Flight Control System Design Based On FPGA Hardware Acceleration Technology Of Unmanned Helicopter

With the development and progress of microelectronic technology,the performance of FPGA chip and the internal resources of the chip are increasing rapidly.Taking FPGA as the control and calculation core,this paper studies and designs a flight control system for small electric unmanned helicopter.Flight control system is the main research content of UAV technology,and flight controller is the core of flight control system.Due to the flight platform and task demand of UAV,the flight controller has the characteristics of high real-time,high stability and high integration.FPGA as a highly integrated programmable device,can be flexible in a chip to achieve complex functions of digital circuit solutions,including Nios II soft core processor.This paper takes FPGA as the center,the overall plan of unmanned helicopter flight control system,including the flight control computer design,sensor system design,servo system design and flight platform research,and focus on the system on programmable chip design of flight control computer hardware circuit and peripheral circuit design and FPGA dual core.In the FPGA system,two independent Nios II processors are integrated in the system,which can greatly enhance the computing power.The functional IP core is also included in the system to achieve the sensor data transmission and initial processing,which greatly reduces the computing burden of the processor.As unmanned helicopter flight missions are complicated and diversified,higher requirements are placed on the flight quality of the UAVs,this paper has carried out the control law design to incomplete differential control algorithm based on PID,and completed the transplantation of the flight control computer C/OS-II operating system,the design of the software system,has been driving the flight control computer for data acquisition,processing,storage and flight control law calculation and servo mechanism.Finally,we completed the design and test of the flight control system,and carried out static and flight tests.The flight control system of the unmanned helicopter was verified.The scheme can achieve the control of the unmanned helicopter and meet the flying quality requirements.