无人直升机实时机载和地面站软件架构设计

Architecture Design of Real-time Onboard and Ground Station Software for Unmanned Aerial Helicopter

研究了无人直升机飞行控制系统实时软件系统设计架构,针对机载嵌入式飞控计算机系统和地面站计算机系统,提出了基于VxWorks实时操作系统的多线程任务机载软件设计方案和基于WindowsXP操作系统的地面站软件设计方案,有助于加快完成无人直升机飞行控制系统的设计和验证。机载系统软件设计为数据采集和测量、伺服舵机驱动、飞行控制与发动机控制实现、通信和数据请求存储等功能。地面站系统软件设计为与机载系统的数据通信、终端用户操控,以及实时飞行状态监视等功能。利用组件对象模型设计技术实现了系统软件设计的模块化、软件结构分层组件化,方便了软件系统的集成与扩展。采用多任务线程机制,有效地满足了飞行控制系统实时性要求。利用实时操作系统的定时器任务机制,确保飞行模式的任务管理和调度。依据所提出的软件设计架构完成了实时机载软件和地面站软件组件模块的设计与开发,而且软件集成快捷方便。研究成果已成功应用于某型无人直升机飞行控制系统。

A real-time software architecture was investigated for flight control system of unmanned helicopter in this paper. Aiming at embedded flight control computer system and ground control station computer system, an onboard multi-task threads software design scheme based on VxWorks real-time operation system and a ground control software design scheme based on WindowsXP operation sys- tem were proposed, which is used to step up the design and validation of flight control system. The onboard embedded system software was classified into several function modules including data collection and measurement, servo actuator driven, flight control and engine control system implementation, communication and data storage logging, and so on. The ground station system software was composed of data communication module, operate and control interface module for end user and display interface module by which the real-time flight condition and state can be monitored. Using Component Object Model technology, design modularization and software architecture laye- ring hierarchy were become possible, which is to help software integration and extension. Applying muhi-task threads mechanism, the real-time requirement of the flight control system was met. Adopting timer task mechanism from the real-time operating system, the task management and scheduling for flight task mode was guaranteed. According to proposed software architecture, the component object model of the onboard real-time software and ground station software was designed and developed, by which application software was fast and easily integrated. The research result was successfully applied to the flight control system implementation of an unmanned helicop- ter.