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 en_US
ISSN 1560-6686
期刊性質 國內
收錄於 EI
產學合作
通訊作者
審稿制度 否
國別 TWN
公開徵稿
出版型式 ,紙本
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/109565 )