Software Design Of Flight Control Systemfor Small Unmanned Tilt-rotor

A hardware configuration scheme of flight control system for tilt-rotor is proposed in this paper, and a flight dynamic model for tilt-rotor is established on that base. The rotor dynamic model is based on blade element theory, and the model of wing, fuselage, horizontal tail and vertical tail is based on experimental data from wind tunnel. At last each part is combined into a complete flight dynamic model of tilt-rotor. After we get the plant characteristic for tilt-rotor, a PID controller is designed. According to the flight dynamic model and control rule for tilt-rotor, each model in a flight control system of a software of flight control system is designed, including the control logic, data receiving and sending, serial data and frame data processing and the design of a ground station system, And the realization of flight control system in embedded system is achieved. In the whole design process, an equivalent flight controller is built to virtualize the flight control system. So, the soft of flight control system could run on a PC. In this way, the software development is convenient with other model and is easy to transplant to embedded system. At last, a semi-physical simulation is performed to demonstrate the effective of the software design.