CN102053619B - Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter - Google Patents
Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter Download PDFInfo
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- CN102053619B CN102053619B CN2009102374304A CN200910237430A CN102053619B CN 102053619 B CN102053619 B CN 102053619B CN 2009102374304 A CN2009102374304 A CN 2009102374304A CN 200910237430 A CN200910237430 A CN 200910237430A CN 102053619 B CN102053619 B CN 102053619B
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Abstract
The invention discloses a method for switching the automatic flight mode and the manual remotely-controlled flight mode of a miniature unmanned helicopter, and belongs to the field of automatic control of an aircraft. A switching controller module receives the PWM (pulse-width modulation) steering gear control signal and the sensor information of the flight control system of the miniature unmanned helicopter, judges the PWM steering gear control signal and the sensor information of the automatic flight control system according to the preset judgment rule, and switches the PWM steering gear control signal to the remotely-controlled PWM steering gear control signal from the automatic control signal if the PWM steering gear signal or the sensor information of the automatic flight control system is judged to be abnormal. The switching method adopted by the invention detects the flight condition of the miniature unmanned helicopter without intermittences, switches the automatic control flight mode into the manual remotely-controlled flight mode at once if the abnormity of the flight condition is detected, and informs operating personnel on the ground to remotely control the helicopter to fly and guide the helicopter to safely land.
Description
Technical field
The present invention relates to a kind of microminiature depopulated helicopter driving and remote manual control flight changing method automatically, belong to the aircraft automation field.
Background technology
The microminiature depopulated helicopter is the technology of the hot topic in the world today.Because its advantages of small volume, cost is low, flight maneuver property is good, landing site require low, the microminiature depopulated helicopter take photo by plane, military domain such as civil area such as atmospheric surveillance, traffic monitoring, resource exploration, agricultural and battle reconnaissance, targeted surveillance, directtissima, communication repeating have all obtained to use widely.But; The microminiature depopulated helicopter is a typical nonlinear, multiple-input and multiple-output, very noisy, cross coupling complicated control system; Although proposed some control methods effectively now, be difficult to guarantee that the microminiature depopulated helicopter breaks down aloft, perhaps cause the actual effect of control law owing to the interference of ambient atmosphere; If adopt remedial measures this moment untimelyly; Helicopter just has the danger of air crash, for this reason, designs a kind of method of can be timely switching at depopulated helicopter automatic driving mode and remote manual control offline mode and is very important.In case when above-mentioned unsafe condition occurring, depopulated helicopter is switched to the remote manual control flying method, could guarantee the safe falling of depopulated helicopter.
Existing microminiature depopulated helicopter is driven automatically and remote manual control flight switching mode generally is a paths to be set as switching push button in telepilot separately, is decided through range estimation by ground operating personnel and drives automatically or remote manual control flight.This method exist judge untimely, accuracy rate is not high and the shortcoming of operating delay.
Summary of the invention
The objective of the invention is to make the microminiature depopulated helicopter when unusual condition appears in autonomous flight; Or flight control system is can not normally control the flight of helicopter the time; The control model of microminiature depopulated helicopter is switched to the remote manual control offline mode by automatic driving mode, thereby guide the safe falling of depopulated helicopter by ground operating personnel.
This microminiature depopulated helicopter is driven and remote manual control flight changing method automatically, comprising the switch controller module, and airborne remote control transceiver module, ground remote control transceiver module; The switch controller module is installed on the microminiature depopulated helicopter;
The switch controller module receives the PWM steering wheel control signal and the sensor information of microminiature unmanned helicopter flight control system; Judgment rule according to preset is judged the PWM steering wheel control signal and the sensor information of automatic flight control system; If judge that the PWM steering wheel signal or the sensor information of automatic flight control system are undesired; Then switch controller switches to remote control PWM steering wheel control signal with PWM steering wheel control signal by automatic control signal; The PWM steering wheel signal that is about to airborne remote control transceiver is exported to the helicopter steering wheel, makes the PWM steering wheel invalidating signal of automatic flight control system output; Depopulated helicopter gets into the remote manual control offline mode, simultaneously switch controller control airborne remote control transceiver earthward the remote control transceiver send alerting signal, the terrestrial operation personnel depopulated helicopter of remote control microminiature immediately in view of the above keep safe flight.
