Research On Redundant Flight Control System Of Unmanned Aerial Vehicle

The high reliability of the flight control system is an important guarantee for the safe flight of UAVs.In order to improve the reliability of UAV flight control system,this paper designs the architecture of UAV redundant flight control system,and then further studies the bus communication design,the redundant flight control computer software design and the airborne sensors redundancy design of the redundant flight control system.Firstly,this paper designs an architecture of the redundant flight control system by drawing on the typical avionics architectures,and carries on a brief static reliability analysis to it.According to the architecture designed,the overall design scheme of redundant flight computer software and sensors redundancy is developed.Secondly,after comparing a variety of avionics and industrial buses,the FlexRay is selected to be used as the bus of the redundant flight control system.This paper studies the working and communication mechanism of FlexRay,and plans the FlexRay bus slot assignment,valid data frame,design FlexRay bus communication protocol and corresponding initialization software program according to the architecture and data flow of the redundancy flight control system.Thirdly,according to the overall design scheme of the redundant flight control computer software,the redundancy management software and the flight control application software are designed in detail.This paper focuses on the realization method of synchronization,cross channel data link and signal monitoring and voting among the redundant flight control computers.Then,in order to improve the reliability of the airborne sensor system,the hardware redundancy configuration scheme of the inertial sensor and the corresponding generalized likelihood ratio fault detection method are analyzed.Based on the extended Kalman filter,the non-similar sensor integrated navigation data fusion and related fault detection algorithms are designed.Finally,in order to verify the feasibility and practicability of the scheme designed,this paper builds the simulation and experiment environment,carries on the synchronous test to the redundancy flight control computer.The test result shows that the redundancy flight control computer can synchronize the implementation of navigation and control tasks.A running car experiment is done to verify the algorithm of sensor data fusion.The experiment results show that the sensor data fusion solves the reasonable UAV attitude information and effectively improves the anti-jamming and fault-tolerant capability of the airborne sensor.The semi-physical simulation of the whole redundancy flight control system is carried out.The simulation results show that the redundancy Flight control system can effectively identify and detect faults,with a certain degree of fault tolerance,improve the flight control system reliability.