CN202939489U - Multi-rotor autobalance flight controller - Google Patents
Multi-rotor autobalance flight controller Download PDFInfo
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- CN202939489U CN202939489U CN 201220636751 CN201220636751U CN202939489U CN 202939489 U CN202939489 U CN 202939489U CN 201220636751 CN201220636751 CN 201220636751 CN 201220636751 U CN201220636751 U CN 201220636751U CN 202939489 U CN202939489 U CN 202939489U
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Abstract
The utility model discloses a multi-rotor autobalance flight controller which is composed of a micromechanical sensor data collection and filtering module, a height measuring module, a positional information measuring module, an attitude measuring module, a pulse code control module, an electronic speed regulator control module and a brushless motor control module. The height measuring module, the positional information measuring module and the attitude measuring module are connected with the pulse code control module respectively, the micromechanical sensor data collection and filtering module is connected with the attitude measuring module, the pulse code control module is connected with the electronic speed regulator control module, and the electronic speed regulator control module is connected with the brushless motor control module. The controller can perform intelligent adjustment to the rotating speed of each motor timely so as to enable the multi-rotor aircraft to easily realize vertical rising and landing and steering, functions of automatic hovering and automatic return to a launch point are realized without artificial interference, and the controller can adapt to various complex environments and ensure the safe balanced flight of the multi-rotor aircraft.
Description
Technical field
The utility model relates to flight control assemblies, specifically a kind of many rotors self-poise flight controller.
Background technology
Two of multi-rotor aerocraft employings in the market and above electron speed regulator drive the control brushless electric machine and work alone.two and above screw propeller are in a plane basically, and blade is parallel haply with fuselage, if in the ideal situation, four screw propellers are in same plane, under calm interference without external force, the rotating speed of four motors is in full accord, be very easy to realize vertical takeoff and landing, the work such as hover, but because there is various otherness in world's all things on earth, a plurality of motors of many rotors can not be accomplished on all four rotating speed, therefore multi-rotor aerocraft is a kind of nonlinear system, make multi-rotor aerocraft not have intelligent controller to be difficult to accomplish to control stably under assisting.
The utility model content
The purpose of this utility model is for overcoming the deficiencies in the prior art, and a kind of many rotors self-poise flight controller is provided, and this controller can carry out the adjustment of intelligence in real time to the rotating speed of each motor, allow multi-rotor aerocraft realize easily vertical takeoff and landing, to turn to; In the function that does not have to realize under artificial intervention automatically to hover and automatically return to takeoff point.And can adapt to the environment of Various Complex, guarantee the flight of multi-rotor aerocraft balancing safety.
The technical scheme that realizes the utility model purpose is:
a kind of many rotors self-poise flight controller, by micro mechanical sensor data acquisition and filtration module, the height measurement module, the positional information measurement module, the attitude measurement module, the pulse-code-odulation module, electron speed regulator control module and brushless electric machine control module form, the height measurement module, the positional information measurement module is connected with the pulse-code-odulation module with the attitude measurement module and is connected, the micro mechanical sensor data acquisition is connected with the attitude measurement module with filtration module, the pulse-code-odulation module is connected with the electron speed regulator control module, the electron speed regulator control module is connected with the brushless electric machine control module.
Described micro mechanical sensor data acquisition and filtration module:
For the 3 D stereo slewing rate can be provided, three axial acceleration value, three axial geomagnetic datas, need a kind of micro mechanical sensor that corresponding data are provided, this micro mechanical sensor has comprised that three axle micro-mechanical gyroscope sensors are mainly to be used to provide three axle slewing rates, the acceleration transducer of three axles is provided at the 3-axis acceleration numerical value that produces in motion process, and triaxial magnetic field sensor provides the current flight device residing three axle earth magnetism magnetic field datas.Three kinds of dissimilar sensors can only provide the reference value of original signal, under the interference of signal transmission and external complex environment, these sensing datas can be subject to the interference of external noise, allow processor collect in these signals, also be entrained with noise except actual signal, interference for cancelling noise, designed the filtering algorithm that the sliding window auto adapted filtering adds the Kalman filtering combination in this module, the sliding window auto adapted filtering can be followed the tracks of the variation of time varying channel fast, also noise is suppressed when guaranteeing real-time; Three axle slewing rates and three-axis moving acceleration value are carried out Recursive Least Squares Estimation, realize the estimating and forecasting function of real time sensor running status.These sensor signals are carried out a series of observations, and according to a group observations, by the recursion optimal estimation, it is estimated, thereby obtain best sensing data.
