基于μC/OS-Ⅱ的无人直升机控制系统软件的优化设计  

Optimization Design of Unmanned Helicopter's Flight Control Software Based onμC/OS-Ⅱ

作　　者：罗宁[1] 李捍东[1] 覃涛[1] 唐海旭[1] 

机构地区：[1]贵州大学电气工程学院,贵阳550003

出　　处：《计算机测量与控制》2013年第9期2591-2593,共3页Computer Measurement &Control

基　　金：研究生创新基金(研理类2013001);贵州省科学技术基金(黔科合J字[2013]2098号);贵州大学青年教师科研基金(贵大自青基合字(201)号)

摘　　要：为了兼顾越来越复杂的无人机飞控系统任务,同时兼顾其实时性、可靠性,提出了一种基于uC/OS-Ⅱ实时操作系统的控制软件优化设计;采用任务划分和设置优先级的方式,根据各程序模块的任务优先级的不同对其进行多任务调度来优化操作系统,采用全局变量的办法提高数据采集的实时性;通过一系列实验,表明优化后的系统具有可靠、灵活、实时性高等优点;并已成功运行于燃油直升机ZP50的机上试验,水平姿态精度为±0.05°,方位姿态精度为±0.5°,从而验证了系统的稳定性,为后续的控制算法的研究奠定了良好的基础,具有一定的实际应用价值。For the UAV takes more and more complex problems in the UAV flight control system and the unreal--time , unreliable , This article introuduces a kind of optization design of the the software operating system that based on μC/OS-Ⅱ. With the method of task partitioning and priorities setting, depending on the task priorities of each program module to multitask scheduling to optimize its operating system, and using global variables to improve real-time performanee of data acquisition. With a series of experiments, demonstates the real -time and reliability of the UAV system. This system has been successfully applied into the fuel helicopter ZP50 , and have tested the stability of the system. It lays a good foundation for the subsequent control algorithm research, and has the value of actual application.

关 键 词：μC OS-Ⅱ 可靠性 实时性 稳定性 

分 类 号：TP316.2[自动化与计算机技术—计算机软件与理论]