CN205239906U - Many rotor crafts of oil -electricity hybrid vehicle - Google Patents
Many rotor crafts of oil -electricity hybrid vehicle Download PDFInfo
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- CN205239906U CN205239906U CN201520961579.8U CN201520961579U CN205239906U CN 205239906 U CN205239906 U CN 205239906U CN 201520961579 U CN201520961579 U CN 201520961579U CN 205239906 U CN205239906 U CN 205239906U
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Abstract
The utility model relates to a many rotor crafts of oil -electricity hybrid vehicle belongs to unmanned vehicles technical field. Many rotor crafts of oil -electricity hybrid vehicle mainly comprises last main rotor (1), lower main rotor (2), the automatically controlled board of many rotor crafts (4), motor drive vice rotor (5), motor (6), fuel engine (7), rotational speed antithesis gear box (8), battery (11), air door control stepper motor (24). This aircraft provides flight power by main rotor and vice rotor jointly, and the donator power that will go up to the air is carried to the main rotor, and vice rotor provides the fraction power that goes up to the air, and the main rotor comprises last main rotor (1) and main rotor (2) down, goes up main rotor and main rotor down and has mutually unidimensionally, and the rotational speed is identical, turns to on the contrary, realizes that positive and negative balance makes many rotor crafts can not take place the rotation aloft. Fuel engine (7) are fixed on horn (16), and the geometric centre of many rotor crafts is passed in the main rotor pivot, and the focus of oil tank (15) is located the geometric centre of many rotor crafts.
Description
Technical field
The utility model relates to a kind of oil electric mixed dynamic multi-rotor aerocraft, belongs to aircraft field.
Background technology
The rotor shaft of many rotor unmanned aircrafts is symmetrical, be one can VTOL, using four rotors asPower set, do not carry operating personnel's aircraft. Its purposes is very extensive. Main application has following several aspect
1. government organs: police service application; Scene of a fire commander, rescue and relief work, traffic administration;
2. media representatives: news media, aeroplane photography;
3 scientific research institutions: wild animal photography, environmental assessment, archaeology in the air;
4 enterprise institutions: real estate management, pipeline are patrolled and examined;
5 individual applications: remote control distributor, aerophotography;
6 futures are by the extensive application in logistics field. At present, express company is by traffic sides such as railway, highway, aviationsFormula, sends to destination fast by client's goods. The modernization of express company has allowed whole efficiency improve, and the flow process of specification is existingThe guarantee of generationization, but corresponding measure also do not made for the user of minority specific demand, high for time requirement especially, thingThe aircraft that the client that part is lightweight, volume is little can adopt is sent with charge free.
Multi-axis aircraft comprises GIS-Geographic Information System and global positioning system based on navigation positioning system. GIS-Geographic Information SystemGIS technology integrates the visualization effect of this uniqueness of map and geography-analysis function and general database manipulation.Global positioning system can provide vehicle location, antitheft, anti-misfortune, travel route monitoring and call out the functions such as commander. Realize withUpper all functions must possess global positioning system terminal, transmission network and three key elements of monitor supervision platform. Work as information management platformReceive after the destination data of sending to, can be by selecting comparatively to close after GIS-Geographic Information System and global positioning system analysis and arrangementSuitable flight path. Navigation system is very ripe at present, and navigation instrument commercialization is comparatively general.
The all application of Multi-axis aircraft all based on aircraft enough when long boat, large load flight, otherwise all application are veryNarrow scope. At present quadrotor all adopt battery-operated, the energy that can store due to unit mass battery much smaller thanThe fossil fuels such as gasoline, so the flight time of current quadrotor is all very limited, while cruising under normal load conditionBetween be only in 20 minutes, and the single-rotor helicopter of fuel power, the cruise time is several hours. But fuel powerSingle rotor helicopter flight attitude control, manipulation stability, accuracy at present or a difficult problem. Because by electricityThe rotating speed that signal is accurately controlled fuel engines is an extremely difficult thing, and this makes the fuel oil single rotor helicopter cannotComplete electronic multi-rotor aerocraft, the task that can complete. The aircraft of two types, respectively has pluses and minuses, fuel oil flying instrumentWhile having long boat, the characteristic of large load; Electronic multi-rotor aerocraft can accurately be manipulated, and can programme in advance, in the navigation of GPSComplete exercises along fixed course down, this is that fuel oil aircraft cannot be realized, but need to grow the application neck of cruise timeTerritory still can not replace single rotor of fuel power. Therefore, both advantages are got up, could really realize aircraft canAccurately manipulated the characteristic while thering is again the long boat of large load simultaneously. Only in this way, can realize the reality that multi-rotor aerocraft fliesBorder application.
