基于DSP和FPGA的飛行器雙核控制設(shè)計
發(fā)布時間：2018-11-17 06:34
【摘要】：四軸飛行器是一種四旋翼的飛行器,其四個螺旋槳都是通過無刷電機驅(qū)動產(chǎn)生上升力,X形的布局允許飛行器通過飛控系統(tǒng)改變無刷電機轉(zhuǎn)速,起到了穩(wěn)定飛行姿態(tài)的作用。近年來,無論是軍事科技上還是民用航拍市場,甚至快遞物流行業(yè),四軸飛行器在這些行業(yè)中都有著不可忽視的應(yīng)用,因此對飛行器的飛控系統(tǒng)提出了的更多樣化功能要求。本課題根據(jù)當(dāng)前軍事和民用方面對四軸飛行器提出的功能要求以及常用飛控系統(tǒng)的特性,結(jié)合DSP與FPGA的優(yōu)勢,為滿足目標(biāo)識別功能,提出了基于DSP+FPGA的飛行器雙核控制設(shè)計。為了實現(xiàn)四軸飛行器的基本飛行控制以及擴展功能,首先提出了飛控系統(tǒng)的總體設(shè)計方案,本課題所設(shè)計的飛控系統(tǒng)分為地面站主控板和飛行器控制板兩個部分。地面站主控板接收飛行器主控板傳回的飛行器各項參數(shù),并向飛飛控板發(fā)送上位機下達(dá)的控制命令;飛行器主控板用于采集傳感器數(shù)據(jù),以及控制電機轉(zhuǎn)速,實現(xiàn)飛行器飛行控制。地面站和飛控板皆采用DSP+FPGA雙核設(shè)計,在地面站上DSP用于控制2.4G數(shù)傳接收發(fā)送飛行命令,FPGA控制USB接口與上位機通信;在飛控板上DSP除了控制2.4G數(shù)傳外,還擔(dān)負(fù)著后續(xù)圖像處理的核心工作,而FPGA則作為飛行控制的主處理器,用于采集傳感器數(shù)據(jù)進(jìn)行飛行器姿態(tài)調(diào)整。接著詳細(xì)介紹了地面站和飛控板硬件電路設(shè)計和軟件設(shè)計,例如地面站上的USB2.0接口、2.4G無線收發(fā)模塊、飛控板上的GY86模塊以及視頻解碼模塊等;軟件部分主要包括DSP+FPGA通信和PWM波輸出等,最后介紹了一種DSP與FPGA之間數(shù)據(jù)通信的方法。本文最大的特點,在于合理分配FPGA和DSP片上資源,運用其自身優(yōu)勢條件,不僅能實現(xiàn)基本飛行控制,而且還可實現(xiàn)四軸飛行器可配置性,使其具備目標(biāo)識別功能,有效提高了系統(tǒng)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.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：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.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：V249.1
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