CN107272740A - A kind of new four rotor wing unmanned aerial vehicles control system - Google Patents
A kind of new four rotor wing unmanned aerial vehicles control system Download PDFInfo
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- CN107272740A CN107272740A CN201710627182.9A CN201710627182A CN107272740A CN 107272740 A CN107272740 A CN 107272740A CN 201710627182 A CN201710627182 A CN 201710627182A CN 107272740 A CN107272740 A CN 107272740A
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- 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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Abstract
A kind of new four rotor wing unmanned aerial vehicles control system, its control unit includes：Airborne portion and above ground portion.Wherein airborne portion is divided into again flies control part and cradle head part：Fly control part and adjust part, motor part, data radio station, remote control receiver to constitute by flying control module, extended function module, power management module, indicating lamp module, sensor assembly, electricity, cradle head part is made up of cradle head controllor, head, camera, remote control receiver, figure transmission transmitter.Above ground portion is made up of earth station, aircraft remote control, head remote control, and wherein earth station part is made up of computer, image pick-up card, data radio station, figure passes receiver.For the weak point of current like product, this control system have control precisely, strong adaptability, it is reliable and stable the features such as, can be used in different type of machines.With taking photo by plane, the function such as independent navigation flight, the job requirements to fields such as electric inspection process, frontier defense inspection, agricultural plant protection can be met.
Description
Technical field
The present invention relates to a kind of four rotor wing unmanned aerial vehicles control system, belong to unmanned air vehicle technique field.
Background technology
Over the past two years, with Internet of Things concept deeply and various kinds of sensors technology progress, unmanned plane only takes from before
It is engaged in minority group in government or model plane circle, has gradually moved towards the popular visual field, or even the intelligence production that can possess as ordinary people
Product.In early stage market, unmanned plane is widely used in taking photo by plane, film, agricultural, real estate, news, fire-fighting, rescue, the energy, remote sensing
Fields such as mapping, the conservation of wildlife, and if in entering the demand of social life, its market scale it was expected that
It is likely to be breached annual 46000000000 yuan.
But, although unmanned plane market shows the prosperity scene of " a hundred flowers blossom ", the reliability of unmanned aerial vehicle control system
The problem of being still a sternness.The reduction of market cost, it is meant that aircraft parts and sensor precision decline, script space flight
Level, the sensor of technical grade, drop to bussiness class, can bring higher fault rate.And compared to ground, sky field holds to failure
Bear rate very low.Once failure occurs, passerby or automobile are either pounded in aircraft air crash, and this potential danger can not be estimated
Amount.Accordingly, it would be desirable to design a kind of reliable and stable, control accurately unmanned aerial vehicle control system.
The content of the invention
The technical problems to be solved by the invention are：A kind of reliable four rotor wing unmanned aerial vehicles control system, the present invention are provided
Possess good controllability and reliability, it is possible to achieve the control to four rotor wing unmanned aerial vehicles.
