Design And Implementation Of Ultra-small Unmanned Helicopter Flight Control System Based On ARM And DSP

In recent years,with the miniaturization of micro processor and the enhancement of processor computing ability,the small UAV flight controller has become the focus of research.The topic for the study of the flight control system of unmanned helicopter,the work mainly involves the following aspects: ARM and DSP dual core processor architecture of flight control system design and flight control software and hardware design,algorithm research based on control.Firstly,the paper starts from the composition of the classic flight control system and learns the working principle of the flight control system.Then,the functional requirements analysis of the flight control system is designed,and the unmanned helicopter flight task is divided into flight control task and flight management task.According to the different task requirements,the CPU is assigned and the CPU resources are configured reasonably.And finally designed the overall flight control system program.According to the overall design of the control system,the hardware design of the flight controller is carried out.First introduced the overall structure of the hardware platform design,and then one by one to introduce the various modules of the circuit design.Through the introduction of the working principle of the hardware platform components of the flight controller,the corresponding hardware circuit design is completed.Finally,the hardware platform of the flight controller is designed and built by Altium Designer software.In the design of airborne flight control software part,in order to ensure the real-time system and the reliability of communication,in the sensor data collection task using interrupt mode for data communication.Finally,through the design of dual port RAM,the problem of data communication between the dual core processors is solved.In the following chapters,the hardware function and flight control algorithm are debugged.In the control algorithm,the attitude controller design uses adaptive backstepping control algorithm.By analyzing the control law of the attitude angle,the attitude controller is designed and compared with the simulation results.It is proved that the control algorithm can complete the task of controlling the attitude of the UAV,satisfying the system requirements and has certain practicability.