Described height measurement module:
In order to guarantee that multi-rotor aerocraft can realize the function of hovering, need the height measurement module participate in the locking of height.Highly lock key point to multi-rotor aerocraft is to the accuracy of highly measurement and the promptness of speed, determines that the core component of these two key elements comprises three parts: one, height and the speed numerical value of baroceptor raising; Two, the real-time speed value of acceleration transducer through drawing after data fusion; Three, the speed reference on the short transverse that provides of GPS module.
1, the height measurement module gathers the numerical value of baroceptor, and height residing according to the current flight device collects atmospheric pressure value, obtaining the numerical value of height after the certain linear relationship conversion of atmospheric pressure value process.After the data acquisition to baroceptor, by analysis, find that the signal that baroceptor sends also is entrained with noise, this noise is the noise of some low frequencies, design so the second order self-adaptive low-pass filter in this module noise has been suppressed, thereby drawn height number accurately.Situation of change by height calculates the movement velocity of current many rotors on short transverse again.
2, acceleration transducer in motion process with the accekeration that produces, accekeration is carried out Kalman filtering to be processed, and the data after filtered accekeration and attitude inverse are carried out estimating and forecasting, obtain relative displacement accurately and speed through mathematical operation again, utilize this speed and GPS speed in height predict and provide control controlling party that multiaxis flies to the size of controlled quentity controlled variable;
3, the speed reference on the short transverse that provides of GPS module, more accurate, but be subject to the impact of propagation delay time due to the GPS receive data, slow with respect to real speed, but precisely, so process observed value accurately be provided carrying out carrying out on height Kalman filtering, revise with this velocity amplitude that acceleration transducer is calculated.Allow multiaxis control highly locking more in time with accurate.
Described positional information measurement module:
Automatically return to the takeoff point function what realize multi-rotor aerocraft, the positional information measurement module plays a crucial role, and can guarantee that safe and reliable the turning back to of multi-rotor aerocraft go home a little, after guaranteeing that aerial mission finishes, can turn back to automatically takeoff point.Three terrestrial coordinates that the relative displacement that positional information is provided by the latitude and longitude information mainly depend on GPS and to provide, estimate according to 3-axis acceleration sensor and triaxial magnetic field sensor provide, obtain angle with the real north of the earth direction according to triaxial magnetic field sensor, provide for many rotors return the orientation of returning; The latitude and longitude information that GPS provides and the relative displacement of 3-axis acceleration sensor provide the distance of flight path and flight for turning back to takeoff point.
Described attitude measurement module
the attitude measurement module, in the multi-rotor aerocraft flight course, because the rotating speed of motor is not quite identical, just cause this aircraft can not smooth flight, under attitude measurement module auxiliary, in the situation of aircraft run-off the straight, the attitude measurement module can be correct measure three coordinates of the residing space multistory of current flight device, for example when occuring left-leaning 0.1 °, the attitude measurement module can be rapidly and is measured timely this angle, and provide data to control the rotating speed that electron speed regulator is revised corresponding motor timely to the pulse-code-odulation module, reach balance flight with this.
Described pulse-code-odulation module:
Multi-rotor aerocraft needs electronics debugger control brushless electric machine to carry out work, the input of electron speed regulator is to input in the pulse code mode, the cycle of pulse code is 20mS, and the time of pulse code high level within a clock period is: between 900uS ~ 2100uS; If control the velocity of rotation of motor, will control the time of high level in the clock period, the larger rotating speed of numerical value is just faster, therefore need many rotors self-poise flight controller to carry out pulse-code-odulation according to the information of flight attitude, the pulse-code-odulation module is carried out Intelligent PID Control according to the angular speed of attitude data and gyro and the acceleration information of acceleration transducer.Be current amount according to the current attitude information of aircraft, so the flat attitude that flies is the target control amount, according to difference between the two, proportion of utilization, integration, difference gauge are calculated the pulse-code-odulation system that controlled quentity controlled variable is controlled.
Described electron speed regulator control module and brushless electric machine control module:
The pulse-code-odulation module is sent corresponding PWM ripple signal to the electron speed regulator control module, and electron speed regulator is controlled brushless electric machine in real time according to PWM ripple signal.
The utility model has the advantages that: the utility model is by carrying out balance Control Scheme to multi-rotor aerocraft, multi-rotor aerocraft is in flight course, there is various otherness in the rotating speed of a plurality of motors, in order to guarantee that this aircraft can realize smooth flight, must carry out in real time the adjustment of intelligence to the rotating speed of each motor.This utility model can allow multi-rotor aerocraft realize easily vertical takeoff and landing, turn to; In the function that does not have to realize under artificial intervention automatically to hover and automatically return to takeoff point.