The technical solution of the present invention：
A kind of new four rotor wing unmanned aerial vehicles control system is provided, including：Airborne portion and above ground portion；
Airborne portion includes flying control module, extended function module, power management module, sensor assembly, electricity tune part, electricity
Machine part, data radio station, remote control receiver；
Sensor assembly includes Inertial Measurement Unit, GPS, barometer, magnetic compass；Inertial Measurement Unit is used to measure nobody
The posture and positional information of machine, and it is sent to extended function module；GPS is used for the positional information for detecting unmanned plane, and is sent to
Extended function module；Barometer is used for the pneumatic parameter for measuring unmanned plane present position, and is sent to winged control module；Magnetic compass is used
Magnetic Field in measurement unmanned plane present position, and it is sent to extended function module；
Data radio station is used to the control instruction by antenna satellite receiver and is sent to fly control module, sends unmanned plane shape
State parameter is to earth station；
Remote control receiver is used to receive remote command, and is sent to winged control module；
Power management module：Power management module provides power supply for unmanned aerial vehicle control system；
Electricity adjusts part：Including 4 electron speed regulators, it is respectively used in the case where flying the control of control module drive a motor work
Make；
Motor section point includes 4 motors, and the rotating speed of a rotor is controlled respectively；
Expanding element module：The positional information and magnetic of the unmanned plane of GPS gathers are obtained by the processor of expanding element module
The Magnetic Field of the unmanned plane present position of compass collection, and be selectively transmitted to fly control module；Receive Inertial Measurement Unit
The posture and positional information of collection；Expanding element module carries out attitude algorithm, and the attitude information after clearing is sent into winged control
Module；
Fly control module:Receive position and course that expanding element module is sent；Pass through the control of digital transmission module satellite receiver
System instruction, while returning unmanned plane state parameter to earth station；Remote command is received by remote control receiver；By flying control
Reason device carries out data fusion and exports pwm control signal to 4 electron speed regulators with control resolving；
Above ground portion：Receive the unmanned plane status information for flying control module transmission and show, in autonomous control pattern
It is lower to send flight directive to winged control module.
It is preferred that, fly control module, control flow is as follows：
(1) attitude information that expanding element module is sent is received；
(2) control instruction of the earth station of data radio station, and the telecommand that remote control receiver is sent are read, selection flies
Row mode, offline mode includes attitude control mode, speed control mode and autonomous control pattern for totally three kinds.
If selecting attitude control mode, attitude information and throttle amount that remote control is sent are received, it is single by comparing extension
The targeted attitude information that the actual attitude information of unmanned plane and remote control that element module is calculated are sent, calculates four motors corresponding
Target throttle amount；
If selecting speed control mode, the unmanned plane pitching of reception remote control transmission, roll velocity information, unmanned plane exist
Speed is risen or fallen in vertical direction, the throttle that four motors are performed is calculated by unmanned plane pitching, roll velocity information
Amount, by unmanned plane in vertical direction rise or fall speed, calculating reaches that this rises or falls speed in vertical direction
Throttle amount needed for degree, two throttle amounts are overlapped, and obtain the target throttle amount of four motors；
If selecting autonomous control pattern, the control information at unmanned plane receiving plane station, the instruction sent according to ground is settled accounts
Go out target position information, positional information successively solution is counted as to speed on 3 change in coordinate axis direction, angular speed, passes through 3 reference axis
Angular speed calculates the target throttle amount for four motors for reaching target location.
(3) the target throttle amount of four motors is separately sent to corresponding electron speed regulator, motor.
It is preferred that, expanding element control module control flow is as follows：
(1) interface initialization is carried out；
(2) judge whether initialization succeeds, enter step (3) if initializing successfully, otherwise return to step (1)；
(3) wait after setting time, whether the received GPS of judgement and magnetic compass information have carried out data renewal, and
According to update status, optionally by GPS or magnetic compass information, or the two is sent to and flies control module；
If GPS and magnetic compass do not update, to the data of winged control module transmitting magnetic compass；If magnetic compass updates
Then GPS does not update, then to the data of winged control module transmitting magnetic compass；If GPS update and magnetic compass does not update, to fly
Control module and send GPS information；If GPS and magnetic compass update, GPS and magnetic compass information are sent to winged control module.
(4) if sent successfully, return to step (3), if sending failure, is resend, if continuously transmitting 5 times
Fail and then enter malfunction.
It is preferred that, the determination methods whether updated in step (3) are that relatively more current GPS information in a upper cycle with receiving
GPS information, if inconsistent show that gps data has updated；Compare current magnetic compass information and the magnetic received in a upper cycle
Compass information, if inconsistent show that magnetic compass data have updated.
The present invention has the following advantages that compared with prior art：
(1) quadrotor of the invention, which measures attitude of flight vehicle using inertial technology and reads GPS, obtains position letter
Breath, aircraft state information is obtained using Data fusion technique, and the speed control letter of four motors is produced after via controller processing
Number, so as to realize the Pose Control of aircraft.
