Design And Implementation Of Control System For Rotor Test Platform Based On ARM Processor

According to the requirement of rotor tests,a set of control system for the rotor test platform was designed in this paper.The main content of this paper: design and construction of several test platforms according to the need of rotor test,design and welding of controller for the rotor test platform,and writing of functional modules of the control system.With the wide application of UAV in military and civilian fields,the requirements of UAV’s performance in different application scenarios are constantly increasing.Because of its unique flight performance,rotor aircraft are suitable for most application scenarios.So it is very important to improve the performance of the rotorcraft through the study based on various rotor tests.Firstly,the test platforms are mainly divided into one for attitude control and another for rotorcraft’s performance testing,which are used as platforms for various rotor tests and attitude control debugging of aircraft.Then design circuit board of the control system based on ARM chips,collocate sensors such as inertial navigation and altimeter that collect aircraft flight status information for control calculation,collocate wireless communication module for the communication with ground station.The task framework of the control system was designed based on the interrupt processing mechanism of ARM processor,and the task modules were run in front and back-end mode.The interrupt priority of different task modules was adjusted according to the actual demand.Based on PID control,the attitude and position cascade control closed-loop were designed combining with anti-integral saturation and dead-time processing.The external crystal oscillator was mounted on the controller as the clock source,and the system clock of the processor was chosen as clock rhythm of the control system,and the running frequency of each task of the control system was determined by corresponding real-time requirements.During the operation of the control software system,system parameters are sent to the ground station continuously by wireless communication equipment at a predetermined frequency,so as to realize real-time monitoring and adjusting the system parameters online,and that facilitates the intuitive display of the rotor test’s data.Finally,through the above work,the design of attitude control link of rotor system was realized and the main performance of rotor can be tested.In addition,the control system was extended to a different flight platform.According to the difference of configuration of aircraft,the control system was adjusted to complete the scheduled flight mission,which provides technical basis for follow-up researches.