CN114200821A - Medium-sized unmanned helicopter avionics system and framework - Google Patents
Medium-sized unmanned helicopter avionics system and framework Download PDFInfo
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- CN114200821A CN114200821A CN202111474900.6A CN202111474900A CN114200821A CN 114200821 A CN114200821 A CN 114200821A CN 202111474900 A CN202111474900 A CN 202111474900A CN 114200821 A CN114200821 A CN 114200821A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a medium-sized unmanned helicopter avionics system and a framework, which comprise an electronic system and a framework body, wherein the electronic system and the framework body comprise: the flight control system, the power management system, the health management system, the steering engine control system, the data link system, the atmospheric data system, the magnetic heading system, the height measurement system and the CAN bus junction box, wherein the flight control system, the power management system, the health management system, the steering engine control system, the atmospheric data system, the magnetic heading system and the height measurement system are all connected to the CAN bus junction box through CAN buses, the flight control system is connected with the data link system through serial ports, the avionic system of the medium-sized unmanned helicopter is strong in generality and architecture and better in expansibility, and the subsystems are connected with one another through the CAN buses or the serial ports, so that integration and expansion of the system are facilitated.
Description
Technical Field
The invention relates to the technical field of avionics, in particular to an avionics system and a framework of a medium-sized unmanned helicopter.
Background
In recent years, the unmanned helicopter has a very rapid development speed, and is particularly widely applied to various industries such as cargo transportation, communication relay, forest fire prevention, homeland resource monitoring, traffic and public security monitoring and the like. The avionics system is an important component of the unmanned helicopter, and the traditional avionics system consists of discrete electronic equipment, so that the avionics system is heavy in weight, large in volume, complex in interface and poor in maintainability. The requirement of the medium-sized unmanned helicopter on multitask puts forward higher requirements on the rapid expansibility of an avionic system. The traditional avionics system has the problems of complex interface, difficult expansion and the like, and is difficult to meet the requirements of the medium-sized unmanned helicopter.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a medium-sized unmanned helicopter avionics system and a medium-sized unmanned helicopter avionics system architecture to solve the problems in the background technology.
In order to achieve the purpose, the invention is realized by the following technical scheme: the electronic system and the framework body comprise a flight control system, a power management system, a health management system, a steering engine control system, a data chain system, an atmospheric data system, a magnetic course system, a height measurement system and a CAN bus junction box, wherein the flight control system, the power management system, the health management system, the steering engine control system, the atmospheric data system, the magnetic course system and the height measurement system are all connected with the CAN bus junction box through a CAN bus, and the flight control system is connected with the data chain system through a serial port.
In a preferred embodiment of the present invention, the CAN bus junction box is composed of six CAN bus connectors, two termination resistors, and a housing.
As a preferred embodiment of the present invention, the flight control system is composed of two mutually backed up MCUs with 480M dominant frequency, a high precision MEMS inertial sensor, two auxiliary IMUs, an air pressure module, a data transmission module, a CAN communication module, a serial communication module, a GPS module, and a 900M data transmission radio station.
As a preferred embodiment of the invention, the flight control system has multiple control modes of the helicopter, such as altitude, airspeed, position, attitude, remote control, flight line, pointing, hovering, returning, taking off, landing and the like, the flight control system has a 900M output radio station and a wireless data transmission function, the flight control system has a double-antenna GPS module and has functions of altitude measurement, speed measurement, position measurement, course measurement and satellite time service, and the flight control system has a CAN bus interface and a serial port.
As a preferred embodiment of the invention, the power management system is composed of four DC28V-DC12V modules, two voltage monitoring modules, two current monitoring modules, a shell and a connector, the power management system has the functions of medium unmanned aerial vehicle helicopter power supply and distribution management, current monitoring, voltage monitoring, generator grid connection, ground power grid connection and the like, and the power management system has a CAN bus interface and is used for signal cross-linking and information transmission with a flight control system.
