微型无人直升机飞控系统的设计及其半实物仿真

Design and Hardware-in-the-loop Simulation of MUAV's Flight Control System

介绍一种以DSP和CPLD作为硬件核心的微型无人直升机飞行控制系统,包括系统传感器数据采集电路、串口扩展电路、舵机控制电路、电源电路等硬件功能模块的设计和实现。在此基础上辅以传感器信息融合、姿态解算、飞行控制算法等系统软件。最后构建一个半实物仿真系统,仿真结果表明该飞控系统的可行性。

This paper introduces the design and implementation of a control system of a mini unmanned aerial vehicle.The system,which employs DSP and CPLD as its core hardware,includes the circuitry models function in power supply,sensor data collection,serial communications interface expanding and motor controlling.And several software models such as sensor integration,attitude calculation and flight controlling are implemented on it.A hardware-inthe-loop simulation system is designed for the research of this flight controlling system.