基于NuttX的多旋翼飞行器控制系统设计  

NuttX-based control system design for multi-rotor unmaned aerial vehicle

作　　者：黄水长 栗盼 孙胜娟[1] 张永健[1] 张智攀 

机构地区：[1]河北工程大学信息与电气工程学院,河北邯郸056038 [2]贵州大学电气工程学院,贵州贵阳550025

出　　处：《电子技术应用》2015年第3期41-43,47,共4页Application of Electronic Technique

基　　金：国家自然科学基金资助项目(41373101)

摘　　要：针对执行复杂任务的多旋翼飞行器对多任务和安全性的需求,设计一种基于N utt X实时操作系统的飞行控制系统,并增加失效保护协处理器,达到减少开发过程中坠机几率和提高主处理器任务容量的目的。实验表明,此平台在满足稳定控制飞行的同时,能明显减小开发难度,缩短开发周期,并且给后续算法开发保留了充足的运行资源。According to the requirements of multi-rotor unmanned aerial vehicle for multitasking and secutiry, this paper presents a kind of flight control system adding a failsafe coprocessor based on NuttX real-time operation system, to reduce the probability of crash risk and enhance the capacity of task of the main processor. Experimental results show that this platform can meet the flight with great stability, significantly reduce the development effort and shorten the development cycle. It retains adequate resources for the subsequent algorithm development also.

关 键 词：多旋翼飞行器 NuttX 多任务 失效保护 

分 类 号：V242[航空宇航科学与技术—飞行器设计]