CN102591350A - Flight control method and system of four-rotor unmanned vehicle - Google Patents
Flight control method and system of four-rotor unmanned vehicle Download PDFInfo
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- CN102591350A CN102591350A CN2011100023298A CN201110002329A CN102591350A CN 102591350 A CN102591350 A CN 102591350A CN 2011100023298 A CN2011100023298 A CN 2011100023298A CN 201110002329 A CN201110002329 A CN 201110002329A CN 102591350 A CN102591350 A CN 102591350A
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Abstract
The invention discloses a flight control method and a system of a four-rotor unmanned vehicle, wherein the flight control method comprises the steps: a navigation unit obtains current flight data according to the current flight state of the unmanned vehicle; a flight control unit generates four pieces of rotating speed information used for respectively controlling the four rotors according to the current flight data and a remote control signal sent by a ground control station or preset navigation information; and a power driving unit respectively adjusts the rotating speeds of the four rotors according to the four pieces of rotating speed information to control the posture of the unmanned vehicle. The flight control system of four-rotor unmanned vehicle, provided by the invention, has the advantages of high hardware integration degree, high flexibility, high system stability, low noise and low maintenance cost, etc.
Description
Technical field
The present invention relates to a kind of flight control method and system, particularly a kind of flight control method and system of unmanned vehicle of four rotor structures.
Background technology
(Unmanned Aerial Vehicles is the unmanned aircraft that utilizes radio robot and the presetting apparatus of providing for oneself to handle UAV) to unmanned plane, and it can take off under remote control manipulator's remote control.At present; A plurality of fields such as unmanned plane is taken photo by plane because of advantages such as its volume is little, in light weight are widely used in airborne remote sensing, territory supervision, city planning, water conservancy construction, forestry management, monitoring in real time, aerial reconnaissance, video display, advertisement photography, military affairs, requirement is still improving constantly but security, stability, cost performance height and accommodative ability of environment be strong etc.The flight control system that designs a kind of high security and high stability becomes a kind of active demand.
Summary of the invention
The objective of the invention is to design a kind of flight control method and system of four rotor unmanned vehicles, be used to solve the flight control problem of four rotor unmanned vehicles.
According to an aspect of the present invention, the flight control method of four rotor unmanned vehicles provided by the invention comprises:
A) navigation elements obtains the current flight data according to aircraft current flight state;
B) the flight control unit generates four rotary speed informations controlling four rotors respectively according to said flying quality, the remote signal of ground control station transmission or the navigation information that prestores;
C) Motorized drive unit is adjusted the rotating speed of four rotors respectively, the controlling aircraft state according to said four rotary speed informations.
Particularly, said steps A) comprising:
Obtain the current flight attitude data through the inertia measurement subelement;
Obtain the current flight position data through GPS locator unit;
Obtain the current flight directional data through magnetic field strength transducer;
Obtain the current flight altitude information through pressure transducer.
Particularly, said step B) comprising:
The flight control unit receives the remote signal of ground control station;
Heading is confirmed according to remote signal in the flight control unit, and according to remote signal and said current flight altitude information adjustment flight attitude;
Said heading of flight control unit by using and said flight attitude generate four rotary speed informations controlling four rotors.
Particularly, said step B) comprising:
The target destination is confirmed according to said navigation information, said current flight position data and said current flight directional data in the flight control unit, obtains target destination position data and target destination altitude information;
Heading is confirmed according to target destination position data and said current flight position data in the flight control unit, and according to target destination altitude information and said current flight altitude information adjustment flight attitude;
Said heading of flight control unit by using and said flight attitude generate four rotary speed informations controlling four rotors.
Particularly, said step C) comprising:
When the rotating speed of four rotors increase simultaneously/when reducing, upwards/down flight of aircraft realizes that aircraft goes up and down;
The rotating speed of the current sidespin wing is during greater than the rotating speed of rear side rotor, and aircraft flies backward;
When the rotating speed of rear side rotor during greater than the rotating speed of front side rotor, aircraft flies forward;
When changing the rotating speed of the anterior-posterior sidespin wing and the L-R sidespin wing, aircraft is realized rotation;
When the rotating speed of a left side/right side rotor during greater than the rotating speed of the right side/left side rotor, aircraft to the right/left side flight;
Wherein, front side and rear side rotor are the brushless direct driving motors that is rotated counterclockwise, and left side and right side rotor are the brushless direct driving motors that turns clockwise.