As a preferred embodiment of the present invention, the health management system is composed of a main control chip, two power modules, two communication modules and eight relays, the health management system has functions of collecting rotation speed, temperature and liquid level, starting an engine, a clutch, an oil pump, an electronic cooling fan and controlling a navigation light, and the health management system has a CAN bus interface for signal cross-linking with a flight control system and information transmission.
As a preferred embodiment of the invention, the steering engine control system is composed of a steering engine controller, three swash plate steering engines, a tail steering engine and an accelerator steering engine, the steering engine controller is a core control part of the steering engine control system, the steering engine controller is directly connected with a flight control computer, the steering engine is an execution mechanism of the steering engine control system, the steering engine control system performs real-time unmanned helicopter propeller pitch control under the combined action of the three swash plate steering engines, and realizes accelerator opening control through the accelerator steering engine and the tail steering engine.
As a preferred embodiment of the present invention, the data link system is composed of a C-link transceiving combination, a C-link video front end, a U-link transceiving combination, a U-link video front end, a C-link omnidirectional antenna, and a U-link omnidirectional antenna, and the data link system realizes real-time transmission of flight control instructions, task load instructions, and link control instructions of the unmanned helicopter and real-time transmission of information such as working state parameters, flight parameters, task load working state parameters, and link working state of an onboard system of the unmanned helicopter.
In a preferred embodiment of the invention, the atmospheric data system comprises a barometer module, a pitot tube and a rubber hose, wherein the barometer module comprises an MCU, a data communication module, a static pressure sensor, a dynamic pressure sensor, a set of shell and a connector.
As a preferred embodiment of the present invention, the magnetic heading system mainly comprises an MCU, a set of magnetic sensor arrays, a set of housings and connectors, the altitude measurement system mainly comprises a radio altimeter and two radio frequency antennas, and the radio altimeter mainly comprises an MCU, a set of transceiver, a set of housings and connectors.
The invention has the beneficial effects that:
1. the middle-sized unmanned helicopter avionics system and the framework CAN be applied to unmanned helicopter helicopters with the maximum takeoff weight of hundreds kilograms and above, and have the characteristic of strong universality.
2. The avionics system and the interface part of the architecture of the medium-sized unmanned helicopter are simpler and more convenient, and more accurate and comprehensive height information can be provided by fusing the flight control system with other information.
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Fig. 1 is a schematic diagram of the avionics system and architecture of a medium-sized unmanned helicopter according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1, the present invention provides a technical solution: the electronic system and the framework body comprise a flight control system, a power management system, a health management system, a steering engine control system, a data chain system, an atmospheric data system, a magnetic course system, a height measurement system and a CAN bus junction box, wherein the flight control system, the power management system, the health management system, the steering engine control system, the atmospheric data system, the magnetic course system and the height measurement system are all connected with the CAN bus junction box through a CAN bus, and the flight control system is connected with the data chain system through a serial port to facilitate expansion.
As a preferred embodiment of the invention, the flight control system adopts two high-performance MCUs, and the flight control and the task management operate independently; by adopting an IMU redundancy design, one main IMU and two auxiliary IMUs can perform degradation work when the main IMU fails; the CAN bus architecture and the real-time operating system are adopted, and the software is designed in a modularized manner, so that the function expansion CAN be conveniently carried out; the data fusion technology can be used for fusing the GNSS, the radio altitude and the air pressure altitude, so that more accurate altitude information is provided for the unmanned helicopter, and meanwhile, the IMU, the GNSS, the magnetic course sensor and the air pressure altitude data are fused, so that more accurate course, attitude and speed information is provided for the unmanned helicopter.
As a preferred embodiment of the invention, the power management system inputs one path of airborne generator, a group of storage batteries and one path of ground power supply, the airborne generator, the ground power supply and the storage batteries can be switched without power failure, and when the airborne generator or the ground power supply fails, the storage batteries can realize uninterrupted power supply; a load has 16 paths including 8 paths of DC28V and 8 paths of DC 12V; can communicate with other subsystems through the CAN bus, CAN receive flight control system's control command through the CAN bus to CAN send flight control system to self operating condition through the CAN bus.
