Design Of Flight Control Computer For Ducted-fan UAV

Ducted-fan UAV,with the abilities of vertical takeoff and landing,hovering and flexible maneuvering,and the unique advantages of strong concealment,compact structure,high aerodynamic performance compared with the traditional UAVs,is widely used in various fields.Flight control computer is the core part of the UAV system,of which function and performance must meet demands of diverse and complex flight mission.In this dissertation,the ducted-fan UAV was taken as the research object.Based on in-depth study of its control requirements,the design and research of the hardware and software of the flight control computer were carried out.Firstly,after elaborating the characteristics and task needs of the ducted-fan UAV system,the design requirements of the flight control computer are analyzed in terms of hardware resources,function and performance.Consequently,overall concept design of the flight control computer based on high-performance processor of PowerPC architecture was carried out.Secondly,through the research on operating principle of the central processor,the design of hardware circuit was completed,which includes the monitoring central processor module,input and output interface module,and multi-class power supply based on the two-section conversion structure.The module-to-system driver software was developed.To better enhance flight control computer?s reliability,after analyzing the interference source,the hierarchical architecture for anti-interference was adopted to improve its electromagnetic compatibility.Meanwhile,the whole of the lightweight and miniaturization was realized by the design of the system?s stacked structure.Furthermore,according to the control requirements of the ducted-fan UAV,flight control and management software was designed: the accuracy of navigation information was increased by using tracking differentiator and cascade data fusion method;guidance and control strategies in different stages were developed by analyzing each flight stage;failure emergency logics were designed by researching the detected fault characteristics to boost fault-tolerance and safety of the system.Finally,through developing the testing software and constructing the semi-physical simulation environment,system tests and simulation verifications were completed.It turned out that the flight control computer of ducted-fan UAV not only can run stably and reliably for long time with software-hardware co-design,but also can meet the requirements of functions and performances.