飞车控制系统的研究与设计

发布时间：2017-12-31 00:31

本文关键词：飞车控制系统的研究与设计　出处：《北京工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：近些年,世界人口的不断增长以及人民生活水平的不断提高导致地面汽车数量大幅度增加,整个地面交通负担加重。为缓解地面交通运输压力,尽早开辟空中道路显得尤为重要。飞行汽车作为空中道路运输工具之一,已经得到了学者的高度重视与广泛研究。而飞车控制系统作为飞行汽车的中枢控制核心,具有绝对的研究价值。本文初步完成了飞车控制系统的硬件搭建以及软件的实现,并针对飞车控制系统在高动态环境下捷联惯导解算产生不可交换性误差影响导航系统精度的问题,本文研究了基于对偶四元数的螺旋矢量算法。该算法在保障系统实时性的前提下,不仅提高了导航精度,而且大大减少算法复杂度。此外,考虑到复杂场境中飞行汽车对系统可靠性和稳定性有很高的要求,本文设计了基于三片单片机的仲裁热备份系统。其中双机互为热备份,第三台负责仲裁,系统的平均无故障时间得到极大的提高。通过与单机系统进行比较,此系统增强了飞车控制系统的稳定性和可靠性。本文的研究工作主要体现在以下四个方面:首先,本文根据飞车控制系统的功能需求完成了对飞车控制系统的硬件选型和整体设计。考虑到性能要求以及设计成本,本文选择C8051F020作为系统的主控制芯片,选择了相应的传感器模块ADXL345、L3G4200D、HMC5883L和BMP085,并详细介绍了舵机及舵机控制版的工作原理。其次,根据飞车控制系统软件设计需求,本文完成了系统软件的总体设计。包括CPU串口通信设计、C8051F020的初始化、参数初始化以及系统的同步性设计,为了使双机能够正常通讯,本文设计了双端口RAM。再者,针对传统捷联导航算法计算量重且引入了不可交换性误差的问题,本文研究了基于对偶四元数的螺旋矢量算法。通过实验仿真,并比较传统速度更新算法和对偶四元数速度更新算法,从原理上确定了两种算法存在精度差别的原因,定量地表征了两种算法的精度差别。研究结果表明,对偶四元数螺旋矢量算法在精度上具有明显的优势。最后,考虑到系统对可靠性和稳定性有很高的要求,本文设计了基于三片单片机的仲裁热备份系统。所设计系统利用两台单片机负责热备份,另一台负责仲裁。通过系统可靠性分析和可靠度的计算,并与单机系统进行比较可知,本系统的稳定性和可靠性有了很大提高。
[Abstract]:In recent years, the world population growth and the improvement of people's living standards led to a substantial increase in the number of ground vehicles, the traffic burden. To alleviate the ground traffic pressure, open air path as soon as possible is very important. As one of the flying car air road transport, has drawn great attention and extensive research scholars. Speed control system of the central flying car control core, with research value. This paper initially completed the absolute speed control system's hardware and software implementation, and for the speed control system in high dynamic environment of strapdown inertial navigation solution produces noncommutativity error affect the accuracy of the navigation system, is studied in this paper. The spiral vector algorithm of dual four elements. Based on the algorithm in the premise of real-time security system, not only improve the navigation accuracy, But also greatly reduce the complexity of the algorithm. Moreover, considering the complex environment of the flying car has high demands on the reliability and stability of the system, this paper designs three arbitration hot backup system based on MCU. The dual hot backup, third units responsible for arbitration, the system MTBF is greatly improved. Through the comparison with the stand-alone system, this system improves the speed stability and reliability of the control system. The research work of this paper is mainly reflected in the following four aspects: first, according to the speed control system of the functional requirements completed the selection of hardware and the overall design of speed control system. Considering the performance requirements and the design cost, this paper select C8051F020 as the main control chip of the system, the choice of ADXL345, sensor module L3G4200D, HMC5883L and BMP085, and introduces the steering gear and steering control The working principle of plate. Secondly, according to the speed control system software design requirements, this paper completed the overall design of the system software. Including the design of CPU serial communication, C8051F020 initialization, synchronization of system initialization and the design parameters, in order to make the machine to normal communication, this paper designs a dual port RAM. and the traditional strapdown navigation algorithm weighing and the noncommutativity error problem, in this paper the spiral vector algorithm based on dual four element. Through simulation experiments, and compare the traditional velocity updating algorithm and dual four element velocity updating algorithm, to determine the reasons for the existence of differences between the accuracy of the two algorithms in principle, quantitative characterization of the precision difference two kinds of algorithms. The results show that dual four element spiral vector algorithm has obvious advantages in accuracy. Finally, considering the reliability and stability of system Have high requirements, this paper designs the hot backup system based on three single-chip. The design system based on two MCU is responsible for backup, the other one is responsible for arbitration. Through the calculation of system reliability analysis and reliability, and compared with the single system, the stability and reliability of the system has been greatly to improve.

【学位授予单位】：北京工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249.1

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