Design And Development Of Distributed Flight Control System Software For Unmanned Helicopter

With the development of avionics technology,unmanned aerial vehicle(UAV)has put forward new requirements for the operational performance,safety,reliability,and comprehensive support capabilities of flight control system(FCS).As the core subsystem of the UAV,the FCS needs to adapt to the development of ever-changing microelectronics and computer technology.With the development of technology,the drone began to evolve from the traditional single FCS to a comprehensive aircraft management system that integrates flight control,flight management,and public equipment management.At the same time,the UAV FCS is developing in a redundant and distributed direction.In this context,the design and development of the distributed FCS software for unmanned helicopter(UMH)is carried out.Firstly,based on the technical requirements of the UMH FCS,this paper expounds the design scheme of the system,designs the overall architecture of the distributed flight control software,and formulates the overall verification scheme of the distributed FCS.Secondly,the resource protection strategy involved in task communication is designed.The CAN communication scheme and protocol were designed in detail according to the communication requirements of the FCS.After that,the synchronization function of the distributed FCS was designed.The synchronization of the distributed node reference clock is designed using a time synchronization algorithm.The task scheduling mechanism for task synchronization is designed using a combination of semaphores and a reference clock.Aiming at the data synchronization requirements generated by cross-node task communication in multi-core FCS,a data synchronization mechanism of FCS based on CAN bus communication is proposed and designed.According to the software and hardware characteristics of the sample UMH,the corresponding redundancy management strategy is designed to solve the problem of the redundant resource management of the distributed FCS with multi-core redundancy structure.Finally,a test scheme suitable for the system is designed according to the test requirements of the UMH FCS.On this basis,CAN communication,time synchronization and redundancy management tests,and semi-physical flight simulation verification are performed.The test results show that the distributed flight control software of the UMH designed in this paper can meet the needs of actual engineering.