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The Research on Embedded Flight Control System Based on Quadrotor X450

Author: HuLiang
Tutor: CaoYunFeng
School: Nanjing University of Aeronautics and Astronautics
Course: Control Theory and Control Engineering
Keywords: Micro air vehicle Quadrotor Flight control system ARM Embedded Linux
CLC: V249.1
Type: Master's thesis
Year: 2013
Downloads: 38
Quote: 0
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Abstract


As microminiature quadrotor has high research value and broad application prospect in academicresearch and application field, this paper studies its embedded flight control system design onquadrotor X450and the embedded operating system software development platform design based onLinux.First of all, shelf products X450is chosen as testing platform in the light of quadrotor’sperformance and needs based on prefer survey of quadrotor and typical FCS domestic and overseasand the existing project experience.X450’s own module is introduced in detail. A suitable schematicis designed through retrofitting X450. In view of the current schematic designs software test plan,including bare computer program and embedded operating system and software development platformtests to verify the validity and feasibility of the scheme.Secondly, The FCS is devided into modules and hardware devices are selected to realize thedesigned scheme and function of FCS. The ARM9is chosen as flight control computer to realize thefunction of flight control module; SM41is chosen to realize the function of wireless communicationmodule; data acquisition module and actuator module are realized by X450own module.And then thebare computer program is designed and implemented for each module and some related function testsare implemented for the vehicle.Then, this paper designed and implemented the embedded Linux flight control softwaredevelopment platform, including configuration, transplantation and operation in the plate ofembedded Linux operating system. The upper test applications are designed to verify that theconstructed platform support for upper flight control program design.Finally, the related flight test’s experimental results of embedded flight control system on thequadrotor X450show that the designed micro air vehicle’s embedded flight control system is novel,properly, and realizable. The constructed embedded Linux software development platform provides agood support for upper flight control program development.

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Flight control
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