Design And Application Of Embedded Airborne Flight Controller

The subject was from that a variety of laboratory unmanned aerial vehicle(UAV)platforms cannot find a suitable flight controller.This thesis mainly worked at designing the hardware of embedded flight controller and the software operation framework.Meanwhile,the flight controller was going to be used in the actual UAV platforms to verify whether it met the requirements.Firstly,this thesis introduced the history of the development of UAVs and the research background,as well as the research status and existing problems of flight controller’s hardware and software.According to the hardware platform of the flight controller,STM32F405ZGT6 microcontroller which is based on ARM Cortex-M4 processor,the important mechanism of processor operation was analyzed.In this thesis,an overall framework of flight tasks was designed,which is based on the excellent interrupt management mechanism.Also,the frequency of task execution in the controller was set according to actual requirements by using the SYSTICK timer.Furthermore,the hardware circuit and task execution program was designed in detail.Then,the model and configuration of the navigation sensors used in the flight controller were determined,including INS,GPS and Altimeter.What’s more,according to the theoretical basis of calculating UAVs’ attitude,location,speed and altitude,specific methods in practical application were determined.According to UAVs requirements of the flight quality,a positional PID controller which can prevent integral saturation and has more flexible structure was designed based on classic PID controller.The internal and external control law in series were given from attitude loop to the position loop.Finally,an innovative flight control computer was proposed which is detachable and can be widely used.The flight controller has been used in a variety of UAVs to accomplish scheduled tasks successfully.The tests showed that the flight controller met the expected requirements.It provided core technical support for the laboratory UAV platforms and technical references for follow-up research.