基于μC/OS-Ⅱ的无人直升机飞行控制软件设计  

The Design of Unmanned Helicopter's Flight Control Software Based on μC/OS-Ⅱ

作　　者：王奕[1] 曾国贵[2] 黄一敏[1] 王小青[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]中国直升机设计研究所,景德镇333001

出　　处：《直升机技术》2007年第2期45-48,共4页Helicopter Technique

摘　　要：飞行控制软件是无人直升机飞行控制的核心,随着对先进无人直升机的性能要求越来越高,无人直升机的控制系统功能越来越复杂,飞行控制软件的设计也越来越重要。本文基于μC/OS-II实时内核详细介绍无人直升机飞控软件模块化的设计方案,提出基于μC/OS-II的飞行控制软件的任务划分和任务通信等技术。该方案能很好得满足系统对实时性的要求,同时能大大降低了开发难度,提高了可读性和可维护性。并且该方案已经在某小型无人直升机飞行控制系统中得到了很好的验证。The flight control software is the core of the unmanned helicopter's flight control system,with the high requirement for advanced unmanned helicopter,the control system of the unmanned helicopter became more and more complex,also the design of the flying control software became more and more important.This article puts emphasis on the modularized design method in unmanned helicopter's flight control software based onμC/OS-II real time kernel.Also this article analysis how to assign task and the communication with each task in μC/OS-II.In this way,the real-time guarantee was achieved and the performance of readability and maintainability are improved.Further more,this method has been verified in a small unmanned helicopter's flight control system.

关 键 词：μC/OS-Ⅱ 无人直升机 飞行控制 软件 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]