A Design For UAV Flight Control System And Research On Real_time Path Planning

Now, the development, production and equipment of UAV has become a commontrend around the world. As an important part in UAV, Automatic Flight ControlSystem is responsible for flight control and flight management, The performanceimpacts on UAV’s flying quality and safety directly.Flight Control System consists of three parts: flight control computer system,sensors and actuators. This paper analyzes the structure of the flight control system,working principle; TMS320F2812which is produced by TI is the Core processor inflight control computer system.And there are also FLASH, SRAM memory andpower supply circuit in it.In addition,in order to debugging easily, LCD is added toflight control computer system; The sensors include strapdown inertial navigationsystem(SINS), GPS, altimeter. This paper analyzes the hardware circuit and completethe design and debugging; The actuators in this paper is steering gear.In this field,theprinciple of steering gear is discussed;In order to communicate with the ground, Themodule of Wireless transceiver is added to Flight Control System.This module controlby STC12LE5A60S2,and it takes Silicon Labs’s Si4432as the transceiver. In additionto achieving communication, it also can generate PWM wave to control steering gearindependently. When the DSP getting in trouble or giving up control, the UAV can beremote control via the wireless transceiver module.SINS is made up of three Yaw Rate Gyroscope ADIS16080and a DigitalAccelerometer ADXL345. the metrical date of the sensor are acceleration and angularacceleration values. But the attitude, velocity and position of UAV is what theneed.Therefore the data should be converted.This paper algorithm for the fourelements which accomplishs data processing in SINS and achieve it.Path Planning Usually as subsystem of the mission planning is one part of UAVsystem. Due to “unmanned” stuation,UAV often can not make decisions when it isconfronted with rapidly changing battlefield.But with the ability of path planning,UAV make up for this defect to some degrees. This paper analyzes the modeling ofroute planning and complete Path planning. Planning algorithms include geneticalgorithms, probability map method, Hierarchical control approach.This paperanalyzes the principle, completes the design of the algorithm and achievessimulatation in the MATLAB. Finally, this paper achieve re_planning planning using the hierarchical strategy.