教師資料查詢 | 類別: 期刊論文 | 教師: 蕭照焜 Shiau Jaw-kuen (瀏覽個人網頁)

標題:Development of a Distributed Multi-MCU Based Flight Control System for Unmanned Aerial Vehicle
學年104
學期1
出版(發表)日期2015/09/01
作品名稱Development of a Distributed Multi-MCU Based Flight Control System for Unmanned Aerial Vehicle
作品名稱(其他語言)
著者Jaw-Kuen Shiau; Wei-Sheng Hung; Cheng-Min Chang
單位
出版者
著錄名稱、卷期、頁數Journal of Applied Science and Engineering 18(3), pp.251-258
摘要This paper presents the design of a distributed multi-microcontroller based computing framework for UAV application. A DSPIC microcontroller (MCU) based system architecture is established first. The system contains three major parts, namely, sensing and attitude determination section, control section, and ground section. The sensing and attitude determination section consists of four circuit boards (master control board, slave control board, sensor board, and power supply board) of identical size (5 cm × 5 cm). The sensor board contains three axes inertial measurement unit, electronic compass unit, and a GPS receiver. The sensors and the DSPIC MCUs are connected via an I^2C (inter-integrated circuit) data bus with the DSPIC of the master control board acting as the master MCU. Modular design was used to combine the master and slave control boards to form the system's control section and to facilitate system expansion for accommodating additional avionics functions. UART interface was used for inter-section communication. Results of the design and simulation of a model-based flight control system with time delay were also included to demonstrate the success of the design of the distributed multi-MCU based flight control system.
關鍵字Distributed Control System;State Feedback;Delay Compensation;UAV
語言英文(美國)
ISSN1560-6686
期刊性質國內
收錄於EI;
產學合作
通訊作者
審稿制度
國別中華民國
公開徵稿
出版型式,紙本
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