Research On Design Technologies Of Load-sharing Flight Control Software Based On Multiple-CPU

Flight control software is the key to unmanned aerial vehicle(UAV)flight control and management system,whose performance greatly guarantees the safety of flight.In this paper,based on the functional needs of flight control software and the idea of modularization and software bus,multi-nodes load sharing flight control software is designed and studied to satisfy the requirements of software maintenance,easy extensibility and high reliability.The main contents of this article are as follows:(1)According to the hardware resource and the software development environment of flight control system,the overall design scheme of the flight control software is proposed based on the functionality and performance requirements of the flight control system.The software includes operating system,hardware abstraction layer,management layer and application layer,and standard interactive interfaces are designed to realize the coordination and cooperation among various layers.(2)To solve the problem that the software is difficult to maintenance caused by tight and complex coupling relationships among functional tasks,a kind of highly cohesive and low coupling classification method is presented.The functional tasks are partitioned into several relatively independent functional modules and then encapsulated in the form of standard interfaces,which implements modular development of the application layer.(3)Module manager,resource manager and module scheduler designed with the division of slot time are designed based on the development idea of software bus to realize the cooperation of functional modules,both of which make the management and control of functional modules and data resources possible and enhance the expandability and maintainability of the system.(4)The static load assignment algorithm and dynamic load balancing strategy based on migration mechanism of modules are designed to realize load balance among different nodes,which assure the balance of both nodes load and scheduling spending,enhancing the reliability of software.The software functionality and performance are verified in the semi-physical simulation,and the results show that the load sharing flight control software based on software bus has the advantages of easy maintenance,easy expansion and high reliability while satisfying the flight control function requirements.