When said aircraft was not received remote signal, four gyroplane rotate speeds were identical, and aircraft is hovered.
Said flight control method also comprises:
Said flying quality is sent to ground control station through wireless transmit/receive units, so that the said flying quality remotely-piloted vehicle flight attitude that the remote control manipulator receives according to ground control station.
Said flight control method also comprises:
The rotation of servo control unit control airborne equipment is so that said airborne equipment is realized airborne task.
According to a further aspect in the invention, the flight control system of a kind of four rotor unmanned vehicles provided by the invention comprises:
Navigation elements is used for obtaining the current flight data according to aircraft current flight state;
The flight control unit is used for remote signal of sending according to said flying quality, ground control station or the navigation information that prestores, and generates four rotary speed informations controlling four rotors respectively;
Motorized drive unit is used for adjusting the rotating speed of its four rotors respectively, the controlling aircraft attitude according to said four rotary speed informations.
Said flight control system also comprises:
Servo control unit is used to control the airborne equipment rotation so that said airborne equipment is realized airborne task;
Data storage cell is used for the flying quality of real-time storage aircraft;
Wireless transmit/receive units is used in real time flying quality being sent to ground control station, and the remote signal that receives ground control station.
Said flight control system also comprises power supply unit, is used to provide said flight control system operate as normal required voltage and power.
Said navigation elements comprises:
The inertia measurement subelement is used to obtain the current flight attitude data;
GPS locator unit is used to obtain the current flight position data;
Magnetic field strength transducer is used to obtain the current flight directional data;
Pressure transducer is used to obtain the current flight altitude information.
Compared with prior art, beneficial effect of the present invention is, the invention provides the flight control method and system of four rotor unmanned vehicles, and the hardware integrated level is high, and dirigibility is high, can satisfy high security, the requirement of high stability.
Description of drawings
Fig. 1 is the flight control method flow diagram of four rotor unmanned vehicles provided by the invention;
Fig. 2 is the flight control system theory diagram of four rotor unmanned vehicles provided by the invention;
Fig. 3 is a flight control provided by the invention unit theory diagram;
Fig. 4 is a navigation elements theory diagram provided by the invention;
Fig. 5 is an inertia measurement subelement theory diagram provided by the invention.
Concrete implementation
To a preferred embodiment of the present invention will be described in detail, should be appreciated that following illustrated preferred embodiment only is used for explanation and explains the present invention, is not limited to the present invention below in conjunction with accompanying drawing.
Fig. 1 has shown the flight control method flow diagram of four rotor unmanned vehicles provided by the invention, and is as shown in Figure 1, may further comprise the steps:
S101: navigation elements obtains the current flight data according to aircraft current flight state;
S102: the flight control unit generates four rotary speed informations controlling four rotors respectively according to said flying quality, the remote signal of ground control station transmission or the navigation information that prestores;
S103: Motorized drive unit is adjusted the rotating speed of four rotors respectively, the controlling aircraft attitude according to said four rotary speed informations.
Particularly, said step S101 comprises:
Obtain the current flight attitude data through the inertia measurement subelement;
Obtain the current flight position data through GPS locator unit;
Obtain the current flight directional data through magnetic field strength transducer;
Obtain the current flight altitude information through pressure transducer.
Particularly, said step S102 comprises:
The flight control unit receives the remote signal of ground control station;
Heading is confirmed according to remote signal in the flight control unit, and according to remote signal and said current flight altitude information adjustment flight attitude;
Said heading of flight control unit by using and said flight attitude generate four rotary speed informations controlling four rotors.
Particularly, said step S102 comprises:
The target destination is confirmed according to said navigation information, said current flight position data and said current flight directional data in the flight control unit, obtains target destination position data and target destination altitude information;
Heading is confirmed according to target destination position data and said current flight position data in the flight control unit, and according to target destination altitude information and said current flight altitude information adjustment flight attitude;
Said heading of flight control unit by using and said flight attitude generate four rotary speed informations controlling four rotors.
