The Research And Realization Of Micro UAV Flight Control System Based On SOPC

Quad-rotors helicopter, with their unique flying performances, have been widely applied in both military and civil areas and have become the focus of the research in the international. Taking a model of quad-rotors helicopter as the research object, this thesis analyzes the navigation and the control algorithm, and designs a flight control system based on SPOC for quad-rotors helicopter.Firstly, this thesis studies the aerodynamic characteristics and control principles of the quad-rotors helicopters, and introduces the basic functions, principles and constituents of the flight control system. What’s more, the overall design of scheme, goal, hardware and software about the flight control system are put forward from the perspective of mission requirements and the performances.Then, it adopts FPGA chip of Cyclone Ⅱ EP2C8Q208C8N as the master and designs some periphery circuit. And makes detailed designs for sensor module, wireless communication module, status display module and server module from the perspectives of the principle of each module, the selection of components and circuit connection. Also, the PCB board and an anti-interference system has been considered.Software such as Quartus Ⅱ and SOPC Builder is used to construct SPOC system which is based on FPGA chip embedding Nios Ⅱ soft core processor. The interface program among different modules such as Nios Ⅱ processor and sensor module, remote control receiver, wireless communication module and motor drive module is designed. And the flight management module software is also designed. What’s more, MAVLink data communication protocol is introduced in detail.Based on the study of strap-down inertial navigation systems (SINS), this thesis puts forward a UAV’s navigation information measurement program that is based on a quaternion extended kalman filter (EKF). Such a program can use GPS, magnetometer and barometric altimeter to carry out data fusion with the SINS through EKF. As a result, the navigation information such as attitude, speed and location are obtained. And the validity of navigation algorithm is therefore verified by experiments.On the basis of studying conventional PID controller, an adaptive PID parameters controller based on fuzzy control theory is brought forth. Such a controller introduces fuzzy controller to adjusts PID parameters in real time according to the system deviation and the deviation change rate, consequently, the PID controller is intelligent and non-linear. What’s more, the validity of this control algorithm is verified by experiments.Finally, hardware and software debugging and testing are carried out on the flight control system. After the calibration of sensor errors, an aerial trial flight is done in order to verify the reliability and feasibility of hardware and software as well as navigation and control algorithms in the flight control system.