Under the normal situation of microminiature unmanned helicopter flight, offline mode by the remote manual control mode switch to automatic control mode.
Alerting signal is divided into automatic flight control system abnormal alarm signal, sensor abnormality alerting signal, depopulated helicopter attitude abnormal alarm signal.
Beneficial effect of the present invention:
Tradition is driven automatically and the shortcoming of remote manual control flight switching mode in order to improve; The changing method that the present invention adopts can not stop to such an extent that detect the flight condition of microminiature depopulated helicopter, in case it is unusual to detect flight condition; Switch to the remote manual control flying method at once; Inform the terrestrial operation personnel simultaneously, operating personnel's RC Goblin flight immediately, the landing of guiding Helicopter Safety.
Description of drawings
Fig. 1 is the functional block diagram of driving automatically and remote manual control flight intelligent switch method.
Fig. 2 is that switch controller is driven and remote manual control flight judgment rule figure automatically.
Fig. 3 is switch controller remote manual control offline mode alarm rule figure.
Embodiment
Specify the present invention below in conjunction with accompanying drawing:
Fig. 1 is a functional block diagram of the present invention.The present invention mainly is made up of switch controller module, airborne remote control transceiver module, ground remote control transceiver module.Switch controller receives from the PWM steering wheel control signal of automatic flight control system and the information of each sensor, also receives the PWM steering wheel control signal from airborne remote control transceiver simultaneously.Switch controller carries out offline mode and switches according to the automatic driving/remote manual control flight judgment rule that is preset in the controller.If switch to automatic driving mode, then export the steering wheel of the PWM steering wheel signal of automatic flight control system to depopulated helicopter, realize the automatic flight of depopulated helicopter; If switch to the remote manual control offline mode, then export the PWM steering wheel signal of airborne remote control transceiver.In any moment, all have only a kind of pwm signal of pattern to output to the steering wheel of depopulated helicopter.Airborne remote control transceiver receives from the control signal of ground remote control transceiver and to switch controller output PWM steering wheel control signal.When switch controller switched to the remote manual control offline mode, airborne remote control transceiver also received the alerting signal from switch controller.The ground remote control transceiver is used for the control signal to airborne remote control transceiver emission depopulated helicopter, also receives the alerting signal of airborne remote control transceiver emission.
Switching judging rule in the face of switch controller describes down:
As shown in Figure 2, switching controls receives the PWM steering wheel control signal and the sensor signal of flight control system and carries out switching judging.If it is unusual to detect flight control system attitude unusual or sensor abnormality or depopulated helicopter, then switch controller switches to the remote manual control offline mode; If depopulated helicopter is in the normal flight state, offline mode can be by the remote manual control mode switch to automatic control mode.
(1) automatic flight control system is unusual:
The dutycycle overrun of the PWM steering wheel signal of automatic flight control system output, normal range is that positive pulse width is 1ms to 2ms;
(2) sensor abnormality:
The sensor signal overrun, or sensor has not had output.Normal range is decided by different sensor.
(3) the depopulated helicopter attitude is unusual:
The attitude angle of depopulated helicopter comprises the angle of pitch (pitch), roll angle (roll) and crab angle (yaw).Crab angle is only relevant with the horizontal direction of fuselage, so we only need to judge the angle of pitch and roll angle.The normal range of setting the depopulated helicopter angle of pitch-60 degree and+60 degree between, the roll angle of depopulated helicopter at-60 degree between+60 degree.The normal range of these two angles can be decided according to concrete flight control system and helicopter, is not necessarily above-mentioned value.