Particularly, said step S103 comprises:
When the rotating speed of four rotors increase simultaneously/when reducing, upwards/down flight of aircraft realizes that aircraft goes up and down;
The rotating speed of the current sidespin wing is during greater than the rotating speed of rear side rotor, and aircraft flies backward;
When the rotating speed of rear side rotor during greater than the rotating speed of front side rotor, aircraft flies forward;
When changing the rotating speed of the anterior-posterior sidespin wing and the L-R sidespin wing, aircraft is realized rotation;
When the rotating speed of a left side/right side rotor during greater than the rotating speed of the right side/left side rotor, aircraft to the right/left side flight;
Wherein, front side and rear side rotor are the brushless direct driving motors that is rotated counterclockwise, and left side and right side rotor are the brushless direct driving motors that turns clockwise.
When said aircraft was not received remote signal, four gyroplane rotate speeds were identical, produced identical with the gravity size, in the opposite direction power, and aircraft is hovered.
Said flight control method also comprises:
Said flying quality is sent to ground control station through wireless transmit/receive units, so that the said flying quality remotely-piloted vehicle flight attitude that the remote control manipulator receives according to ground control station.
Said flight control method also comprises:
The rotation of servo control unit control airborne equipment is so that said airborne equipment is realized airborne task.
Fig. 2 has shown the flight control system theory diagram of four rotor unmanned vehicles provided by the invention, and as shown in Figure 2, flight control system comprises:
Navigation elements is used for obtaining the current flight data according to aircraft current flight state.Specifically, said navigation elements is obtained current flight attitude data, current flight position data, current flight altitude information, ambient temperature data through inertia measurement subelement, GPS locator unit and magnetic field strength transducer, pressure transducer, temperature sensor respectively.
The flight control unit is used for remote signal of sending according to said flying quality, ground control station or the navigation information that prestores, and generates four rotary speed informations controlling four rotors respectively.Specifically; Heading is confirmed according to the remote signal that wireless transmit/receive units receives in said flight control unit; Remote signal and altitude data according to wireless transmit/receive units receives are adjusted flight attitude, and confirm said four rotary speed informations according to said heading and said flight attitude.Specifically; The target destination is confirmed according to said navigation information, said current flight position data and said current flight directional data in said flight control unit; Obtain target destination position data and target destination altitude information; And confirm heading according to target destination position data and said current flight position data, according to target destination altitude information and said current flight altitude information adjustment flight attitude, then; Utilize said heading and said flight attitude, generate four rotary speed informations of four rotors of control.
Motorized drive unit is used for adjusting the rotating speed of its four rotors respectively, the controlling aircraft attitude according to said four rotary speed informations.Specifically, when the rotating speed of four rotors increase simultaneously/when reducing, upwards/down flight of aircraft realizes that aircraft goes up and down; When changing the rotating speed of the anterior-posterior sidespin wing and the L-R sidespin wing, aircraft is realized rotation; When the rotating speed of rear side rotor during greater than the rotating speed of front side rotor, aircraft flies forward; The rotating speed of the current sidespin wing is during greater than the rotating speed of rear side rotor, and aircraft flies backward; When the rotating speed of a left side/right side rotor during greater than the rotating speed of the right side/left side rotor, aircraft to the right/left side flight; Wherein, front side and rear side rotor are the brushless direct driving motors that is rotated counterclockwise, and left side and right side rotor are the brushless direct driving motors that turns clockwise; When said aircraft was not received remote signal, four gyroplane rotate speeds were identical, and aircraft is suspended.
Servo control unit is used to control the airborne equipment rotation so that said airborne equipment is realized airborne task.Particularly, said servo control unit comprises servo controller and servomotor, when airborne equipments such as control digital camera and video camera, can carry out the record of various video images.
Data storage cell is used for the flying quality of real-time storage aircraft.For example, select MMC/SD memory card real time record flying quality for use.
