CN106708076A - Unmanned flight control system - Google Patents
Unmanned flight control system Download PDFInfo
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- CN106708076A CN106708076A CN201710067500.0A CN201710067500A CN106708076A CN 106708076 A CN106708076 A CN 106708076A CN 201710067500 A CN201710067500 A CN 201710067500A CN 106708076 A CN106708076 A CN 106708076A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 238000001914 filtration Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 238000011217 control strategy Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 231100000518 lethal Toxicity 0.000 description 1
- 230000001665 lethal effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 231100001160 nonlethal Toxicity 0.000 description 1
- 230000004224 protection Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an unmanned flight control system. The unmanned flight control system is composed of a rotor-wing air vehicle (1), a motor rotary ring (2), a control decision-making device (4), a plurality of detectors, a low-pass filter (9), a Kalman filter (11) and a plurality of AD (Analogue/Digital) conversion interfaces (10), wherein the plurality of detectors comprise a height detector (5), a tilt detector (6) and a gyroscope detector (7); the rotor-wing air vehicle (1) is connected with the height detector (5), the tilt detector (6) and the gyroscope detector (7) respectively; the rotor-wing air vehicle (1) is further connected with the motor rotary ring (2); the motor rotary ring (2) is connected with the control decision-making device (4) through a PWM (Pulse-Width Modulation) module (3); the height detector (5) is connected with the low-pass filter (9); the tilt detector (6) and the gyroscope detector (7) are connected with the Kalman filter (11). According to the unmanned flight control system provided by the invention, the system is operated well and has a good independent control performance.
Description
Technical field
The present invention relates to a kind of unmanned flight's control system, belong to unmanned flight's control field.
Background technology
Microminiature unmanned flight's control system is a kind of electronic, is flown by radio ground remote control or/and autonomous control
That flies can VTOL（VTOL）Aircraft, belongs to rotor craft in structural form, functionally belongs to VTOL
Aircraft.It overcomes own wt using air force, and simple structure, control are flexible, obtain increasing concern.
It is relatively fixed for wing unmanned plane, rotor unmanned aircraft development will be more slowly.Fixed-wing unmanned plane is in technology
On it is highly developed, and represent its superior operational performance in the local war in past more than 20 years, be the U.S., with color
Exploit [2] has been made in the triumph that army of Lie Deng states obtains war.But rotary wind type vertically taking off and landing flyer and fixed-wing unmanned plane
It is bigger compared to having the advantages that：VTOL, hovering, towards any direction flight, takeoff and anding place is small, environmental suitability
By force, height intellectuality etc..At military aspect, depopulated helicopter can perform various non-lethal tasks, and can perform various soft
Hard lethal task, including scouting, monitoring, target acquisition, bait, attack, communication relay etc..Civilian aspect, depopulated helicopter
It is with a wide range of applications at aspects such as atmospheric monitoring, traffic monitoring, resource exploration, power circuit monitoring, forest fire protections.
Compared with conventional helicopters, tail-rotor control and rotor tilt problem can be ignored unmanned flight's control system, this
Because two pairs of direction of rotation of motor on diagonal are conversely, just counteract the torsional moment that they are produced.That is, nothing
People's flight control system offsets anti-twisted torque without tail-rotor and avoids complicated rotor inclination control from realizing various flights
Attitude.Due to its unique symmetry and many rotors, flight attitude is realized by four rotor rotating speeds of adjustment.
On the other hand, unmanned flight's control system has the dynamic characteristic of height coupling, rotor-speed
Change the motion at least influence three degree of freedom direction.For example, reducing the rotating speed of right side rotor, left and right lift is occurred in that not
Balance, this will cause helicopter to scroll right；Left and right is produced for one group of rotor simultaneously torque and it is front and rear be one group of rotation
The torque that the wing is produced occurs in that imbalance, and this will cause helicopter to be gone off course to the right；Additionally, rolling movement will cause helicopter to
Right translation, so as to change the direction of advance.
So far, microminiature unmanned flight control system basic theory has obtained greater advance with experimental study, but will
Really move to maturity and practicality, also need to face many key technology challenges.
The content of the invention
In view of above-mentioned the deficiencies in the prior art part, it is an object of the invention to provide a kind of unmanned flight's control system.
The invention aims to overcome the shortcomings of traditional unmanned vehicle, there is provided a kind of nothing of intelligent lightness
People's flight control system.In order to achieve the above object, this invention takes following technical scheme：
The invention provides a kind of unmanned flight's control system, by rotor craft, motor rotor, control decision device, Duo Gejian
Survey device, low pass filter, Kalman filter and multiple AD conversion interfaces to constitute, plurality of detector includes height detection
Device, tilt angle detector and gyro detector, the rotor craft are detected with height sensor, tilt angle detector and gyro respectively
Device is connected, and rotor craft is also connected with motor rotor, and the motor rotor is connected by PWM module with control decision device, institute
State height sensor to be connected with low pass filter, tilt angle detector and gyro detector are connected with Kalman filter.