Description of drawings
Fig. 1 is the structured flowchart of the utility model controller.
Fig. 2 is that schematic diagram is controlled in four-axle aircraft flight.
Embodiment
with reference to Fig. 1, a kind of many rotors self-poise flight controller, by micro mechanical sensor data acquisition and filtration module, the height measurement module, the positional information measurement module, the attitude measurement module, the pulse-code-odulation module, electron speed regulator control module and brushless electric machine control module form, the height measurement module, the positional information measurement module is connected with the pulse-code-odulation module with the attitude measurement module and is connected, the micro mechanical sensor data acquisition is connected with the attitude measurement module with filtration module, the pulse-code-odulation module is connected with the electron speed regulator control module, the electron speed regulator control module is connected with the brushless electric machine control module.
The attitude measurement module is collected the data of micro mechanical sensor data acquisition and filtration module, and introducing acceleration and magnetic field sensor calculate attitude information in this module, and with the foundation of this attitude information as inhibition three axle gyros skews; The three resulting attitudes of axle micromechanical gyro sensor determine that algorithm is to adopt the equivalent rotating vector method; Motion state judgement expert system is according to the 3-axis acceleration value, the motion state of object judged, and when object is kept in motion, due to the impact that is subject to the acceleration of motion noise, the athletic posture that accekeration can accurately the reflection body.After the 3-axis acceleration sensor data judge expert system through motion state, situation according to motion, adjust in the Kalman filtering algorithm recursion formula in real time and measure noise matrix, object is changing under motion state, and Kalman filtering algorithm reduces the dependency degree to acceleration signal automatically.When carrier remains static, the weighted value of the increase acceleration information of restraining gradually, this moment, Kalman filtering algorithm passed through the attitude information to the data estimation multi-rotor aerocraft of acceleration and magnetic field sensor, estimated simultaneously the gyroscopic drift error; When carrier was kept in motion, Kalman filtering algorithm was mainly assessed the attitude information of carrier by three axle micromechanical gyro sensor signals, and under quiescent conditions, estimation gyroscopic drift error information compensates gyro signal.The correction of data fusion attitude, the attitude information that will be calculated by the equivalent rotating vector method and carry out data anastomosing algorithm and calculate actual attitude numerical value by acceleration and the resulting attitude information of magnetic field sensor; Attitude stabilization output, the establishing criteria angel measuring instrument is demarcated the data of attitude measurement module, exports attitude data more accurately with this.
as shown in Figure 2, when the utility model flight controller uses, many rotor flyings controller is arranged on the centre of multi-rotor aerocraft platform, in motion process, provide this multi-rotor aerocraft accurately by the attitude measurement module, three axial (X-axis in real-time space multistory coordinate, Y-axis, Z axis) slewing rate, three acceleration value and 3 d pose data that axially produce in motion process: the angle of pitch, roll angle, the position angle, data according to measurement module, a plurality of brushless motor speeds to this aircraft carry out real-time adjustment, arrive the balance flight of aircraft with this, provide multi-rotor aerocraft current geographical position coordinates by the positional information measurement module, current geographical position coordinates is become the body coordinate of aircraft according to three pose attitude data-switching of attitude measurement module, with the reference of body coordinate as control, the aerial mission of completing realizes automatically hovering or automatically returning to the takeoff point function as controlling target.
