording analysis and simplification of the mathematical model. Based on the realization of functionmodule of controller, the integrated flight control algorithm has been test and validated to achieve thestability performance of hover flight of quadrotor.