The Research Of Micro UAV Flight Control System Based On SOPC

Quadrotor UAV has unique flight performance and is widely used in military and civilian fields.Due to its characteristics such as driving,multi variable,nonlinear and so on,the modeling and control of quadrotor is the research difficulty and hotspot in the field of control at home and abroad.In this paper,the UAV attitude control and navigation control algorithm is studied and the flight controller based on SOPC is designed.The feasibility of the algorithm is verified by quadrotor UAV.Firstly,the aerodynamic characteristics and control principle of the quadrotor are analyzed,and the basic components,basic functions and basic principles of the flight control system are introduced.After the establishment of the nonlinear system model,the model is further simplified,and the transfer function for attitude simulation is obtained.Introduce the classic PID,fuzzy control principle respectively.Fuzzy control and PID control are combined to form an intelligent nonlinear controller to overcome the defect that PID has poor control performance for nonlinear system.In the Simulink,the control model of quadrotor is built,and the attitude angle of the quadrotor is selected as the control object,and the fuzzy PID controller is designed by using the matlab fuzzy toolbox,through the simulation to validate the effectiveness of the controller.The simulation results show that compared with the traditional PID,the fuzzy PID controller can be used to recover the attitude more quickly without overshoot.Secondly,it introduces the classification of navigation,including satellite navigation,inertial navigation and integrated navigation.Which,the principle of strapdown inertial navigation is introduced and on the basis,an extended Kalman filter is used to fuse the gyroscope and accelerometer data.The data acquisition system is built by using microprocessor,sensor and serial port,and the extended Kalman filter is used to compare with the original data.The experimental results show that the extended Kalman filter can effectively fuse the data,remove the noise of the system,make the data more smooth,and meet the general navigation requirements.Finally,after a brief introduction of the SOPC technology,with CoreEP2C8 core board as the foundation,design the supporting hardware circuit in the Altium Designer software,including sensor module,external expansion storage and wireless communication module;the construction of SOPC system is based on NIOS II core processor and then the software design of the system is completed.Based on the design of hardware and software,the flight control system is debugged,including power supply test,sensor calibration,communication test and fuzzy PID parameter adjustment,and then carries out the flight test to evaluate the effectiveness of the system.The results show that the designed system can meet the general flight requirements.