基于SOPC的微小型无人机容错飞行控制平台设计

Flight Control Platform Design for Small UAV Based on SOPC

摘要:

针对微小型无人机的高可靠性和微型化要求,将可编程片上系统(SOPC)技术和容错技术相结合,设计出一套双余度容错飞行控制平台；从容错方案的选取到硬件和软件的实现给出了具体实施方案,并对同步技术、故障诊断与定位、动态重构与隔离等关键技术进行了研究；经过仿真验证和试验表明,该方案设计合理,系统平台不仅可以实现无人机飞行控制的基本功能,而且具有很高的集成度和灵活性,并且满足一次故障安全。

Abstract:

Over the last three decades,the growing demand for safety,reliability,maintainability,and miniaturization in small unmanned aerial vehicle (UAV) has motivated significant research in new technology. A dual redundant fault tolerant flight control platform is designed based on the technology of system on a programmable chip (SOPC) and the fault-tolerant technology. The implementation scheme about hardware and software of fault-tolerant system is given in detail. The key technology about the synchronization technology,fault diagnosis and location,dynamic reconfiguration and isolation is studied in detail. After lots of simulations and experiments,it shows that the design scheme is reasonable. The platform not only realizes the basic function of the flight control,but also has a high level of integration and flexibility,and can keep safe after a failure.