發(fā)布時間：2018-07-20 15:44

【摘要】：近年來,關(guān)于無人飛行機器的研究已經(jīng)達到了白熱化的程度。各種無人機系統(tǒng)架構(gòu)在近幾年都被爭相提出。作為無人機的控制核心,無人機飛控平臺肩負了眾多復雜且特殊的任務(wù),如對各種傳感器外設(shè)的數(shù)據(jù)采集與上傳、對伺服控制器的操作,無人機飛行過程中日志記錄,與地面控制站進行通信等。因此,一個功耗較低、性能足夠、可靠性高的無人機飛控平臺是無人機系統(tǒng)的重中之重。本文針對目前市面上已有的各類飛控的具體缺點,基于目前最新架構(gòu)Cortex-M7的SAMV71Q21微處理器,以NUTTX嵌入式實時OS作為飛控軟件平臺架構(gòu)的底層基礎(chǔ),設(shè)計了一整套無人機飛控軟硬件平臺。本設(shè)計旨在提供一個無人機飛控整體系統(tǒng)的搭載平臺,因此不涉及具體算法研究以及相應(yīng)模塊設(shè)計。整個飛控平臺可以從硬件架構(gòu)和軟件設(shè)計兩個方面對其進行闡述。在硬件架構(gòu)方面,由于要兼顧到低功耗、高性能以及接口豐富等特性的平衡統(tǒng)一,本文采用了ATMEL公司生產(chǎn)的基于Cortex-M7架構(gòu)的SAMV71Q21微處理器作為飛控硬件的核心,外圍接口的設(shè)計過程中則考慮到了無人機飛控平臺中可能涉及到的各種接口,如RS485,I2C,SPI,CAN等,在硬件平臺上都有相關(guān)接口提供。傳感器模塊則主要包括MTI姿態(tài)測量組件以及MS5803高精度氣壓計。無線通信模塊方面提供SBUS接口,主要是用于接收SBUS遙控接收機信號以及輸出SBUS信號,對云臺進行控制及紅外控制相機抓拍。同時還提供UART總線接口,用于飛控平臺與地面站之間數(shù)傳模塊與圖傳模塊的通信。在軟件設(shè)計方面,考慮到無人機對軟件平臺的可靠性、實時性的需求,本文采用了基于Nuttx實時嵌入式操作系統(tǒng)的軟件平臺設(shè)計方案。該系統(tǒng)采用類UNIX架構(gòu),具有完整任務(wù)調(diào)度模塊、文件管理系統(tǒng)、內(nèi)存管理模塊,非常適合飛控平臺復雜的外設(shè)情景以及多樣化任務(wù)需求。同時引入解決進程間數(shù)據(jù)傳輸實時性問題的微對象代理進程間通信模塊,該進程間通信系統(tǒng)為實時通信系統(tǒng),承擔傳感器之間或傳感器與上層應(yīng)用之間的信息交互。這些措施使得軟件平臺能夠達到較好的實時性、可移植性以及可靠性。本文在完成了整套硬件平臺及軟件平臺的搭建后,對飛控平臺的硬件以及相關(guān)傳感器網(wǎng)絡(luò)、操作系統(tǒng)運行情況進行了驗證與測試,最終驗證整個飛控平臺的可行性與實用性,而最后的飛行測試也證明了飛控系統(tǒng)能夠符合項目設(shè)計需求。
[Abstract]:In recent years, the research on unmanned flying machine has reached the level of white-hot. Various UAV system architectures have been proposed in recent years. As the core of UAV control, UAV flight control platform shoulders many complicated and special tasks, such as collecting and uploading data from various sensor peripherals, operating servo controller and logging during UAV flight. Communicate with ground control station, etc. Therefore, a UAV flight control platform with low power consumption, sufficient performance and high reliability is the most important part of UAV system. Aiming at the specific shortcomings of all kinds of flight control in the market at present, based on the SAMV71Q21 microprocessor of Cortex-M7, this paper takes the NUTTX embedded real-time OS as the underlying foundation of the flight control software platform architecture. A set of UAV flight control software and hardware platform is designed. The purpose of this design is to provide a platform for UAV flight control system, so it does not involve the specific algorithm research and the corresponding module design. The whole flight control platform can be described from hardware architecture and software design. In the aspect of hardware architecture, due to the balance and unity of low power consumption, high performance and rich interface, this paper adopts SAMV71Q21 microprocessor based on Cortex-M7 architecture produced by Atmel Company as the core of flight control hardware. In the design process of peripheral interface, all kinds of interfaces that may be involved in UAV flight control platform, such as RS485C2CU SPIcan and so on, are provided on hardware platform. The sensor module mainly includes MTI attitude measurement module and MS5803 high precision barometer. The wireless communication module provides SBUS interface, which is mainly used to receive SBUS remote receiver signal and output SBUS signal, control the cloud head and capture the infrared control camera. At the same time, the UART bus interface is provided for the communication between the data transmission module and the graphic transmission module between the flight control platform and the earth station. In the aspect of software design, considering the reliability and real-time requirement of UAV to software platform, this paper adopts the software platform design scheme based on Nuttx real-time embedded operating system. The system adopts UNIX-like architecture and has complete task scheduling module, file management system and memory management module, which is very suitable for complex peripheral scenarios of flight control platform and various task requirements. At the same time, a micro-object agent inter-process communication module is introduced to solve the real-time problem of inter-process data transmission. The inter-process communication system is a real-time communication system, which is responsible for the information exchange between sensors or between sensors and upper applications. These measures enable the software platform to achieve better real-time, portability and reliability. After the completion of the whole hardware platform and software platform, the hardware of the flight control platform and related sensor networks, the operating system is verified and tested. Finally, the feasibility and practicability of the whole flight control platform are verified. The final flight test also proved that the flight control system can meet the project design requirements.
【學位授予單位】：電子科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V279;V249.1;TP332

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本文編號：2134015