Claims (1)
1. the flight controller of rotor self-poise more than a kind, it is characterized in that: it is by micro mechanical sensor data acquisition and filtration module, the height measurement module, the positional information measurement module, the attitude measurement module, the pulse-code-odulation module, electron speed regulator control module and brushless electric machine control module form, the height measurement module, the positional information measurement module is connected with the pulse-code-odulation module with the attitude measurement module and is connected, the micro mechanical sensor data acquisition is connected with the attitude measurement module with filtration module, the pulse-code-odulation module is connected with the electron speed regulator control module, the electron speed regulator control module is connected with the brushless electric machine control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220636751 CN202939489U (en) | 2012-11-28 | 2012-11-28 | Multi-rotor autobalance flight controller |
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| CN 201220636751 CN202939489U (en) | 2012-11-28 | 2012-11-28 | Multi-rotor autobalance flight controller |
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| CN202939489U true CN202939489U (en) | 2013-05-15 |
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| CN104656662A (en) * | 2015-01-26 | 2015-05-27 | 广东交通职业技术学院 | Wireless remote control life-saving device distribution aircraft |
| CN104986341A (en) * | 2015-06-04 | 2015-10-21 | 深圳一电科技有限公司 | Aircraft side turning prevention method and device |
| CN105556409A (en) * | 2014-12-15 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling aircraft, and aircraft |
| CN106054905A (en) * | 2016-05-30 | 2016-10-26 | 深圳市前海疆域智能科技股份有限公司 | Flight vehicle one-key takeoff method |
| CN106094840A (en) * | 2016-07-20 | 2016-11-09 | 深圳洲际通航投资控股有限公司 | Flight control system and method |
| CN106324588A (en) * | 2016-08-29 | 2017-01-11 | 无锡卓信信息科技股份有限公司 | Intelligent ship environment personnel self-positioning system |
| CN108476008A (en) * | 2017-04-25 | 2018-08-31 | 深圳市大疆创新科技有限公司 | For the control method of driving motor rotation, electron speed regulator, power suit and unmanned vehicle |
| CN109286388A (en) * | 2017-07-21 | 2019-01-29 | 广州极飞科技有限公司 | Filtering method and device, the unmanned plane of pulse signal |
| CN110174903A (en) * | 2014-09-05 | 2019-08-27 | 深圳市大疆创新科技有限公司 | System and method for controlling loose impediment in environment |
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- 2012-11-28 CN CN 201220636751 patent/CN202939489U/en not_active Expired - Fee Related
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| CN110174903A (en) * | 2014-09-05 | 2019-08-27 | 深圳市大疆创新科技有限公司 | System and method for controlling loose impediment in environment |
| US11914369B2 (en) | 2014-09-05 | 2024-02-27 | SZ DJI Technology Co., Ltd. | Multi-sensor environmental mapping |
| US11370540B2 (en) | 2014-09-05 | 2022-06-28 | SZ DJI Technology Co., Ltd. | Context-based flight mode selection |
| CN105556409A (en) * | 2014-12-15 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling aircraft, and aircraft |
| WO2016095095A1 (en) * | 2014-12-15 | 2016-06-23 | 深圳市大疆创新科技有限公司 | Air vehicle control method and apparatus, and air vehicle |
| US11511857B2 (en) | 2014-12-15 | 2022-11-29 | SZ DJI Technology Co., Ltd. | Aerial vehicle control method and aerial vehicle |
| CN105556409B (en) * | 2014-12-15 | 2018-02-02 | 深圳市大疆创新科技有限公司 | A kind of flying vehicles control method, apparatus and aircraft |
| CN108089596A (en) * | 2014-12-15 | 2018-05-29 | 深圳市大疆创新科技有限公司 | A kind of flying vehicles control method, apparatus and aircraft |
| US10551853B2 (en) | 2014-12-15 | 2020-02-04 | SZ DJI Technology Co., Ltd. | Aerial vehicle control method and aerial vehicle |
| CN104656662A (en) * | 2015-01-26 | 2015-05-27 | 广东交通职业技术学院 | Wireless remote control life-saving device distribution aircraft |
| CN104656662B (en) * | 2015-01-26 | 2017-10-27 | 广东交通职业技术学院 | A kind of wireless remote control lifesaving appliance delivers aircraft |
| CN104986341A (en) * | 2015-06-04 | 2015-10-21 | 深圳一电科技有限公司 | Aircraft side turning prevention method and device |
| CN106054905A (en) * | 2016-05-30 | 2016-10-26 | 深圳市前海疆域智能科技股份有限公司 | Flight vehicle one-key takeoff method |
| CN106094840B (en) * | 2016-07-20 | 2019-03-01 | 深圳洲际通航投资控股有限公司 | Flight control system and method |
| CN106094840A (en) * | 2016-07-20 | 2016-11-09 | 深圳洲际通航投资控股有限公司 | Flight control system and method |
| CN106324588A (en) * | 2016-08-29 | 2017-01-11 | 无锡卓信信息科技股份有限公司 | Intelligent ship environment personnel self-positioning system |
| CN108476008A (en) * | 2017-04-25 | 2018-08-31 | 深圳市大疆创新科技有限公司 | For the control method of driving motor rotation, electron speed regulator, power suit and unmanned vehicle |
| CN109286388A (en) * | 2017-07-21 | 2019-01-29 | 广州极飞科技有限公司 | Filtering method and device, the unmanned plane of pulse signal |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130515 Termination date: 20131128 |