Preferably, above-mentioned unmanned flight's control system also includes a flight directive controller, respectively with control decision device, low
Bandpass filter and Kalman filter are connected.
Preferably, above-mentioned height sensor is connected by SPI interface with low pass filter.
Preferably, above-mentioned tilt angle detector and gyro detector are connected by AD conversion interface with Kalman filter.
Preferably, above-mentioned PWM module includes four road PWM passages, respectively passage 0 and 1, passage 2 and 3；Examined using attitude
Measurement information and remote signal draw control strategy, the dutycycle of four road pwm signals are adjusted, so as to control four rotating speeds of rotor.
Compared to existing technology, unmanned flight's control system that the present invention is provided, for mechanical shock influence and gyroscope temperature
The drift problem that degree drift causes, optimal estimation is carried out to current pose and gyroscope drift using Kalman filtering, is simplified
Vehicle dynamics model, system operation is good, and independent control performance is good.
Brief description of the drawings
Fig. 1 is unmanned flight's control system architecture schematic diagram of the present invention；
Fig. 2 is unmanned flight's control system main program flow schematic diagram of the present invention；
Fig. 3 is unmanned flight's control system Ims interrupt routine schematic flow sheets of the present invention；
Fig. 4 is unmanned flight's control system PWM interrupt routine schematic flow sheets of the present invention.
Reference：1- rotor crafts；2- motor rotors；3-PWM modules；4- control decision devices；5- height sensors；
6- tilt angle detectors；7- gyro detectors；8-SPI interfaces；9- low pass filters；10-AD translation interfaces；11- Kalman filterings
Device；12- flight directive controllers.
Specific embodiment
The present invention provides a kind of unmanned flight's control system, to make the purpose of the present invention, technical scheme and effect more clear
Chu, clearly, the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.It should be appreciated that tool described herein
Body embodiment is only used to explain the present invention, is not intended to limit the present invention.
As shown in figure 1, in embodiment, the present invention is by rotor craft 1, motor rotor 2, control decision device 4, Duo Gejian
Device, low pass filter 9, Kalman filter 11 and multiple AD conversion interfaces 10 are surveyed, plurality of detector includes that height is examined
Device 5, tilt angle detector 6 and gyro detector 7 is surveyed to constitute, the rotor craft 1 respectively with height sensor 5, inclination angle detection
Device 6 and gyro detector 7 are connected, and rotor craft 1 is also connected with motor rotor 2, the motor rotor 2 by PWM module 3 with
Control decision device 4 is connected, and the height sensor 5 is connected with low pass filter 9, tilt angle detector 6 and gyro detector 7 and card
Thalmann filter 11 is connected.
Additionally, unmanned flight's control system also includes a flight directive controller 12, respectively with control decision device 4, low pass
Wave filter 9 and Kalman filter 11 are connected.Height sensor 5 is connected by SPI interface 8 with low pass filter 9.Examine at inclination angle
Survey device 6 and gyro detector 7 is connected by AD conversion interface 10 with Kalman filter 11.
Wherein, SPI interface two-way is respectively used to the reading to elevation information and obliquity information.PWM module, uses wherein four
Road PWM passages, respectively passage 0 and 1, passage 2 and 3.Control strategy is drawn using attitude detection information and remote signal, is adjusted
The dutycycle of four road pwm signals, so as to control four rotating speeds of rotor.
Software program design in the present embodiment mainly includes three parts, module initialization main program, Ims Interruptions
Program, PWM interrupt service subroutines.
As shown in Fig. 2 main program is the execution entrance of whole program, after program operation, first have to carry out CPU and its basic
The initialization of module, then carries out designed controller of aircraft parameter initialization and enables each interruption, finally enters dead
Circulation, waits the generation of interrupt event, after interrupt event is produced, immediately passes to interrupt routine and performs interrupt event, has performed
Wait state is reentered after finishing, the generation of interrupt event next time is waited.
As shown in figure 3, Ims Interruption service subprograms, timer often counts full 1ms, and then entrance Interruption services sub- journey
Sequence, into program after read the AD conversion result of obliquity sensor and gyroscope first, window width then is carried out to sampled value
It is 10 moving average filter；If initial state then carry out zero adjustment and carry out Kalman filtering initial parameter give, it is no
Kalman filtering is then carried out to obliquity information and angular velocity information and comprehensively draws attitude angle information and gyroscope drift estimated information.
As shown in figure 4, PWM interrupt service subroutines, are the control decision part of program, interruption frequency is 100Hz, mainly
The response speed that brushless electricity is adjusted is allowed for.Remote control and electricity adjust signal to be the 1-2ms pulse width signals of standard, by reading arteries and veins
Width determines actual instruction size.The position of the part integrated flight device, attitude and remote information, are calculated by the control for designing
Method, calculates the dutycycle of current motor rotating speed and required output, then by dutycycle heavy duty such as PWM hardware modules, control
Rotor rotating speed, so as to adjust attitude of flight vehicle.
