The Hardware Design Of UAV Flight Controlsystem Based On DSP

In the view of small UAV flight control system is an indispensable function part of unmanned aerial vehicle(UAV), and designed a small UAV flight control hardware system that based on the TMS320F28335 which is the core processor to realize the different function of several modules, and completed the related program design. To accomplish the goal that provide favorable hardware security for the flight control system in miniaturization and high performance in the final, it needs to take advantages of methods of gesture detection, control algorithm, and take extended Kalman digital filter and data fusion algorithm into consideration.Firstly, center control unit realizes the functions of the storage extension circuit,system clock and system reset, improves the circuit stability and increases storage capacity as well as the capacity of data storage. In addition, to realize the power supply design that could work in a good condition in different voltage circumstance and meet the demands of circuit power supply by using the power conversion module;Based on the advantage of multiple input sensor integration circuit, the I/O circuit that based on the multi-channel switch quantity signal is developed; In order to improve the scalability of system, the designs of acquisition and input of A/D signal based on multi-channel switches on chip as well as external,along with corresponding input and output D/A conversion are made; The realization of drive control is accomplished by the achieve of simulation quantity control and PWM drive control; The functions of serial communication on chip and extension of data communication based on TL16C754 A is achieved by the realization of multi-channel serial interface circuit;logic control and interrupt control of CPLD are achieved by the using of VHDL. And there is improvement in system integration by the design of digital, analog, serial interface connection.Secondly, using strap-down attitude algorithm based on quaternion, then combining with extended Kalman digital filter(EKF) and the data fusion algorithm,attitude detection control, signal output of high precision attitude are completed during the experiment. By the process of design about software and drive program, the testing of hardware system interface communication module and system control program are completed; The program testing, PWM control signal output test and thepower performance test are designed by the concentration on the system hardware debugging, for flight control system and the PC by the debugging and simulation of ground control station and physical simulation.Finally, the result of test shows that the correctness and reasonableness of design project, and meets the flight control system of structure and safety performance standards. The system also pays attention to reduce the effect of electromagnetic interference(EMC), puts the anti-interference in hardware design into practice, and being advantages in high reliability, good real-time performance and small size, so there is a significant promotion in the integration of a small UAV flight control system and stability of flight control.