Design And Research Of The Flight Control Systerm For Micro Unmanned Aerial Vehicle

In military and civilian fields, unmanned aerial vehicles (UAV) are used more and more widely. Flight control system is the key technique to ensure the normal flight and complete the task, so the design and verification of flight control system is the most important part of an aircraft design progress. This thesis summarizes the state-of-the-art of commercial and open-source flight control system, analyzing the control functional requirements of light and small unmanned aircraft, carrying out the control system requirements analysis based on simulation. Based on the previous study, the author finishes scheme design, hardware design, hardware manufacturing, software development, system integration and ground hardware-in-the-loop simulation and verification of flight control system.First, for the fixed-wing UAV, the author studies the aerodynamic characteristics and engine thrust characteristics, analyzing the three-axis force and moment, developing six degree-of-freedom nonlinear generic manned/unmanned aerial vehicle models, designing the control law of the inner augmentation loop and outer navigation loop, and uses the MATLAB/SIMULINK environment to verify the digital closed-loop simulation. On the basis, the paper introduces the requirements of the basic performance, sensor configuration, servo system performance, processor and interface, and finally gives a real-time guideline of the flight control system.Second, by using STM32F407processor with ARM Coetex-M4core, the author integrates data acquisition communication interface, servo-driven interface, digital radio module, TF card module and network interface and complete the autonomous flight control system, system hardware manufacturing, welding, assembly and debugging, and also integrate system software and hardware, and program embedded control law software in accordance with the control law design block diagram, and finally complete the research, development and production of flight control system.The author organizes hardware-in-the-loop simulation environment in real time, putting forward the innovation of "symmetrical flight test" thought, and compile the aircraft aerodynamic characteristics and the nonlinear six degrees of freedom equation into C code, and download it to the computer, and drive the flight simulation interface according to the network interface protocol of visual software, and constitute the semi-physical closed loop simulation system with the flight control system, compare the results with digital closed-loop simulation results, verify the simulation accuracy of the "symmetrical" flight test system, meet the functional requirements of flight control system, and meet the validation needs of the research on flight control system.The author developed a UAV platform, verified the performance of the system, and founded it can meet the development demand of flight control system, and this technique can be applied to the flight control system of unmanned aircraft. At the same time, the system is a low cost system which meets the general applications.