基于STM32F4与FreeRTOS的无人机飞行控制系统  

UAV flight control system based on STM32F4 and FreeRTOS

作　　者：周志广 许孟孟 石梅林 李青原 王梵 ZHOU Zhiguang;XU Mengmeng;SHI Meilin;LI Qingyuan;WANG Fan(Aerospace Era Feihong Technology Co.,Ltd.,Beijing 100094,China;Civil Aircraft Department,AVIC Xi’an Aeronautics Computing Technique Research Institute,Xi’an 710065,China;Institute 706,Second Academy of China Aerospace Science and Industry Corporation,Beijing 100854,China;Xi’an ASN Technology Group Co.,Ltd.,Xi’an 710065,China;School of Electronic Information and Artificial Intelligence,Shaanxi University of Science and Technology,Xi’an 710021,China)

机构地区：[1]航天时代飞鸿技术有限公司,北京100094 [2]航空工业西安航空计算技术研究所民机事业部,西安710065 [3]中国航天科工集团第二研究院706所,北京100854 [4]西安爱生技术集团有限公司,西安710065 [5]陕西科技大学电子信息与人工智能学院,西安710021

出　　处：《航空工程进展》2024年第4期93-99,共7页Advances in Aeronautical Science and Engineering

基　　金：工信部民用飞机专项科研技术研究项目(MJ-2018-G-55)。

摘　　要：飞行控制系统多以高性能CPU为处理器和Vxworks为设计内核,存在成本高、体积大、内核源码不公开等问题,因此设计一款低成本、高可靠性的小型无人机飞行控制系统。基于STM32F4芯片开发一套由微型控制器、各种传感器和执行机构构成的飞行控制硬件系统,实现对无人机的姿态和舵机位置的控制;引入源码公开的FreeRTOS嵌入式实时系统作为软件平台开发飞行控制软件,实现飞行控制、自主导航、飞行管理等功能;通过固定翼航模的飞行试验对该飞行控制系统进行验证。结果表明:该系统具有良好的稳定性、实时性,控制精度高。The high-performance CPU is taken as processors and Vxworks is taken as the design kernels for most flight control systems,which has the problems of high cost,large size and non-disclosure of kernel source code.A low-cost and reliable flight control system for a small UAV is designed.A flight control hardware system consisting of micro-controller,various sensors and actuators is developed based on STM32F4 to realize the control of attitude and rudder position.FreeRTOS embedded real-time operating system with open source code is introduced as software platform to develop flight control software,so as to realize the functions of flight control,autonomous navigation and flight management.The flight control system is validated by flight test of fixed-wing aviation model.The results show that the designed system has high stability,high control accuracy and fast response.

关 键 词：飞行控制系统 STM32F4 FREERTOS 余度设计 飞行试验 

分 类 号：V249[航空宇航科学与技术—飞行器设计]