Wireless transmit/receive units is used in real time flying quality being sent to ground control station, and the remote signal that receives ground control station; Specifically, wireless transmit/receive units sends to ground control station through the form of microwave with said flying quality, when airborne equipment is digital camera and video camera, can also the various video images of taking be sent to ground control station in real time.
Power supply unit is used to provide said flight control system operate as normal required voltage and power.For example, selecting 2300mAh 14.8V lithium polymer battery for use is the stabilized power source that each unit provides 5V and 3.3V in the system.
Said navigation elements obtains the current flight data according to aircraft current flight state, and transfers to said flight control unit through high-speed bus; Said flight control unit is according to said flying quality, remote signal or navigation information, four rotary speed informations of controlled four rotors, and said four rotary speed informations are transferred to said Motorized drive unit through high-speed bus; Said Motorized drive unit is adjusted the rotating speed of four rotors respectively according to four rotary speed informations, adjusts the flight attitude of aircraft real-time dynamicly.
Said flight control unit is connected with said data storage cell, realizes the real-time storage record of flying quality; Said flight control unit is connected with said wireless transmit/receive units, and the flying quality that aircraft is current downloads to ground control station in real time, makes the remote control manipulator of ground control station can be effectively the flight situation of control aircraft, and makes accurate operation; Said flight control unit is connected with said servo control unit, can effectively realize relevant airborne task.
Fig. 3 has shown flight control provided by the invention unit theory diagram, and is as shown in Figure 3, and said flight control unit comprises:
Height control sub unit and position control subelement; Be used for receiving flying quality from navigation elements through the high speed communication interface; Can also be when remote signal remote control amplitude be excessive; Automatically adjustment flying height, flight attitude and flight position makes flight control system stability of the present invention higher, thereby makes the manual remote control operation more simple and easy to do.
Flight control is handled device, is used for carrying out data processing according to flying quality, remote signal or navigation information, and generates four rotary speed informations of four rotor rotations of control Motorized drive unit.
The Electric Machine Control subelement is used to utilize flight control to handle four rotary speed informations that device generates, and adjusts the rotating speed of corresponding rotor respectively.
Said flight control unit further comprises hummer, is used for the state according to aircraft, prompting or alarm.
Fig. 4 has shown navigation elements theory diagram provided by the invention, and is as shown in Figure 4, and said navigation elements comprises
The inertia measurement subelement is used to obtain the current flight attitude data.
GPS locator unit is used to gather the current flight position data.
Magnetic field strength transducer is used to obtain the current flight directional data.
Pressure transducer is used to gather the current flight altitude information.
Temperature sensor is used to gather ambient temperature data.
Sef-adapting filter is used for said flight attitude data, said current flight position data, said current flight directional data and the said ambient temperature data of input are carried out Filtering Processing.
Analog to digital converter is used for the altitude data of the simulation of said pressure transducer collection is converted into the altitude data of numeral.Preferred 24 analog to digital converters of said analog to digital converter.
Fig. 5 has shown inertia measurement subelement theory diagram provided by the invention, and as shown in Figure 5, said inertia measurement subelement is used to measure the flight attitude of aircraft, comprising:
Gyroscope laterally, axis of gyroscope to the gyroscope vertical axial, be used for gathering respectively lateral angle speed, axial angle speed and vertical axial angular velocity;
Acceleration transducer is used to gather transverse acceleration, axial acceleration and the vertical axial acceleration of aircraft, is a 3-axis acceleration sensor;
Analog to digital converter is used for comprising lateral angle speed, axial angle speed, vertical axial angular velocity, and the flight attitude data-switching of the simulation of transverse acceleration, axial acceleration and vertical axial acceleration is the flight attitude data of numeral.
Compared with prior art, the invention provides the flight control method and system of four rotor unmanned vehicles, have that the hardware integrated level is high, dirigibility is high, system stability is high, maintenance cost is low, and the advantage of high security and stability.
Although preceding text specify the present invention, the invention is not restricted to this, those skilled in the art of the present technique can carry out various modifications according to principle of the present invention.Therefore, all modifications of making according to the principle of the invention all are to be understood that to falling into protection scope of the present invention.
