Virtualization Modeling And Implementation Of UAV CPU Boards

CPU board,which is the core of the flight control computer,can complete the task scheduling,the redundancy management and control law of flight computing etc.It has an important influence on the reliability and stability of the flight control system.Flight control software uses the CPU board as the carrier,and its test validation process closely depends on the CPU board hardware.The design and verification process of CPU board hardware is very complex,so repeated iteration is essential.The test of flight control software can not be carried out until hardware is delivered and has no problems.The thesis,on the basis of previous studies,uses virtualization technology to finish digital virtual modeling of the CPU board of a certain unmanned aerial vehicle based on QEMU virtual platform.Then,The functional and performance test are finished to verify whether the virtual CPU board can be used for test of flight control software.The research work in this thesis mainly includes the following parts:Firstly,the functions and performance requirements of the CPU board is analyzed based on the overall structure and important role of the CPU board.Combining with the advantages and disadvantages of the main virtual platform,as well as the scientific environmental restrictions,the thesis chooses QEMU as virtualization modeling platform of CPU board.On the basis of predecessors' research results on SPARC virtual flight control computer management system,in order to meet the need of the current project,the design is improved and perfected.The overall scheme design of the CPU board virtualization modeling is finished by supporting POWER PC type processor architecture and redundancy structure.Secondly,the design difficulties and the corresponding solutions are proposed based on the requirements analysis and scheme design.Because of time trigger characteristics of the back data bus,the thesis focuses on its function,and use multimedia timer to virtualize the backplane data bus.It avoids losing performance.The virtual machine hardware breakpoint function is implemented based on breakpoints matching algorithm to meet the functional requirements of debugging flight control software.It solves the joint debugging problem between the the virtual CPU board and integrated development environment of flight control software—Lambda PRO.Finally,According to the CPU board hardware manual,Virtualization modeling and test validation of the C-based CPU board is finished by using eclipse IDE and mingw tools.Interrupt controller,serial port,timer,discrete interface,watch dog and various memory are virtualized according to logic function of hardware.Test cases are written to test these device module.Vxworks OS is transplanted into the CPU board to test function,and the order statistics tool developed by C++ builder is used to test the performance.Joint debugging mechanism and triple-redundant CPU board are tested by using Lambda IDE and virtual IO boards.The earlier requirements are verified with these steps.The CPU board meets those functional and performance requirements by testing modules and the whole.It can be used to test the flying control software.