基于ARM11+CPLD的小型无人机飞行控制器设计  

The Design of a Small UAV's Flight Controller Based on ARM11+CPLD

作　　者：郑积仕[1,2] 蒋新华[1,2] 陈兴武[2] 

机构地区：[1]中南大学信息与工程学院,湖南长沙410083 [2]福建工程学院,福建福州350001

出　　处：《自动化技术与应用》2012年第4期29-34,共6页Techniques of Automation and Applications

基　　金：福建省科技厅重点项目(编号2009H002);福建省教育厅重点项目(编号JA11186)

摘　　要：本文针对小型无人机控制精度低、实时性不足的问题,设计了基于ARM11+CPLD的飞行控制器。阐述该飞行控制器的硬件总体架构,各传感器与ARM11接口设计,CPLD并行多路PWM输入、输出设计;阐述硬件的驱动,导航控制、姿态控制的算法设计与实现。该飞行控制器的飞行测试结果理想。The design of the flight controller based on ARM1 I＋CPLD is presented in this paper aiming to solve the low accuracy and the inadequacy of real time in the control of UAV （Unamed Aircraft Veheicle）. The overall frame of the flight controller hardware, the design of the interface between ARM 11 and several sensors and the design of multi parallel PWM controls in CPLD are all presented. Furthermore, this paper also elaborates the hardware drive and the algorithm design and fulfillment of the navigation control and the attitude control. The flight test shows the flight controller works well.

关 键 词：ARM11微处理器 CPLD 小型无人机 飞行控制器 

分 类 号：V249[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]