Also have at present a kind of oil electric mixed dynamic four rotor unmanned aircrafts, its objective is the side by oil electric mixed dynamicFormula extends cruising time of quadrotor, the oil proposing electricity combination drive mode be this aircraft in the time of flight by carryingDriven by engine generator is powered to electrokinetic cell, after fuel engines is flame-out, still can utilize the electric energy safe of storageManipulation multi-rotor aerocraft lands. This oil electricity hybrid mode exists great defect. Because of in the process of flight, need to pass throughRotor rotation at a high speed provides lift to overcome gravity, and therefore, 4 motors of four rotor unmanned aircrafts must run up and carryOvercome the gravity of a whole set of fuel electric generator system for lift, the energy consumption of motor is acutely increased, the electric energy consuming need be byFuel electric generator system is supplemented, and the electric energy sending is almost all for overcoming the gravity of cover fuel electric generator system,The electric energy of real output is few, has both polluted environment, does not increase again flying power and load-carrying ability, therefore without any practicalityProperty.
Utility model content
The utility model is in order to overcome the ubiquitous problem of existing multi-rotor aerocraft, and voyage is short, load is little, flightTime-limited defect, utilizes oil electric mixed dynamic to overcome the intrinsic shortcoming of electronic multi-rotor aerocraft, and fuel engines is directDrive main rotor that lift is provided, coordinate motor-driven secondary rotor, realizing aircraft can accurately be manipulated, and has again large simultaneouslyCharacteristic when the long boat of load.
Oil electric mixed dynamic multi-rotor aerocraft mainly by upper main rotor 1, lower main rotor 2, multi-rotor aerocraft antenna 3,Multi-rotor aerocraft electric-controlled plate 4, motor drive secondary rotor 5, motor 6, fuel engines 7, rotating speed antithesis gear-box 8, carburetor9, battery 11, fuel oil inlet flap 12, petroleum pipeline 13, fuel tank 15, horn 16, upper main rotor shaft 18, lower main rotor quill 19,Upper bevel gear 20, lower bevel gear 21, speed probe 22, the exhaust pipe of engine 23, airdoor control stepper motor 24 form.
Oil electric mixed dynamic multi-rotor aerocraft divides by main rotor and secondary rotor provides flying power jointly, and main rotor providesMain lift-off power, secondary rotor provides fraction lift-off power, and main rotor is made up of (referring to figure upper main rotor 1 and lower main rotor 2Shown in 1), upper main rotor shaft 18 from top through after 2 times main rotor quills of main rotor 19 with lower bevel gear 21 welding afterBe connected and fixed with engine power output shaft, the rotary main shaft of lower main rotor 2 is lower main rotor quill 19, in this quill, establishesCavity, only has 3 end faces of upper, middle and lower to contact with inner upper main rotor shaft 18, forms constraint, makes lower main rotor quill 19Can be along the separate rotation of same axial line with upper main rotor shaft 18, lower main rotor quill 19 and upper bevel gear 20 are upwardsLarge end face welding, is provided with left and right bevel gear between upper bevel gear 20 and lower bevel gear 21, amounts to four gears, packs rotating speed antithesis intoIn gear-box 8, left and right bevel gear rotating shaft and gear-box sidewall are fixed, and lower bevel gear 21 belows are provided with the upper main rotor shaft 18 of monitoringThe speed probe 21 of rotating speed, gear housing is fixed on fuel engines body, and fuel engines 7 is fixed holder by engineFrame 14 is fixed on (shown in Figure 2) on horn 16, engine analog bracket 14 fixed oil tank 15 simultaneously, and upper main rotor shaft is passedThe geometric center of multi-rotor aerocraft, the center of gravity of fuel tank 15 is positioned at the geometric center of multi-rotor aerocraft, and undercarriage 17 to revolve moreThe geometric center of rotor aircraft is axle, and axial symmetry is installed.
