Design, Implementation And Verification Of The Embedded Flight Control System

Ducted coaxial twin rotor with tail push UAV has both the characteristics of the helicopter and the fixed-wing aircraft. The composite design makes the UAV can complete not only the vertical takeoff and land, hovering, flying with low-speed, flying back and flying side, but also flying with high-speed. Which behind these advantages, the poor stability and the strong coupling, make the flight control system in the face of great difficulties and challenges. According to the controlled object, this paper proposed a design of embedded flight control system, which was designed by using embedded hardware and software technology, then validated it.First of all, based on the requirement of the flight control system which was analyzed according to the ducted coaxial twin rotor with tail push UAV, the hardware and software structure of embedded flight control system was determined and the related avionics equipment were selected. Then using the modular design methods, the hardware of the embedded flight control computer was design based on STM32F405ZGT6. The drivers of communication, voltage measurement and the other related peripherals were developed.Then the flight control law based on the controlled object was designed and simulated using the stepwise optimization method. Based on the classical PID control strategy, the flight control law of each channel was designed. With using the integral anti-wind-up algorithm and limiter, the effect was optimized. Then the concept of fuzzy control was joined in, the attitude fuzzy self-tuning PID control was proposed. After simulation, this method can meet the performance requirement of attitude control loop control law design channel.At the end of this paper, using the hardware in loop and flight test to validated the embedded flight control system which was developed in this paper. The HIL simulation of the typical input verified the feasibility of the control algorithm design and the correctness of the logic, the related simulation results were given. Using the system to specific unmanned rotor aircraft flight test successfully, flight test results show that the presented control algorithm designed in this paper is feasible and reliable.