The Design Of UAV Autopilot Based On Embedded Operating System And The ADRC Algorithm Research

With the development of science and technology and national support for the aviation technology, unmanned aerial vehicle(UAV) has been widely used in exploration, personnel search and rescue, military and other civil and military fields. As the control core of UAV system, the study of the UAV autopilot has been paid more and more attention. Based on the laboratory project, the UAV autopilot design and its control method is studied.The paper briefly describes the development of UAV, points out the main fields of application and development prospect. As the control core of UAV autopilot, this paper introduces the currently used several kind of autopilot, and analyzes their respective characteristics. And in the course of the development of UAV flight control system must carry on the simulation for the system elaboration, which shows its necessity.The autopilot is a high real-time performance, high reliability system design, the traditional way of programming mode can’t meet the requirements of the system. In order to meet the design requirements of system, this paper introduces the concept of embedded operating system, gives several popular embedded operating system, and introduces the uCOS-II migration process on autopilot which is designed by our laboratory.UAV involves the upper control software for the plane sensor information collection, control the amount of calculation, navigation point configuration, control output, and other links, which is complex, and the importance of each link is different. Therefore, this article has carried on the task partitioning of flight control, each task is given priority to facilitate scheduling system, at the same time to ensure the real-time performance of the system.In UAV control algorithm, the actual flight uses PID control algorithm mostly. Because of the control parameters need to adjust in different flight conditions. Therefore, this article introduced the active disturbance rejection controller(ADRC) algorithm, the algorithm made many improvements to the traditional PID control algorithm. Then, through the genetic algorithm to optimize the control parameters of ADRC, and gives the experimental simulation results, the reliability of the algorithm is discussed.Finally, the article summarizes the full text. The future research and how to continue the study has been given.