The petroleum pipeline 13 of fuel tank 15 connects carburetor 9, and carburetor connects fuel oil inlet flap 12, changes keeping out the wind of inlet flapPlate rotating shaft connects airdoor control stepper motor 24, opens and closes angle for controlling deep bead.
This multi-rotor aerocraft multi-rotor aerocraft antenna 3 and multi-rotor aerocraft electric-controlled plate 4 are arranged on horn 16, electricityPond 11 is arranged on frame below, and the center of gravity that adjustment battery mounting is integrally formed antenna, electric-controlled plate and battery flies at rotorThe geometric center of row device, the termination mounted motor seat 10 of horn 16, motor cabinet fixed electrical machinery 6, motor power output shaft is installed electricityMachine drives secondary rotor 5, and the projection interval in the plane that main rotor and secondary rotor form at intersection horn is at least greater than 3cm, makesThere is not mutual disturbance in the air-flow that obtains both.
Remote control transmitter provides firing order, and receiving device receives after instruction, provide main rotor, throttle, direction of advance,The desired value command signal of lifting, these parameters of gyro is transferred to flight control panel, controls many rotors motor and fuel enginesAir door, by regulating the electric current of aircraft motor to change the rotating speed of different motors, realizes attitude of flight vehicle adjustment, need to accurately put downThe steady main rotor rotating speed of controlling, adopts closed-loop control, engine output speed feedback signal input flight control plate, control step motorAdjust air door, realize steadily (as shown in Figure 3) of rotating speed.
Operation principle: oil electric mixed dynamic aircraft divides by main rotor and secondary rotor provides flying power, main rotor jointlyMain lift-off power is provided, generally bears more than 50% lift, fraction lift-off power, the lift providing are provided secondary rotorBe less than 50%, have such relation between the two: the lift accounting that main rotor provides is higher, and the hang time is longer, load-carrying abilityAlso larger, its shortcoming is that manipulation ability weakens; The lift accounting that secondary rotor provides is higher, and this hang time is just shorter, load energyPower is also poorer, but handling can be better. Therefore cooperation of phase mutual between the two, adjusts according to the needs of actual conditionsThe whole proportionate relationship of raw power between the two. For example do not need aircraft to fly flexibly, when large load is flown while emphasizing long boat, so justMust improve the accounting of the raw power of main rotor, if emphasize the performance performance of aircraft, just must reduce the accounting of main rotor lift,Handle to realize flexibly.
Main rotor forms (shown in Figure 1) by upper main rotor 1 and lower main rotor 2, and upper main rotor shaft 18 is passed from topAfter 2 times main rotor quills of lower main rotor 19 with after lower bevel gear 21 welding, be connected and fixed with engine power output shaft, underMain rotor quill 19 and the large end face welding upwards of upper bevel gear 20, be provided with left and right between upper bevel gear 20 and lower bevel gear 21Bevel gear, amounts to four gears, packs in rotating speed antithesis gear-box 8, and left and right bevel gear rotating shaft and gear-box sidewall are fixed. Like thisStructure make main rotor identical with the rotating speed of lower main rotor, rotary speed direction is contrary, realizes positive and negative balance, like thisConfiguration multi-rotor aerocraft can aloft not rotated.
The rotary main shaft of lower main rotor 2 is lower main rotor quill 19, in this quill, establishes cavity, only has 3 of upper, middle and lowersEnd face contacts with inner upper main rotor shaft 18, forms constraint, makes the lower main rotor quill 19 can with upper main rotor shaft 18Along the separate rotation of same axial line, sleeve structure its objective is and reduces as far as possible the mechanical friction damage that high-speed motion bringsConsumption. In the process using, must add applicable lubricating oil to reduce friction loss.