(2) present invention sets three kinds of control models, and control mode is versatile and flexible.
(3) present invention sets expanding element control module, judges whether GPS and magnetic compass update, optionally
GPS and magnetic compass data are sent, the reliability of UAV Attitude information extraction is improved.
Brief description of the drawings
Fig. 1 is the system block diagram of four rotor wing unmanned aerial vehicles control system of the invention；
Fig. 2 is unmanned plane structural representation of the invention；
Fig. 3, which is shown, flies control module software flow chart；
Fig. 4 show expanding element control flow chart.
Embodiment
As shown in figure 1, the four rotor wing unmanned aerial vehicle control systems of the present invention, including：Airborne portion and above ground portion.Wherein machine
Carry part and be divided into winged control part and cradle head part again；Fly control part by fly control module, extended function module, power management module,
Indicating lamp module, sensor assembly, electricity adjust part, motor part, data radio station, remote control receiver composition；Cradle head part by
Cradle head controllor, head, camera, remote control receiver, figure transmission transmitter composition.
(1) sensor assembly includes Inertial Measurement Unit (IMU), GPS, barometer, magnetic compass；Inertial Measurement Unit
(IMU) it is used for the posture and positional information for measuring unmanned plane, the signal of detection is sent to extended function module；GPS is used to examine
The positional information of unmanned plane is surveyed, the signal of detection is sent to extended function module；Barometer is used to measure position residing for unmanned plane
The pneumatic parameter put, and winged control module is sent to, and then pass through height residing for pneumatic parameter acquisition unmanned plane；Magnetic compass is used to survey
The Magnetic Field of unmanned plane present position is measured, and then calculates course information, the signal of detection is sent to extended function module；
(2) data radio station is used to the control instruction by antenna satellite receiver and is sent to fly control module, sends nobody
Machine state parameter is to earth station.
(3) remote control receiver is used to receive remote command, and is sent to winged control module.
(4) power management module：Power management module provides 5V/3A power supplys and battery detecting voltage to fly control module, leads to
The internal electric source chip progress voltage conversion for flying control module is crossed, the power supply of processor and peripheral module normal work is transformed to；Together
When receive state of flight command signal and pass through I2C Interface Controllers indicating lamp module and indicate corresponding state of flight；Power management
Unit and the communication interface optional RS232 or CAN for flying control module.
(5) electricity adjusts part：Including 4 electron speed regulators, it is respectively used to the motor in the case where flying the control of control module and works；
(6) motor section is divided into unmanned plane during flying executing agency, in the present embodiment, totally four motors, and four are controlled respectively
The rotating speed of rotor.
(7) expanding element module：The unmanned plane of GPS gathers is obtained by USART by the processor of expanding element module
Positional information, the Magnetic Field for the unmanned plane present position that magnetic compass is gathered is obtained by I2C interfaces, is then sent out by USART
Give and fly control module；The posture and positional information gathered by I2C interfaces Inertial Measurement Unit (IMU)；Expanding element mould
Block carries out attitude algorithm, and the attitude information after resolving is sent into winged control module, is illustrated in figure 4 its control flow chart.
(8) control module is flown:Instructed by providing state of flight to power management module, controlled to indicate by power management module
Lamp module updates state of flight；Receive position and course that expanding element module is sent；Pass through digital transmission module satellite receiver
Control instruction, earth station is sent to by unmanned plane state parameter；Remote command is received by remote control receiver；By flying control
Reason device carries out data fusion and adjusted with controlling resolving to export pwm control signal to each axle electricity；It is illustrated in figure 3 and flies control module software stream
Cheng Tu.
(9) head module：For IMAQ；
(10) above ground portion is made up of earth station, aircraft remote control, head remote control, and wherein ground station reception flies control module
The unmanned plane status information of transmission is simultaneously shown, flight directive is sent to winged control module under autonomous control pattern.Aircraft remote control
For sending telecommand.Head remote control is used to control head posture.
