刘念,周炎,祖家奎.小型无人直升机分布式飞控系统的设计与实现[J].电子测量技术,2019,42(10):120-125
小型无人直升机分布式飞控系统的设计与实现
Design and implementation of distributed flight control system for small unmanned helicopter
  
DOI:
中文关键词:  CAN总线  分布式  飞行控制系统  无人直升机
英文关键词:CAN bus  distributed  flight control system  unmanned helicopter
基金项目:
作者单位
刘念 南京航空航天大学 自动化学院 南京 211106 
周炎 南京航空航天大学 自动化学院 南京 211106 
祖家奎 南京航空航天大学 自动化学院 南京 211106 
AuthorInstitution
Liu Nian College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China 
Zhou Yan College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China 
Zu Jiakui College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China 
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中文摘要:
      基于总线的分布式结构以其结构简单、易于扩展、可维护性强的优点已开始应用于无人机领域。以无人直升机为研究对象,在原有的集中式飞行控制系统的基础上进行技术升级改造,提出了一种基于CAN总线的分布式飞行控制系统设计方案。描述了基于CAN总线的分布式系统总体设计方案、硬件设计、通信机制、软件开发和实现,并进行了半物理仿真验证。测试结果表明,CAN总线实际占用带宽为10.5%,未出现丢帧现象,通信基准时钟同步精度小于150 μs,完全可以满足飞控系统的要求。通过进行全过程飞行半物理仿真,证明基于CAN总线的分布式飞控系统能够满足无人直升机飞控系统的实时性、可靠性等控制需求,设计达到了工程化的要求。
英文摘要:
      The bus-based distributed structure has been applied to the field of drones because of its simple structure, easy expansion, and maintainability. The research group takes unmanned helicopter as the research object, and carries on the technical upgrade on the basis of the original centralized flight control system. A design scheme of distributed flight control system based on CAN bus is proposed. It describes the overall design scheme, hardware design, communication mechanism, software development and implementation of distributed system based on CAN bus, and carries out semi-physical simulation verification. The test results show that the actual bandwidth occupied by CAN bus is 10.5%, and there is no frame loss. The synchronization accuracy of communication reference clock is less than 150 μs, which can fully meet the requirements of flight control system. Through the whole process of flight semi physical simulation, it is proved that the distributed flight control system based on CAN bus can meet the real-time, reliability and other control requirements of unmanned helicopter flight control system, and the design meets the engineering requirements.
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