小型无人机飞控计算机设计

为了解决小型无人机对飞控计算机小型化和高精度要求的问题，设计以DSP为核心的主控模块，采用大规模逻辑器件CPLD进行地址译码，完成逻辑处理及隔离、驱动功能，配合接口芯片28C94和AD／DA转换芯片设计接口模块、数据采集模块及舵机驱动模块。基于模块化设计的机载飞控计算机具有体积小，功耗低，精度高的特点。系统集成试验和共计15h的验证飞行试验表明，该计算机处理数据的实时性满足5ms数据采集、20ms控制律解算的要求，其输出精度满足控制系统舵机驱动0．01V的要求，总体性能满足验证无人机系统的要求。

Design of flight control computer in small UAV

To satisfy the small UAV% requirement of flight control computer miniaturization and precision, a master control module which takes DSP as a core is designed. The large-scale logic chipset CPLD is used to complete address decoding, isolation and drive function. The interface and data acquisition and servo driver modules are designed in combination with interface chip 28c94 and AD/DA conversion chip. The flight control computer based on the modular design features small size, low power consumption and high accuracy. Integration test and 15 h flight test show that its real-time performance and control precision meet the flight control system requirements of 5 ms data acquisition and 20 ms control rule calculation, and its over-all performance meets the requirements of the UAV system validation,