Design And Implementation Of Trajectory Planning Based On DSP6678

Trajectory planning as a practical engineering problem is both related to the algorithm designing and the hardware implementation.In the algorithm,the flight of the missile is influenced by many factors,for which it is generally difficult to obtain effective global information in advance,so the missile must be able to adjust its own trajectory in the course of flight according to the real-time information,which requires the trajectory planning algorithm running in a very fast calculating speed and high calculating accuracy.The traditional direct method is fast but with low accuracy,while the indirect method is just on the contrary.In order to meet the requirements,an improved efficient algorithm must be adopted.In terms of the hardware,DSP is a common digital signal processing chip with a huge advantage in data operation while FPGA is usually used for logic and control.DSP and FPGA framework combines the advantages of both which is an effective means of hardware design.In order to solve the problem of trajectory planning,the TMS320C6678 has some advantages by its excellent computing power.According to the project requirements,we designed and realized the ballistic planning hardware platform,and completed the following work:Firstly,we discuss the basic theory of trajectory planning.According to the analysis of coordinate system and missile flight process,the mathematical model of missile flight is established,and the detailed missile mechanics equation is listed.The general solution of trajectory programming problem is discussed,and also the conversion process with the optimal control problem is pointed out.The method of solving the optimal control problem is introduced,including the direct and indirect methods,and the Gaussian pseudospectral method in the direct method is expounded and Matlab simulation,which verifies the performance of the algorithm.Secondly,we design the hardware platform based on TMS320C6678 and V4-FPGA.According to the requirements of the project,the causes of DSP and FPGA chip selection are analyzed as well.The design idea and design principle of each part of the hardware circuit as well as the DSP is introduced in detail.At last,the debugging process of the system is introduced.The paper mainly introducesthe debugging of the software part,including the host computer software,the algorithm program and the IPC multi-core software.According to the collaborative work of each part,the final conclusion is obtained and the performance of the hardware system is verified.