搜索
南京航空航天大学硕士学位论文小型固定翼无人机飞行控制软件设计与开发姓名：李俊申请学位级别：硕士专业：精密仪器及机械指导教师：李春涛2011-03南京航空航天大学硕士学位论文i摘要随着无人机在众多领域开展的广泛应用，对其提出的要求也越来越高，作为“大脑”的飞行控制系统也越来越受到重视。飞行控制软件是无人机飞行控制系统的重要组成部分，其性能直接关系到无人机的飞行安全。因此在飞行控制软件的设计中既要满足基本的飞行功能，又要提高软件本身的安全性能。本课题正是在这个研究背景和实际工程的需求下提出的。首先，论文采用模块化思想设计开发了一种小型固定翼无人机飞行控制软件，在使整个软件可维护和可扩展的同时，针对软件多任务动态运行、内存保护等要求，设计了数据区轮换读写机制及软件看门狗，解决了多任务对内存读写冲突的问题，保障了飞行控制软件运行的可靠性。其次，结合飞行控制计算机的资源配置，完成了目标硬件的初始化、串口驱动、脉宽调制接口驱动、模拟量驱动和离散量驱动软件设计与开发。完成底层驱动环境开发后，对飞行控制软件进行了任务划分和优先级分配。在综合考虑飞行控制软件性能和功能需求的基础上，设计开发了传感器采集、控制律解算、遥控遥测和导航制导等9个任务，实现了自主导航、指令导航和人工导航三种飞行模态，并通过事件触发的方式对多任务进行调度管理，实现了不同飞行模态间的平滑切换。再次，针对机载设备的配置情况，设计了传感器信息源故障和测控系统链路故障的处理逻辑。给出了传感器的通信状态、数据安全范围和测控系统链路等故障诊断机制，设计了传感器高度信息源、定位信息源、测控链路等故障处置逻辑，确保了无人机的空中安全飞行。最后，在实时仿真环境下，对飞行控制软件进行了半物理飞行仿真验证，测试了传感器故障和测控链路故障逻辑，仿真结果表明本文所设计的软件满足了小型固定翼无人机飞行控制的需求。关键词：飞行控制软件，小型固定翼无人机，模块化，安全可靠，故障处理小型固定翼无人机飞行控制软件设计与开发iiABSTRACTWiththeUAVapplicationinmanyfields,moredemandsarebroughtupontheUAV.Asthebrainoftheflightcontrolsystem,italsogetsmoreattention.Flightcontrolsoftwareisanimportantpartoftheflightcontrolsystem.ItsperformanceisdirectlyrelatedtotheflightsafetyofUAV.Therefore,theflightcontrolsoftwareisnotonlydesignedtomeetthebasicflightcapabilities,butalsotoimprovethesafetyperformanceofthesoftware.Thisthesiswasputforwardonthebasisoftheresearchbackgroundandactualprojectrequirement.Firstly,thispaperdesignedanddevelopedtheflightcontrolsoftwareonthebasisofsmallfixed-wingUAVwiththemodularizeddesign.Thiscouldensurethesoftwarecanbemaintainableandexpansible.Atthesametime,consideringtherequirementofdynamicmulti-taskoperationandmemoryprotection,therotationofreadingandwritingwithdataareawasdesignedtosolvetheconflictthatdifferentmodulereadandwrotewiththesamedataarea.Thesoftwarewatchdogwasdesignedtoavoidthesystemhalted.Thesecanensurethereliabilityofflightcontrolsoftware.Secondly,accordingtotheconfigurationofflightcontrolcomputer,thispapercompletedthetargethardwareinitialization,serialport,PWM,ADandDIOdriver.Aftercompletingthedrive-environment,thedifferenttasksandprioritieswereassigned.Withthecomprehensiveconsiderationonthefunctionandperformanceofflightcontrolsoftware,thesoftwarewasdividedintoninetasks,suchassensortask,controltask,remotetelemetrytaskandguidancetasktorealizetheautonomousnavigation,instructionnavigationandmanualnavigation.Otherwise,thetasksweredispatchedbytheevent-triggertoswitchdifferentflightmodesmoothly.Thirdly,aimingattheconfigurationofairborneequipment,thesoftwaredesignedthefailure-handlinglogicofthesensorinformation-failureandthemonitor-linkfailure.Accordingtothecommunicationstatus,datasecurityrangeandmonitor-linkcondition,thefailure-handlinglogicontheattitudesource,locationsourceandmonitor-linkisdesignedtoensuretheflightsafetyoftheUAV.Finally,thesemi-physicalsimulationsarecarriedouttotestthesensorfailure,monitor-linkfailureandfunctionsofflightcontrolsoftwareinthereal-timesimulationenvironment.Theresultsshowthatflightcontrolsoftwaremeetstheflightcontrolrequirementsofsmallfixed-wingUAV.KeyWords:Flightcontrolsoftware,smallfixed-wingUAV,modularized,Safeandreliable,Faulthandling小型固定翼无人机飞行控制软件设计与开发vi图表清单图1.1飞行控制系统的组成结构........................................................................................................2图1.2飞行控制软件系统总体构架....................................................................................................5图2.1飞行控制计算机硬件结构........................................................................................................8图2.2飞行控制计算机的接口资源....................................................................................................9图2.3软件开发平台..........................................................................................................................11图2.4机载飞行控制软件结构图......................................................................................................13图2.5驱动层与服务层之间的调度关系..........................................................................................13图2.6三层模块之间的调度关系......................................................................................................14图2.7服务层与功能层之间的调度关系..........................................................................................15图2.8半物理仿真系统结构图..........................................................................................................16图3.1启动文件示意图......................................................................................................................18图3.2启动工作流程..........................................................................................................................19图3.3自带串口资源配置..................................................................................................................20图3.4串口数据接收流程..................................................................................................................21图3.5舵机的控制要求......................................................................................................................25图3.6PWM输出流程....................................................................................