小型無人自主式直昇機整體系統架構規劃及航電系統建立

System Architecture Planning and Implementation of Flight Electronic System for Unmanned Autonomous Model Helicopter

黃培育(Pei-Yu Huang)

指導教授 ： 吳昌暉

元智大學/工程學院/機械工程學系/碩士(2003年)

摘要

近年由於自主式無人直昇機(Unmanned Autonomous Helicopter，簡稱UAH)在軍事及非軍事的應用日漸廣泛，因此各國越來越重視自UAH的發展及研究。本論文完成了小型無人自主式直昇機初步之任務與系統架構規劃，發展定位於中低性能的一般用途之無人自主式直昇機，同時完成了機載之雛型航電系統的設計及製作，以分散式單晶片微控制器網路架構實現複雜航電系統的各種功能，不但降低了系統開發困難度，也使得軟硬體除錯與維護的便利性大為提升。
採分散式架構之機載航電系統依照各微控制器任務分配，區分為資料、飛控及導航三大子系統：資料系統負責28項感測資料的蒐集、處理與紀錄，飛控系統負責飛行控制計算以及R/C伺服機的驅動，導航系統則負責飛行命令的規劃與下達。此外本文還克服了分散式系統的最大挑戰─時序同步及通訊問題，以接腳觸發、插入資料緩衝器以及搭配高速I2C通訊的方法，使航電系統達到16Hz的控制頻寬。
最後，吾人以延遲迴路模擬飛控及飛行命令計算所佔用的微控制器運算時間，在飛控及導航微控制器每一個執行週期內分別插入37msec與47msec的延遲迴路，並完成八通道的RC伺服機驅動程式及命令通道以供將來的控制函式使用，經過一連串的實際飛行測試及驗證，資料系統確實能夠完整蒐集並紀錄28項感測數據，而飛控及導航系統在插入延遲迴路之後不但能夠正常運作，同時也能將模擬的命令透過預留通道送至指定的函式入口。換言之，整個航電系統表現符合規格需求，確實可以提供做為無人自主式直昇機研究的一個廉價發展平台。

關鍵字

無人自主式直昇機 ； 系統架構規劃 ； 直昇機航電系統 ； 單晶片微控制器網路

並列摘要

Recently, UAH (Unmanned Autonomous Helicopter) has often been implemented in not only military but also non-military applications. Governments of many industrialized countries are currently paying more attention to the development of UAH. This article schemes out the mission and the architecture of a general purpose, mid-low performance unmanned autonomous helicopter system. Furthermore, to achieve all the complex functions of aviation, a prototype electrical aviation system based on multi-microcontroller has been presented and realized. This not only decreases the difficulty of developing UAH system, but also simplifies the work of debugging and maintaining all the software and hardware systems.
According to the mission in each microcontroller, the distributed aviation system can be divided into three subsystems: (1) The information subsystem is in charge of collecting, processing and recording 28 flight data. (2) The flight control subsystem is responsible for flying control and driving the RC servo motor. (3) The navigation subsystem has the capability of course guidance and generating flying commands. Besides, several different techniques such as using I/O trigger, adding data buffer and introducing high speed I2C bus are used to overcome the biggest issue of distributed system — timing sequence and communication problems in order that the whole system is able to maintain its bandwidth in 16 Hz.
Furthermore, two delay loops have been added into both flight control and navigation microcontroller separately to simulate the computation time of flight control navigation function: 37msec delay loop is added into flight subsystem as flight function while 47msec delay loop is added into navigation subsystem as navigation function. Apart from that, an 8 channel RC servo motor driver has been created to accept the command from flight control function. After a series of actual flying experiments and verifications, the information subsystem does have the ability to collect 28 sensing data. Also, the flight and navigation subsystems, into both of which are added the delay loops can remain functioning and transfer imitative commands to the designated function. In other words, the electrical aviation system functions properly as is expected. It can truly be the low-cost research platform when developing unmanned autonomous helicopters.

並列關鍵字

Unmanned Autonomous Helicopter ； System Architecture Planning ； Helicopter Flight Electronic System ； Multi-microcontroller Network

參考文獻

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