【作者】 王永亮；

【导师】 李秀娟；

【作者基本信息】 南京航空航天大学 ， 导航、制导与控制， 2010， 硕士

【摘要】 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,近年来越来越受到人们的重视。基于实时操作系统的飞行控制软件开发,对于提高软件品质、缩短软件开发周期,具有重要的现实意义。本文在分析了VxWorks结构特点的基础上,根据飞行控制计算机的应用环境和软硬件需求,对BSP进行了开发配置,实现了VxWorks通过网络及CF(Compact Flash)卡的加载启动,建立了软件开发调试的环境,完成了VxWorks到目标机的移植。在完成A/D板、D/A板、串口板、429板等底层驱动的基础上,设计开发了上层应用软件,完成了控制律解算、模态管理和导航制导等软件模块的开发。结合VxWorks的特点,以多任务的形式实现了软件的功能。通过维护一个公用数据区,解决了数据在多个任务间的通信问题,通过“读写锁”实现了互斥资源的保护。最终开发完成了以嵌入式实时操作系统VxWorks为软件平台、基于X86体系结构的某样例无人机飞行控制软件,实现了无人机按照航线的自主飞行。由于VxWorks在X86上的传统启动方式的启动时间较长,在分析了VxWorks的启动过程后,提出了一种简化系统启动步骤的快速启动方法,优化了系统启动时间。针对系统中软件升级的不同情况,设计开发了升级软件,方便了飞行控制软件的升级和维护。在完成了软件单元测试、整体性能测试和功能测试的基础上,进行了全过程的半实物飞行仿真试验,仿真结果表明飞行控制软件功能和性能均满足了样例无人机的设计需求。更多还原

【Abstract】 Flight control software is an important part of the UAV(Unmanned Aerial Vehicles) flight control system. It determines the success of the flight directly and gets lots of attention recently. To develop flight control software based on RTOS(Real Time Operating System) can be good for improving the software quality and shorting the development cycle of software.The property of VxWorks is analyzed and development environment is established by developing of BSP(Board Support Package) according to the requirements of flight control system both in hardware and software in order to develop flight control system software effectively.Meanwhile,the transplanting of VxWorks system to flight control computer is completed and VxWorks can be downloaded from host and local file system on CF card.The driver of A/D,D/A,429,etc. is developed for upper application software module.With the foundation of hardware driver and in view of the property of VxWorks operating system, upper application software including control law module,mode management module and guide module is developed.The function of the software is realized in the form of multi-task. The problem of communication of tasks is solved by managing a public data area.Read-write lock is used to protect mutual source.It has realized automatic control of UAV for entire flight process.As the time of the traditional start-up process of VxWorks on X86 is too long for flight control,a quick start-up method which simplify start-up process is presented after the analysis of the start-up process of VxWorks on X86 series CPUs.A method of online software upgrade is given to solve the problem of software upgrade for flight control system in different situation.After the experiments of evaluating the performance and function of the software, the hardware-in-the-loop simulation for the flight control system is carried out. The results show the whole system is qualified for the design requirements.更多还原