Abstract: In order to ensure the multi-function realization of powered parafoil controller and the stable operation of the system, this paper designs a powered parafoil control system based on the real-time operating system μC/OS-III. The system is based on Cortex-M4 kernel micro-controller STM32F407IGT6 and Cortex-M3 kernel micro-controller STM32F103VCT6 hardware platform, uses μC/OS-III system to achieve flight mode selection, ground station interaction, GPS acquisition, control quantity, horizontal control, servo position acquisition, longitudinal control, reading and writing system information tasks and other functions. This paper describes in detail the overall composition of the system, as well as the hardware and software implementation methods. Simulation experiments show that using μC/OS-III to perform real-time multitask management of the powered parafoil system can maximize the use of CPU resources, improve the system’s operating efficiency, as well as enhance the stability and real-time performance.

Key words: powered parafoil system, trajectory tracking control, real-time multitask, μC/OS-III, embedded system

摘要： 为了确保动力翼伞控制器的多功能实现及其系统稳定运行，设计了一种基于实时操作系统μC/OS-III的动力翼伞控制系统。系统基于Cortex-M4内核的微控制器STM32F407IGT6和Cortex-M3内核的微控制器STM32F103VCT6硬件平台，采用μC/OS-III系统实现了飞行模式选择、GPS采集、控制量计算、地面站交互、舵机位置采集、横向控制、纵向控制和系统信息读写等任务。详细介绍了系统总体构成以及软硬件实现方法。实验表明，采用μC/OS-III对动力翼伞系统进行实时多任务管理，可以最大化利用CPU资源，提高系统的运行效率，增强系统的稳定性和实时性。

关键词: 动力翼伞系统, 轨迹跟踪控制, 实时多任务, &mu, C/OS-III, 嵌入式系统