基于LPC1758处理器的无人机自动驾驶仪系统的设计与实现

发布时间：2018-03-24 19:12

本文选题：无人机　切入点：自动驾驶仪　出处：《中国科学院大学(工程管理与信息技术学院)》2016年硕士论文

【摘要】：与传统飞机相比,无人机具有体积小、灵活性高、成本较低等优点,目前已经被广泛应用于众多领域。而作为无人机核心部分的自动驾驶仪,性能是否优异,直接决定了无人机是否可以飞行的更稳定、更可靠。因此研究无人机自动驾驶仪具有重要的应用价值。本文基于LPC1758处理器设计和实现了一整套无人机自动驾驶仪系统。主要工作包括：整体方案规划与设计、硬件电路设计和实现、软件方案规划、底层驱动程序设计以及系统的测试和分析。具体如下：(1)通过研究无人机飞行原理和分析自动驾驶仪的功能需求,基于LPC1758处理器完成了无人机自动驾驶仪的方案设计,主要包括全球定位系统(GPS)、各种类型及功能的传感器模块、飞机控制模块、多类型串行通信模块及混合式电源模块部分的设计。与现有自动驾驶仪硬件平台相比,本方案具有尺寸更小、功耗更低的优点。(2)根据上述方案的硬件功能要求,设计和开发了针对LPC1758处理器的最小电路系统,主要包括：采用了高精度有源晶振的外部时钟电路,采用专业复位芯片的复位电路用以提高系统可靠性,采用驱动器件的仿真电路用以确保处理器运行可靠等。在此基础上,进一步设计和开发了以下电路：包含开关电源、线性电源等多种电源类型的复合式电源电路,模数混合的多种传感器模块电路,高精度低功耗的模数转换(AD)采集电路,用于控制飞机舵机及电机的脉冲宽度调制(PWM)输出电路,以及符合多种接口类型的串行通信电路等模块电路。(3)根据无人机工作原理完成了自动驾驶仪的软件架构设计,并开发了相关的硬件底层驱动软件,包括：具有系统时钟配置、处理器引脚功能配置、事件中断配置等功能的系统初始化模块驱动,具有提供精确时间标志功能的定时器模块驱动,具有采集各种模拟及数字传感器数据功能的数据采集模块驱动,具有控制飞机各种伺服机构运动功能的PWM控制模块驱动以及具有与机上其它设备收发数据功能的通信模块驱动等底层驱动程序。(4)通过对自动驾驶仪各个硬件模块,底层驱动程序模块的测试,验证了该自动驾驶仪系统方案的可行性。与现有的自动驾驶仪相比,本文设计的自动驾驶仪体积更小、功耗更低、精度更高,基本满足了系统的设计要求,为后续导航及控制算法的实现以及无人机小型化设计奠定了基础。
[Abstract]:Compared with traditional aircraft, UAV has the advantages of small size, high flexibility, low cost and so on, and has been widely used in many fields. Directly determines whether the UAV can fly more steadily, Therefore, the research of UAV autopilot has important application value. This paper designs and implements a set of UAV autopilot system based on LPC1758 processor. Hardware circuit design and implementation, software scheme planning, bottom driver design and system testing and analysis. Based on LPC1758 processor, the scheme of UAV autopilot is designed, which includes GPS module, sensor module of various types and functions, and aircraft control module. The design of multi-type serial communication module and hybrid power module. Compared with the existing autopilot hardware platform, this scheme has the advantages of smaller size and lower power consumption. The minimum circuit system for LPC1758 processor is designed and developed, including: the external clock circuit with high precision active crystal oscillator and the reset circuit with professional reset chip are used to improve the reliability of the system. The simulation circuit of driving device is used to ensure the reliability of the processor. On this basis, the following circuits are further designed and developed: the compound power supply circuit, which includes switching power supply, linear power supply, and so on. The analog / digital hybrid sensor module circuit, the high precision and low power A / D converter AD) acquisition circuit, is used to control the pulse width modulation (PWM) output circuit of the aircraft steering gear and motor. According to the working principle of UAV, the software architecture of autopilot is designed, and the related hardware driver software is developed, including the system clock configuration. The system initialization module driver of processor pin function configuration, event interrupt configuration and other functions, the timer module driver with the function of providing accurate time flag, The driver of the data acquisition module, which has the function of collecting various analog and digital sensor data, The PWM control module driver, which has the function of controlling the motion of various servo mechanism of aircraft, and the communication module driver, which has the function of sending and receiving data with other equipments on the aircraft, is driven by the hardware modules of the autopilot. The feasibility of the autopilot system is verified by testing the underlying driver module. Compared with the existing autopilot, the autopilot designed in this paper is smaller in size, lower in power consumption and higher in accuracy. It basically meets the design requirements of the system and lays a foundation for the implementation of subsequent navigation and control algorithms and the miniaturization design of UAV.
【学位授予单位】：中国科学院大学(工程管理与信息技术学院)
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279

【相似文献】