Alarm rule in the face of changing method describes down:
Alerting signal is divided into three kinds, is respectively automatic flight control system abnormal alarm signal, sensor abnormality alerting signal, depopulated helicopter attitude abnormal alarm signal.As shown in Figure 3, when switch controller switches the depopulated helicopter control model, send alerting signal to airborne remote control transceiver.Airborne remote control transceiver is remote control transceiver emission alerting signal earthward again, and the terrestrial operation personnel just can know the reason of switching.The ground remote control transceiver uses acousto-optic to report to the police simultaneously, has guaranteed the reliability of reporting to the police.
(1) automatic flight control system abnormal alarm signal
After the ground remote control transceiver received automatic flight control system abnormal alarm signal, lamp 1 began flicker, sends alarm sound 1 simultaneously.
(2) sensor abnormality alerting signal
After the ground remote control transceiver was received the sensor abnormality alerting signal, lamp 2 began flicker, sends alarm sound 2 simultaneously.
(3) depopulated helicopter attitude abnormal alarm signal
After the ground remote control transceiver was received depopulated helicopter attitude abnormal alarm signal, lamp 3 began flicker, sends alarm sound 3 simultaneously.
Claims (1)
1. a microminiature depopulated helicopter is driven and remote manual control flight changing method automatically, comprising the switch controller module, and airborne remote control transceiver module, ground remote control transceiver module; The switch controller module is installed on the microminiature depopulated helicopter; It is characterized in that:
The switch controller module receives the PWM steering wheel control signal and the sensor information of microminiature unmanned helicopter flight control system; Judgment rule according to preset is judged the PWM steering wheel control signal and the sensor information of automatic flight control system; Judgment rule is: if the dutycycle overrun of the PWM steering wheel signal of automatic flight control system output; Normal range is that positive pulse width is 1ms to 2ms, judges that then automatic flight control system is unusual; If sensor signal overrun, or not output of sensor are then judged sensor abnormality; If the depopulated helicopter angle of pitch or roll angle surpass preset normal range, judge that then the depopulated helicopter attitude is unusual; If judge that automatic flight control system or sensor or helicopter attitude are undesired; Then switch controller switches to remote control PWM steering wheel control signal with PWM steering wheel control signal by automatic control signal; The PWM steering wheel signal that is about to airborne remote control transceiver is exported to the helicopter steering wheel, makes the PWM steering wheel invalidating signal of automatic flight control system output; Depopulated helicopter gets into the remote manual control offline mode, simultaneously switch controller control airborne remote control transceiver earthward the remote control transceiver send alerting signal, the terrestrial operation personnel depopulated helicopter of remote control microminiature immediately in view of the above keep safe flight; Alerting signal is divided into automatic flight control system abnormal alarm signal; The sensor abnormality alerting signal; Depopulated helicopter attitude abnormal alarm signal, alarm rule is: if after the ground remote control transceiver receives automatic flight control system abnormal alarm signal, lamp 1 begins flicker; Send alarm sound 1 simultaneously, judge that then automatic flight control system is unusual; After if the ground remote control transceiver is received the sensor abnormality alerting signal, lamp 2 begins flicker, sends alarm sound 2 simultaneously, then judges sensor abnormality; After if the ground remote control transceiver is received depopulated helicopter attitude abnormal alarm signal, lamp 3 begins flicker, sends alarm sound 3 simultaneously, judges that then the depopulated helicopter attitude is unusual; Under the normal situation of microminiature unmanned helicopter flight, offline mode by the remote manual control mode switch to automatic control mode.
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| CN2009102374304A CN102053619B (en) | 2009-11-06 | 2009-11-06 | Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter |
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| CN2009102374304A CN102053619B (en) | 2009-11-06 | 2009-11-06 | Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter |
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| CN102053619B true CN102053619B (en) | 2012-11-21 |
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