Control Components And Data Communication In Open Control Platform For Unmanned Autonomous Helicopter

Unmanned helicopter can be remotely controlled flight or autonomous flight, the entire flight control system is composed of three parts: ground station, airborne system and information transmission system. The task orders sent by station will be transferred to airborne computer system through wireless link/wireless network, then we can control the flight status of helicopter, at the same time, the status information of helicopter from airborne computer will be transferred to ground station through wireless link and monitored by the ground station system, which provide a basis for ground control staff. For the complex distributed flight control system, the role of information transmission system should not be underestimated. However, the ground station and airborne system are independent subsystem, the system software designed by traditional means of communication has strong coupling, low reusability and it is fragile and not flexible.To solve the above problems, the paper implements data communication of UAH flight control system by using CORBA event service, which decouples the design of all the control components, make all control components dynamically re-allocated / reconfigurated and greatly eases the complexity of distributed flight control system.The content of the paper include: establishing the nonlinear model of unmanned helicopter and linear it, then packaged as linear model component; design the UAV closed-loop control system by using internal and external loop control method, then packaged as control law component; developing serial communication component by using Windows API; TAO(CORBA middleware) be used to develop communication component based on the event services; finally, a simulation system is constructed to validate the communication effects of TAO communication component.