Compared to existing technology, unmanned flight's control system that the present invention is provided, for mechanical shock influence and gyroscope temperature
The drift problem that degree drift causes, optimal estimation is carried out to current pose and gyroscope drift using Kalman filtering, is simplified
Vehicle dynamics model, system operation is good, and independent control performance is good.
It is understood that for those of ordinary skills, can be with technology according to the present invention scheme and its hair
Bright design is subject to equivalent or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Shield scope.
Claims (5)
1. a kind of unmanned flight's control system, it is characterised in that：Unmanned flight's control system is by rotor craft（1）, electricity
Machine rotor（2）, control decision device（4）, multiple detectors, low pass filter（9）, Kalman filter（11）And multiple AD turns
Alias（10）Constitute, plurality of detector includes height sensor（5）, tilt angle detector（6）With gyro detector（7）,
The rotor craft（1）Respectively with height sensor（5）, tilt angle detector（6）With gyro detector（7）Connection, rotor flies
Row device（1）Also with motor rotor（2）Connection, the motor rotor（2）By PWM module（3）With control decision device（4）Connection,
The height sensor（5）With low pass filter（9）Connection, tilt angle detector（6）With gyro detector（7）With Kalman filtering
Device（11）Connection.
2. unmanned flight's control system as claimed in claim 1, it is characterised in that：Unmanned flight's control system also includes
Flight directive controller（12）, respectively with control decision device（4）, low pass filter（9）And Kalman filter（11）Connection.
3. unmanned flight's control system as claimed in claim 1, it is characterised in that：The height sensor（5）Connect by SPI
Mouthful（8）With low pass filter（9）Connection.
4. unmanned flight's control system as claimed in claim 1, it is characterised in that：The tilt angle detector（6）Examined with gyro
Survey device（7）By AD conversion interface（10）With Kalman filter（11）Connection.
5. unmanned flight's control system as claimed in claim 1, it is characterised in that：The PWM module（3）Including four road PWM
Passage, respectively passage 0 and 1, passage 2 and 3；Control strategy is drawn using attitude detection information and remote signal, four tunnels are adjusted
The dutycycle of pwm signal, so as to control four rotating speeds of rotor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016109978377 | 2016-11-14 | ||
| CN201610997837 | 2016-11-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106708076A true CN106708076A (en) | 2017-05-24 |
Family
ID=58908986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710067500.0A Withdrawn CN106708076A (en) | 2016-11-14 | 2017-02-07 | Unmanned flight control system |
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| Country | Link |
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| CN (1) | CN106708076A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360218A (en) * | 2011-10-14 | 2012-02-22 | 天津大学 | ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and flight control system for unmanned helicopter |
| CN103365295A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | DSP (Digital Signal Processor)-based quad-rotor unmanned aerial vehicle autonomous hover control system and method |
| KR20140089096A (en) * | 2013-01-04 | 2014-07-14 | 건국대학교 산학협력단 | System for controlling angle of attack of unmanned air vehicle based on multi-rotor system |
| CN204808047U (en) * | 2015-06-18 | 2015-11-25 | 杜伟迪 | Digit accurate controlling means of gesture that takes photo by plane |
| CN105607640A (en) * | 2016-01-20 | 2016-05-25 | 南京工业大学 | pose controller of four-rotor aircraft |
| CN205661656U (en) * | 2016-04-14 | 2016-10-26 | 延安大学 | Four miniature rotor crafts |
| CN206470609U (en) * | 2016-11-14 | 2017-09-05 | 钟玲珑 | Unmanned flight's control system |
-
2017
- 2017-02-07 CN CN201710067500.0A patent/CN106708076A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360218A (en) * | 2011-10-14 | 2012-02-22 | 天津大学 | ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and flight control system for unmanned helicopter |
| KR20140089096A (en) * | 2013-01-04 | 2014-07-14 | 건국대학교 산학협력단 | System for controlling angle of attack of unmanned air vehicle based on multi-rotor system |
| CN103365295A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | DSP (Digital Signal Processor)-based quad-rotor unmanned aerial vehicle autonomous hover control system and method |
| CN204808047U (en) * | 2015-06-18 | 2015-11-25 | 杜伟迪 | Digit accurate controlling means of gesture that takes photo by plane |
| CN105607640A (en) * | 2016-01-20 | 2016-05-25 | 南京工业大学 | pose controller of four-rotor aircraft |
| CN205661656U (en) * | 2016-04-14 | 2016-10-26 | 延安大学 | Four miniature rotor crafts |
| CN206470609U (en) * | 2016-11-14 | 2017-09-05 | 钟玲珑 | Unmanned flight's control system |
Non-Patent Citations (1)
| Title |
|---|
| 王莹: "四旋翼无人机自主飞行控制器研制", 中国优秀硕士学位论文全文数据库, no. 3, pages 8 - 9 * |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170524 |
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| WW01 | Invention patent application withdrawn after publication |