Design Of Real-time Embedded System For Flying Humanoid Robot

Based on the principle prototype of flight humanoid robot,a real-time embedded control system is designed to realize the closed-loop control function of flight humanoid robot.First of all,by analyzing the current situation of robot embedded system design at home and abroad,it is found that the current mainstream robot embedded system has three characteristics,namely,cable-free,distributed structure and good real-time performance.Secondly,combined with the real-time simulation results,hardware structure,functional requirements of the prototype and the design characteristics of mainstream robot embedded system,the design index,hardware scheme and software scheme are established.On the design index level,according to the simulation results of flight action,in order to ensure the stable control of flight action of flying humanoid robot,it is important to realize the 200 Hz closed-loop control cycle of embedded system.On the software level,the whole software system is divided into user interaction module,communication module,sensor module,closed-loop control module and actuator module.On the hardware level,a simple two-level distributed structure is adopted.The user interaction module is implemented on the upper computer,and the communication module,sensor module,closed-loop control module and actuator module are implemented on the lower computer.Then,carry on the concrete design and the flight algorithm realization.The interface design of the upper computer is mainly based on C# and UDP communication protocol.The design of the lower computer software is based on the real-time Linux system,which uses multi-threading to achieve different functional modules.The hardware circuit design is mainly designed according to the hardware requirements of the lower computer.It mainly realizes the functions of IMU data reading,SD card data reading,wireless communication,steering gear control and bypass fan wind control.At the level of flight algorithm,PD controller is mainly used to realize the flight function of the prototype by controlling the thrust of the six bypass fans.Finally,the experiment of real-time embedded system is carried out.Firstly,the thread delay of real-time embedded system is tested,and the real-time performance of embedded system is judged by the thread delay.Then,the experimental platform is built to test the basic functions and closed-loop control functions of the embedded system,and verify the effectiveness and practicability of the whole embedded control system.