基于FPGA和ARM的飞行器控制系统设计

摘要

Aiming at the shortcoming of measuring the flight data for a single sensor,with the FPGA data parallel processing capabilities,a number of sensors are used in the quad rotorcraft system.Using FPGA+ARM structure design hardware system,through the Matlab design FIR digital filter to improve the accuracy of data collection.The sensor data collected by FPGA through the FSMC interface to send STM32,and design Kalman filter algorithm for data fusion and attitude settlement.According to the dynamic model of the quad rotorcraft,a double closed loop PD controller is designed and simulated.Simulation results show that the digital filter to achieve signal filtering,PD controller to meet the system requirements.%该文针对单一传感器测量飞行数据不准确的缺点,借助FPGA的数据并行处理能力,将多个传感器应用于四旋翼飞行器控制系统当中.采用FPGA+ARM的结构设计硬件系统,通过Matlab设计FIR数字滤波器以提高采集数据的可靠性.FPGA采集的传感器数据通过FSMC接口送交STM32,并设计卡尔曼滤波算法进行数据融合与姿态解算.根据四旋翼飞行器的动力学模型设计双闭环PD控制器,并进行仿真.仿真结果显示,数字滤波器达到信号滤波效果,PD控制器满足系统要求.