基于DSP和FPGA的飞行器双核控制设计
发布时间：2018-11-17 06:34
【摘要】：四轴飞行器是一种四旋翼的飞行器,其四个螺旋桨都是通过无刷电机驱动产生上升力,X形的布局允许飞行器通过飞控系统改变无刷电机转速,起到了稳定飞行姿态的作用。近年来,无论是军事科技上还是民用航拍市场,甚至快递物流行业,四轴飞行器在这些行业中都有着不可忽视的应用,因此对飞行器的飞控系统提出了的更多样化功能要求。本课题根据当前军事和民用方面对四轴飞行器提出的功能要求以及常用飞控系统的特性,结合DSP与FPGA的优势,为满足目标识别功能,提出了基于DSP+FPGA的飞行器双核控制设计。为了实现四轴飞行器的基本飞行控制以及扩展功能,首先提出了飞控系统的总体设计方案,本课题所设计的飞控系统分为地面站主控板和飞行器控制板两个部分。地面站主控板接收飞行器主控板传回的飞行器各项参数,并向飞飞控板发送上位机下达的控制命令;飞行器主控板用于采集传感器数据,以及控制电机转速,实现飞行器飞行控制。地面站和飞控板皆采用DSP+FPGA双核设计,在地面站上DSP用于控制2.4G数传接收发送飞行命令,FPGA控制USB接口与上位机通信;在飞控板上DSP除了控制2.4G数传外,还担负着后续图像处理的核心工作,而FPGA则作为飞行控制的主处理器,用于采集传感器数据进行飞行器姿态调整。接着详细介绍了地面站和飞控板硬件电路设计和软件设计,例如地面站上的USB2.0接口、2.4G无线收发模块、飞控板上的GY86模块以及视频解码模块等;软件部分主要包括DSP+FPGA通信和PWM波输出等,最后介绍了一种DSP与FPGA之间数据通信的方法。本文最大的特点,在于合理分配FPGA和DSP片上资源,运用其自身优势条件,不仅能实现基本飞行控制,而且还可实现四轴飞行器可配置性,使其具备目标识别功能,有效提高了系统的嵌入性。
[Abstract]:Four-axis aircraft is a kind of four-rotor aircraft whose four propellers are driven by brushless motor to produce rising force. The X-shape layout allows the aircraft to change the speed of brushless motor through flight control system which plays the role of stabilizing the flight attitude. In recent years, both military science and technology, civil aerial photography market, even express logistics industry, four-axis aircraft in these industries can not be ignored, so the aircraft flight control system put forward a more diversified functional requirements. According to the current military and civilian requirements for four-axis aircraft and the characteristics of common flight control systems, combined with the advantages of DSP and FPGA, a dual-core control design of aircraft based on DSP FPGA is proposed to meet the target recognition function. In order to realize the basic flight control and extended function of the four-axis aircraft, the overall design scheme of the flight control system is put forward firstly. The flight control system designed in this paper is divided into two parts: the main control board of ground station and the control board of aircraft. The main control board of the ground station receives the parameters of the aircraft from the main control board of the aircraft, and sends the control orders issued by the upper computer to the flight control board. The main control board is used to collect sensor data and control motor speed to realize flight control. Both the ground station and the flight control board are designed with DSP FPGA dual core. DSP is used to control 2.4G data transmission to receive and send flight commands on the ground station. FPGA controls the USB interface to communicate with the host computer. In addition to controlling 2.4G data transmission on the flight control board, DSP is also responsible for the core work of subsequent image processing. As the main processor of flight control, FPGA is used to collect sensor data for aircraft attitude adjustment. Then the hardware circuit design and software design of ground station and flight control board are introduced in detail, such as USB2.0 interface on ground station, 2.4G wireless transceiver module, GY86 module on flight control board and video decoding module. The software mainly includes DSP FPGA communication and PWM wave output. Finally, a method of data communication between DSP and FPGA is introduced. The biggest characteristic of this paper lies in the rational allocation of resources on FPGA and DSP chips and the use of its own advantages, which can not only realize the basic flight control, but also realize the configurable ability of the four-axis aircraft, so that it has the function of target recognition. The embeddedness of the system is improved effectively.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V249.1
[Abstract]:Four-axis aircraft is a kind of four-rotor aircraft whose four propellers are driven by brushless motor to produce rising force. The X-shape layout allows the aircraft to change the speed of brushless motor through flight control system which plays the role of stabilizing the flight attitude. In recent years, both military science and technology, civil aerial photography market, even express logistics industry, four-axis aircraft in these industries can not be ignored, so the aircraft flight control system put forward a more diversified functional requirements. According to the current military and civilian requirements for four-axis aircraft and the characteristics of common flight control systems, combined with the advantages of DSP and FPGA, a dual-core control design of aircraft based on DSP FPGA is proposed to meet the target recognition function. In order to realize the basic flight control and extended function of the four-axis aircraft, the overall design scheme of the flight control system is put forward firstly. The flight control system designed in this paper is divided into two parts: the main control board of ground station and the control board of aircraft. The main control board of the ground station receives the parameters of the aircraft from the main control board of the aircraft, and sends the control orders issued by the upper computer to the flight control board. The main control board is used to collect sensor data and control motor speed to realize flight control. Both the ground station and the flight control board are designed with DSP FPGA dual core. DSP is used to control 2.4G data transmission to receive and send flight commands on the ground station. FPGA controls the USB interface to communicate with the host computer. In addition to controlling 2.4G data transmission on the flight control board, DSP is also responsible for the core work of subsequent image processing. As the main processor of flight control, FPGA is used to collect sensor data for aircraft attitude adjustment. Then the hardware circuit design and software design of ground station and flight control board are introduced in detail, such as USB2.0 interface on ground station, 2.4G wireless transceiver module, GY86 module on flight control board and video decoding module. The software mainly includes DSP FPGA communication and PWM wave output. Finally, a method of data communication between DSP and FPGA is introduced. The biggest characteristic of this paper lies in the rational allocation of resources on FPGA and DSP chips and the use of its own advantages, which can not only realize the basic flight control, but also realize the configurable ability of the four-axis aircraft, so that it has the function of target recognition. The embeddedness of the system is improved effectively.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V249.1
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