ARM和NuttX的多旋翼飞行器飞行控制系统设计  

Flight Control System for Multi-rotor Aircraft Based on ARM and NuttX

作　　者：汤明文[1] Tang Mingwen(State Grid Fujian Electric Power Company Fuzhou Power Supply Unit, Fuzhou 350000,Chin)

机构地区：[1]国网福建省电力有限公司福州供电公司,福州350000

出　　处：《单片机与嵌入式系统应用》2016年第11期51-53,57,共4页Microcontrollers & Embedded Systems

基　　金：国家级-新型大气数据传感系统的状态自确认方法研究(61401414).

摘　　要：针对多旋翼飞行器在特种任务需求复杂作业中的稳定、安全和可靠性问题,提出一种基于ARM和NuttX的无人飞行器飞行控制系统。该系统采用基于Cotex-M4内核的低功耗和高性能TM4C123GH6PZ芯片作为主控单元,并结合双冗余惯性测量传感单元完成高可靠硬件电路设计;并以四轴八旋翼无人机为载体,完成了系统功能和性能的飞行试验验证。试验结果表明,该系统不仅能满足飞行控制的稳定性和可靠性需求,而且可扩展性好,软件算法的运行资源充足。Aiming at the problems of the multi-rotor aircraft under complex task requirement such as the stability, safety and reliability, the flight control system of unmanned aircraft based on ARM and NuttX is proposed. This system takes TM4C123GH6PZ as the control unit,and the reliable hardware circuit is designed using the redundancy IMU. Lastly, the function and performance are verified on the four-axis eight-rotor unmanned vehicle. The experiment results show that the proposed method can meet the stability and reliability requirements,and the soft resource is also rich enough to run,which has a high value in the engineering application.

关 键 词：Cotex-M4 TM4C123GH6PZ NuttX 多旋翼飞行器 多任务 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]