As shown in figure 3, the present invention flies control module, control flow is as follows：
(1) attitude information that expanding element module is sent is received；
(2) control instruction of the earth station of data radio station, and the telecommand that remote control receiver is sent are read, selection flies
Row mode, offline mode includes attitude control mode, speed control mode and autonomous control pattern for totally three kinds.
If selecting attitude control mode, (throttle is a certain winged to reach for the attitude information and throttle that reception remote control is sent
Row height motor speed, four motors are performed both by the throttle amount), by comparing the attitude information and distant that expanding element module is sent
The attitude command that device is sent is controlled, attitude misalignment corresponding rudder wing drift angle is converted into, and calculate corresponding controlled quentity controlled variable.By level
Throttle amount compensation needed for the action of direction calculates the target of corresponding four motors to the throttle commands information produced by remote control
Throttle amount；
If selecting speed control mode, the unmanned plane pitching of reception remote control transmission, roll velocity information, unmanned plane exist
Speed is risen or fallen in vertical direction, is calculated by unmanned plane pitching, roll velocity information corresponding to the speed command
Attitude angle, then corresponding controlled quentity controlled variable is gone out by solving of attitude.By unmanned plane in vertical direction rise or fall speed,
Calculating reaches that this rises or falls the throttle amount needed for speed in vertical direction, and the throttle amount needed for horizontal direction is acted is folded
The throttle amount needed for vertically-acting is added to, the target throttle amount of four motors is obtained；
If selecting autonomous control pattern, the control information of unmanned plane satellite receiver, the instruction knot sent according to ground
Target position information is calculated, positional information is settled accounts into speed, angle speed on 3 reference axis (body axis system) directions successively
Degree, the target throttle amount for four motors for reaching target location is calculated by 3 reference axis angular speed.
(3) the target throttle amount of four motors is separately sent to corresponding 4 electron speed regulators, motor.
With reference to Fig. 4, expanding element control module control flow is as follows：
(1) line interface USART, I2C initialization is entered；
(2) judge whether initialization succeeds, enter step (3) if initializing successfully, otherwise return to step (1)；
(3) wait after 100ms, judge whether received GPS and magnetic compass information have carried out data renewal, and according to
Update status, optionally by GPS or magnetic compass information, or the two is sent to and flies control module.
The determination methods whether updated are to compare current GPS information and the GPS information received in a upper cycle, if not
Unanimously show that gps data has updated；Compare current magnetic compass information and the magnetic compass information received in a upper cycle, if differed
Cause shows that magnetic compass data have updated.
If GPS and magnetic compass do not update, to the data of winged control module transmitting magnetic compass；If magnetic compass updates
Then GPS does not update, then to the data of winged control module transmitting magnetic compass；If GPS update and magnetic compass does not update, to fly
Control module and send GPS information；If GPS and magnetic compass update, GPS and magnetic compass information are sent to winged control module.
(4) if sent successfully, return to step (3), if sending failure, is resend, if continuously transmitting 5 times
Fail and then enter malfunction.
Unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (4)
1. a kind of new four rotor wing unmanned aerial vehicles control system, it is characterised in that including：Airborne portion and above ground portion；
Airborne portion includes flying control module, extended function module, power management module, sensor assembly, electricity tune part, motor section
Point, data radio station, remote control receiver；
Sensor assembly includes Inertial Measurement Unit, GPS, barometer, magnetic compass；Inertial Measurement Unit is used to measure unmanned plane
Posture and positional information, and it is sent to extended function module；GPS is used for the positional information for detecting unmanned plane, and is sent to extension
Functional module；Barometer is used for the pneumatic parameter for measuring unmanned plane present position, and is sent to winged control module；Magnetic compass is used to survey
The Magnetic Field of unmanned plane present position is measured, and is sent to extended function module；
Data radio station is used to the control instruction by antenna satellite receiver and is sent to fly control module, sends unmanned plane state ginseng
Number is to earth station；
Remote control receiver is used to receive remote command, and is sent to winged control module；
Power management module：Power management module provides power supply for unmanned aerial vehicle control system；
Electricity adjusts part, including 4 electron speed regulators, is respectively used to one motor work of driving in the case where flying the control of control module；
Motor section point includes 4 motors, and the rotating speed of a rotor is controlled respectively；
Expanding element module, the positional information and magnetic compass of the unmanned plane of GPS gathers are obtained by the processor of expanding element module
The Magnetic Field of the unmanned plane present position of collection, and be selectively transmitted to fly control module；Receive Inertial Measurement Unit collection
Posture and positional information；Expanding element module carries out attitude algorithm, and the attitude information after clearing is sent into winged control module；
Fly control module, receive position and course that expanding element module is sent；Referred to by the control of digital transmission module satellite receiver
Order, while returning unmanned plane state parameter to earth station；Remote command is received by remote control receiver；By flying control processor
Carry out data fusion and export pwm control signal to 4 electron speed regulators with control resolving；
Above ground portion, receives the unmanned plane status information for flying control module transmission and shows, to winged control mould under autonomous control pattern
Block sends flight directive.
2. four rotor wing unmanned aerial vehicle control system according to claim 1, it is characterised in that fly control module, control flow is as follows：
(1) attitude information that expanding element module is sent is received；
(2) control instruction of the earth station of data radio station, and the telecommand that remote control receiver is sent are read, flight mould is selected
Formula, offline mode includes attitude control mode, speed control mode and autonomous control pattern for totally three kinds.
If selecting attitude control mode, attitude information and throttle amount that remote control is sent are received, by comparing expanding element mould
The targeted attitude information that the actual attitude information of unmanned plane and remote control that block is calculated are sent, calculates four corresponding targets of motor
Throttle amount；
If selection speed control mode, unmanned plane pitching, roll velocity information that remote control sends are received, unmanned plane is vertical
Speed is risen or fallen on direction, the throttle amount that four motors are performed is calculated by unmanned plane pitching, roll velocity information, is led to
Cross unmanned plane in vertical direction rise or fall speed, needed for calculating reaches that this rises or falls speed in vertical direction
Throttle amount, two throttle amounts are overlapped, obtain four motors target throttle amount；
If selecting autonomous control pattern, the control information at unmanned plane receiving plane station, the instruction sent according to ground clears out mesh
Cursor position information, positional information successively solution is counted as speed on 3 change in coordinate axis direction, angular speed, passes through 3 coordinate shaft angles speed
Degree calculates the target throttle amount for four motors for reaching target location.
(3) the target throttle amount of four motors is separately sent to corresponding electron speed regulator, motor.
3. four rotor wing unmanned aerial vehicle control system according to claim 1, it is characterised in that expanding element control module controlling stream
Journey is as follows：
(1) interface initialization is carried out；
(2) judge whether initialization succeeds, enter step (3) if initializing successfully, otherwise return to step (1)；
(3) wait after setting time, judge whether received GPS and magnetic compass information have carried out data renewal, and according to
Update status, optionally by GPS or magnetic compass information, or the two is sent to and flies control module；
If GPS and magnetic compass do not update, to the data of winged control module transmitting magnetic compass；If magnetic compass updates
GPS does not update, then to the data of winged control module transmitting magnetic compass；If GPS updates and magnetic compass does not update, to winged control
Module sends GPS information；If GPS and magnetic compass update, GPS and magnetic compass information are sent to winged control module.
(4) if sent successfully, return to step (3), if sending failure, resends, lost if continuously transmitting 5 times
Lose and then enter malfunction.
4. four rotor wing unmanned aerial vehicle control system according to claim 3, it is characterised in that whether what is updated in step (3) sentences
Disconnected method is to compare current GPS information and the GPS information received in a upper cycle, if inconsistent show gps data more
Newly；Compare current magnetic compass information and the magnetic compass information received in a upper cycle, if inconsistent shown magnetic compass data
Update.
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