Design Of Embedded Flight Controller Based On FPGA

Flight controller, as the "brain" of the UAV, has an absolute effect on the flying quality of the UAV, which has been a hot area of research in the field of aviation control. With the development of computer technology and power electronics technology, the performance of embedded processor is increasing, all kinds of embedded processors are gradually applied in the design of flight controller. This paper realizes the design of embedded flight controller based on FPGA by the method of integrating theory with engineering practice.Firstly, this paper elaborates the overall analysis and design of the flight control system of unmanned helicopter which equipped with FPGA embedded flight controller, including the selection of integrated navigation equipment, the selection of aircraft actuator and power plant, the construction of the power supply system and the configuration of ground control system.Secondly, the designs of peripheral interface circuit, core module circuit, voltage monitoring system, FPGA correlation function IP core and the overall architecture of the FPGA flight controller are completed based on the analysis of the functional requirements of embedded flight controller hardware system.According to the functional requirements of embedded flight control software system, the control law models of attitude angle loop, track loop and altitude loop are constructed based on PID control algorithm. The flight control law structure which consisted of the inner loop and outer loop realize the multi-modal flight control, improve the stability, maneuverability and flight quality of the aircraft, and enhance the safety of flight.Then the controller software system is designed based on?C/OS-?operating system. FPGA flight controller software is divided into system software and application software. The system software is the platform to develop and run application software. The application software is the realization of FPGA flight controller data communication module and flight control law module.Finally, the embedded flight controller based on FPGA is verified by the flight test of attitude angle control loop and altitude control loop, and the flight data is recorded and analyzed, which proves the feasibility of this design.