Research Of For Rotor Aircraft Flight Control System Based On Linux

With many advantages such as simple body structure, superior hovering and low-speed characteristics, convenient and flexible manipulation method, Four-rotor aircraft have becoming the new hotspot areas in unmanned spacecraft domain. In order to solve the low control accuracy and poor of robustness on the flight control system of traditional four-rotor aircraft, both hardware platforms and software platforms are improved in this paper.The processor S3C2440 which is based on the architecture of ARM9 is chosen as control chip of master control module, and cross-compiler environment is built, and Linux operating system kernel is cropped and transplanted, and a YAFFS file system is produced; The data is provided for attitude algorithm by accelerometer, gyroscope and digital compass as senor module, which is highly precision and integrated. The powerful operation ability of master control chip and the low resource utilization of Linux ensure the efficiency of hardware platform.To solve the problem that lack of self-tuning ability in traditional incremental PID control algorithm, adaptive single neuron PID control algorithm is proposed. According to the change of the four rotor aircraft control characteristic, to improved the accuracy of the controller the control parameter is adjusted adaptively. And the threshold value is set to ensure the robustness of control algorithm. In addition, the complex flight control program is implemented by the means of multiple tasks based on the multithreading mechanism of Linux system, which improved the efficiency of the flight control system and ensure the real-time performance of the algorithm.With the four-rotor aircraft dynamics model, the simulation experiment of control algorithm is carried out, and flight test is done on the hardware platform. The experimental result shows that the flight control system design based on Linux operating system in this paper ensure the real-time characteristic, the accuracy of flight control is also improved and the robustness is enhanced at the same time.