As a preferred embodiment of the present invention, the health management system has functions of measuring rotation speed (rotor rotation speed, engine rotation speed), measuring temperature (lubricant temperature, coolant temperature, main reducer temperature, ambient temperature, avionics cabin temperature), measuring liquid level (oil mass), and collecting unmanned helicopter state (engine state, body state, fault warning), and also has functions of engine start/stop control, electronic cooling fan, navigation light control, clutch control, and engine operation timing, and the key control volume adopts normally closed contacts of relays inside the health management system, so as to ensure that the key equipment is in a normal working state when the system is in fault (such as power failure).
As a preferred embodiment of the invention, the steering engine control system consists of a steering engine controller, three swash plate steering engines, a tail steering engine and an accelerator steering engine, wherein the steering engine controller is connected with the flight control system through a CAN bus, receives a control command sent by the flight control system, correspondingly processes the control command and controls five rotary steering engines to work through 5 paths of PWM signals.
As a preferred embodiment of the present invention, a data chain system adopts a C + U dual-link backup form, and the system is composed of a C-chain transceiving combination, a C-chain video front end, a U-chain transceiving combination, a U-chain video front end, a C-chain omnidirectional antenna, and a U-chain omnidirectional antenna; the C chain is used as a main chain for transmitting measurement and control data and videos, the U chain is used as an auxiliary chain for serving as a data chain system backup for transmitting the measurement and control data, and the U chain can ensure that the unmanned helicopter platform is normally communicated with the ground when the C chain is interrupted; the C chain at the ground end adopts a directional antenna and is used for long-distance (100 kilometers) communication, and the U chain adopts an omnidirectional antenna and is mainly used for backup of the C chain and control of the unmanned helicopter platform in the take-off and landing stages; the data chain system can realize the functions of remote measurement, remote control and task information transmission, air line uploading and downloading, flight control and management, task load control and management and the like of the ground station and the unmanned helicopter.
As a preferred embodiment of the invention, the atmosphere data system senses an external atmosphere pressure signal through a dynamic pressure sensor and a static pressure sensor, and outputs information such as static pressure, total pressure, flight altitude, lifting speed, indicated airspeed and vacuum speed of the unmanned helicopter to the flight control system after calculation and analysis, and the flight control system obtains more accurate information of altitude, speed, position and course of the unmanned helicopter after being fused with information such as GNSS, magnetic course, IMU and radio altitude.
As a preferred implementation mode of the invention, the magnetic heading system is mainly installed on a tail beam of the unmanned helicopter by adopting copper screws, provides heading information for the unmanned helicopter after calibration, and is fused with the heading information indicated by the double-antenna GPS to obtain more accurate heading information of the unmanned helicopter.
As a preferred embodiment of the invention, the CAN bus junction box is used for connecting the unmanned helicopter avionics system, so that the CAN bus is convenient for the expansion of the unmanned helicopter avionics system.
The whole avionics system adopts a modular design, and the expansibility of the avionics system of the medium-sized unmanned helicopter is improved.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a medium-sized unmanned helicopter avionics system and framework, includes electronic system and framework body, its characterized in that: the electronic system and the framework body comprise a flight control system, a power management system, a health management system, a steering engine control system, a data link system, an atmospheric data system, a magnetic course system, a height measurement system and a CAN bus junction box, wherein the flight control system, the power management system, the health management system, the steering engine control system, the atmospheric data system, the magnetic course system and the height measurement system are all connected with the CAN bus junction box through CAN buses, and the flight control system is connected with the data link system through serial ports.
2. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: the CAN bus junction box is composed of six CAN bus connectors, two terminal resistors and a shell.
3. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: the flight control system comprises two 480M dominant frequency MCU, a high-precision MEMS inertial sensor, two auxiliary IMUs, an air pressure module, a data transmission module, a CAN communication module, a serial port communication module, a GPS module and a 900M data transmission radio station which are mutually backed up.
4. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: the flight control system has multiple control modes such as the altitude, the airspeed, the position, the attitude, the remote control, the course, the pointing, the hovering, the returning flight, the taking-off and the landing of a medium-sized unmanned aerial vehicle helicopter, has a 900M output radio station and a wireless data transmission function, has a double-antenna GPS module, has the functions of altitude measurement, speed measurement, position measurement, course measurement and satellite time service, and has a CAN bus interface and a serial port.
5. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: the power management system comprises four DC28V-DC12V modules, two voltage monitoring modules, two current monitoring modules, a shell and a connector, has the functions of medium-sized unmanned aerial vehicle helicopter power supply and distribution management, current monitoring, voltage monitoring, generator grid connection, ground power grid connection and the like, and has a CAN bus interface for signal cross-linking and information transmission with a flight control system.
6. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: health management system comprises a main control chip, two power module, two communication module, eight relays, health management system has rotational speed, temperature, liquid level acquisition function and engine start, clutch, oil pump, electron cooling fan, navigation light control function, health management system has CAN bus interface for with flight control system signal cross-linking and information transmission.
7. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: the steering engine control system is composed of a steering engine controller, three swash plate steering engines, a tail steering engine and an accelerator steering engine, the steering engine controller is a core control part of the steering engine control system, the steering engine controller is directly connected with a flight control computer, the steering engine is an executing mechanism of the steering engine control system, the steering engine control system controls propeller pitches of the unmanned helicopter in real time under the combined action of the three swash plate steering engines, controls the propeller pitches of the tail steering engine in real time, and controls the accelerator opening degree through the accelerator steering engine.
8. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: the data chain system is composed of a C-chain transceiving combination, a C-chain video front end, a U-chain transceiving combination, a U-chain video front end, a C-chain omnidirectional antenna and a U-chain omnidirectional antenna, and realizes real-time transmission of flight control instructions, task load instructions and link control instructions of the unmanned helicopter and real-time transmission of working state parameters, flight parameters, task load working state parameters, link working states and other information of an airborne system of the unmanned helicopter.
9. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: the atmospheric data system consists of a barometer module, an airspeed head and a rubber hose, wherein the barometer module consists of an MCU (microprogrammed control Unit), a data communication module, a static pressure sensor, a dynamic pressure sensor, a set of shell and a connector.
10. The avionics system and architecture of a medium unmanned helicopter of claim 1, further characterized by: the magnetic heading system mainly comprises an MCU, a set of magnetic sensor array, a set of shell and a connector, the altitude measurement system mainly comprises a radio altimeter and two radio frequency antennas, and the radio altimeter mainly comprises an MCU, a set of transceiver, a set of shell and a connector.
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| CN202111474900.6A CN114200821A (en) | 2021-12-03 | 2021-12-03 | Medium-sized unmanned helicopter avionics system and framework |
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| CN202111474900.6A CN114200821A (en) | 2021-12-03 | 2021-12-03 | Medium-sized unmanned helicopter avionics system and framework |
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| CN107861377A (en) * | 2017-11-08 | 2018-03-30 | 东莞北京航空航天大学研究院 | A kind of avionics system of depopulated helicopter |
| CN108416128A (en) * | 2018-02-27 | 2018-08-17 | 北京航空航天大学 | A kind of long endurance unmanned helicopter rapid development method |
| CN110727290A (en) * | 2019-11-28 | 2020-01-24 | 湖南捷飞科技有限公司 | Avionics system method and architecture of light unmanned helicopter |
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2021
- 2021-12-03 CN CN202111474900.6A patent/CN114200821A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CA2845094A1 (en) * | 2011-08-16 | 2013-04-18 | Unmanned Innovation Inc. | Modular flight management system incorporating an autopilot |
| CN102955456A (en) * | 2011-08-26 | 2013-03-06 | 北京安翔动力科技有限公司 | Bus communication based small unmanned aerial vehicle control system |
| CN104656660A (en) * | 2015-01-22 | 2015-05-27 | 南京航空航天大学 | Control system for micro-unmanned helicopter multi-mode autonomous flight and method thereof |
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