Claims (11)
1. the flight control method of four rotor unmanned vehicles is characterized in that, said flight control method comprises:
A) navigation elements obtains the current flight data according to aircraft current flight state;
B) the flight control unit generates four rotary speed informations controlling four rotors respectively according to said flying quality, the remote signal of ground control station transmission or the navigation information that prestores;
C) Motorized drive unit is adjusted the rotating speed of four rotors respectively, the controlling aircraft attitude according to said four rotary speed informations.
2. flight control method according to claim 1 is characterized in that, said steps A) comprising:
Obtain the current flight attitude data through the inertia measurement subelement;
Obtain the current flight position data through GPS locator unit;
Obtain the current flight directional data through magnetic field strength transducer;
Obtain the current flight altitude information through pressure transducer.
3. flight control method according to claim 1 is characterized in that, said step B) comprising:
The flight control unit receives the remote signal of ground control station;
Heading is confirmed according to remote signal in the flight control unit, and according to remote signal and current flight altitude information adjustment flight attitude;
Said heading of flight control unit by using and said flight attitude generate four rotary speed informations controlling four rotors.
4. flight control method according to claim 1 is characterized in that, said step B) comprising:
The target destination is confirmed according to said navigation information, said current flight position data and said current flight directional data in the flight control unit, obtains target destination position data and target destination altitude information;
Heading is confirmed according to target destination position data and said current flight position data in the flight control unit, and according to target destination altitude information and said current flight altitude information adjustment flight attitude;
Said heading of flight control unit by using and said flight attitude generate four rotary speed informations controlling four rotors.
5. flight control method according to claim 1 is characterized in that, said step C) comprising:
When the rotating speed of four rotors increase simultaneously/when reducing, aircraft is realized;
The rotating speed of the current sidespin wing is during greater than the rotating speed of rear side rotor, and aircraft flies backward;
When the rotating speed of rear side rotor during greater than the rotating speed of front side rotor, aircraft flies forward;
When changing the rotating speed of the anterior-posterior sidespin wing and the L-R sidespin wing, aircraft is realized rotation;
When the rotating speed of a left side/right side rotor during greater than the rotating speed of the right side/left side rotor, aircraft to the right/left side flight;
Wherein, front side and rear side rotor are the brushless direct driving motors that is rotated counterclockwise, and left side and right side rotor are the brushless direct driving motors that turns clockwise.
6. flight control method according to claim 5 is characterized in that, when aircraft was not received remote signal, four gyroplane rotate speeds were identical, and aircraft is hovered.
7. flight control method according to claim 1; It is characterized in that; Said flight control method also comprises: said flying quality is sent to ground control station through wireless transmit/receive units, so that the said flying quality remotely-piloted vehicle flight attitude that the remote control manipulator receives according to ground control station.
8. flight control method according to claim 1 is characterized in that, said flight control method also comprises:
The rotation of servo control unit control airborne equipment is so that said airborne equipment is realized airborne task.
9. the flight control system of four rotor unmanned vehicles is characterized in that, said flight control system comprises:
Navigation elements is used for obtaining the current flight data according to aircraft current flight state;
The flight control unit is used for remote signal of sending according to said flying quality, ground control station or the navigation information that prestores, and generates four rotary speed informations controlling four rotors respectively;
Motorized drive unit is used for adjusting the rotating speed of its four rotors respectively, the controlling aircraft attitude according to said four rotary speed informations.
10. flight control system according to claim 9 is characterized in that, said flight control system also comprises:
Servo control unit is used to control the airborne equipment rotation so that said airborne equipment is realized airborne task;
Data storage cell is used for the flying quality of real-time storage aircraft;
Wireless transmit/receive units is used in real time flying quality being sent to ground control station, and the remote signal that receives ground control station.
11. flight control system according to claim 9 is characterized in that, said navigation elements comprises:
The inertia measurement subelement is used to obtain the current flight attitude data;
GPS locator unit is used to obtain the current flight position data;
Magnetic field strength transducer is used to obtain the current flight directional data;
Pressure transducer is used to obtain the current flight altitude information.
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| CN2011100023298A CN102591350A (en) | 2011-01-06 | 2011-01-06 | Flight control method and system of four-rotor unmanned vehicle |
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