Remote control transmitter provides firing order, and receiving device receives after instruction, provide main rotor, throttle, direction of advance,The desired value command signal of lifting, these parameters of gyro is transferred to flight control panel, controls many rotors motor and fuel enginesAir door, by regulating the electric current of aircraft motor to change the rotating speed of different motors, realizes attitude of flight vehicle adjustment, need to accurately put downThe steady main rotor rotating speed of controlling, adopts closed-loop control, engine output speed feedback signal input flight control plate, control step motorAdjust air door, realize rotating speed steady.
Lower bevel gear 21 belows are provided with the speed probe 21 of upper main rotor shaft 18 rotating speeds of monitoring, and gear housing is fixed onOn fuel engines body, fuel engines 7 is fixed on (shown in Figure 2) on horn 16 by engine analog bracket 14.Select as far as possible power output shaft to be positioned at engine position of centre of gravity engine, upper main rotor shaft is through how much of multi-rotor aerocraftCenter, such configuration makes the lift of main rotor and secondary rotor have axial symmetry distribution, facilitates like this manipulation; Fuel tank 15Center of gravity is positioned at the geometric center of multi-rotor aerocraft, and engine is in the process of work, and the oil in fuel tank can constantly reduce, like thisCan make the center of gravity of mailbox still in the geometric center position of multi-rotor aerocraft, make aircraft flight process in stillKeep horizontal flight.
The petroleum pipeline 13 of fuel tank 15 connects carburetor 9, and carburetor connects fuel oil inlet flap 12, changes keeping out the wind of inlet flapPlate rotating shaft connects airdoor control stepper motor 24, opens and closes angle for controlling deep bead. In the process of flight, pass through remote controllerOpen the throttle, we have two kinds of control modes to select
One, main rotor constant moment of force control mode
The characteristic of this control mode is aircraft after lift-off, and fuel engines carries out with some constant rotating speedsWork, provides a constant lift, and the weight that is equivalent to aircraft reduces to the over half of former weight, the behaviour that other are allControl realizes by motor-driven secondary rotor, and the advantage of this control is that control circuit is extremely simple, but handling not tooGood;
Two, the non-constant moment of force control mode of main rotor
This control mode is aircraft after lift-off, and the rotating speed of fuel engines is non-constant, main rotor rotating speedSize and the size of motor-driven secondary gyroplane rotate speed there is strict proportionate relationship, in other words in the time opening the throttle, main revolvingReporting simultaneously of the wing and secondary rotor raises, and such is handling more more superior than a upper scheme, and control circuit more comparatively speakingComplicated.
This multi-rotor aerocraft multi-rotor aerocraft antenna 3 and multi-rotor aerocraft electric-controlled plate 4 are arranged on horn 16, electricityPond 11 is arranged on frame below, and the center of gravity that adjustment battery mounting is integrally formed antenna, electric-controlled plate and battery flies at rotorThe geometric center of row device, the termination mounted motor seat 10 of horn 16, motor cabinet fixed electrical machinery 6, motor power output shaft is installed electricityMachine drives secondary rotor 5, and the projection interval in the plane that main rotor and secondary rotor form at intersection horn is at least greater than 3cm, makesThere is not mutual disturbance in the air-flow that obtains both. In actual application, pull open as far as possible spacing distance, avoid flow perturbation, destroyThe flight attitude of aircraft.
Determining of fuel engines lift: the lift of rotor
Y１＝∫0 1(△PUndercosθUnder－△POncosθOn)cosadx
=1/2ρV2∫0 1(pUndercosθUnder－POncosθOn)cosadx
=1/2ρV2b∫0 1(PUndercosθUnder-POncosθOn)cosadx/b
Make (PUndercosθUnder－POncosθOn)cosadx/b=Cy1（1）
Cy1Be the lift coefficient of this rotor aerofoil profile, so, unit length blade lift can be written as
Y1＝Cy11/2.ρv2b1
The blade area of Shi Zhongb1Shi unit's length, so lifting airscrew lift can be imitated this and be write as
Y=Cy1/2.pv2S（2）
This formula is the rotor lift formula of helicopter. Cy is lift coefficient, the gross area that S is blade.
The total life of hybrid power
YAlways=Y1+Y2+Y3+…+Yn+YFuel oil(3)
N is multi-rotor aerocraft rotor number. According to formula (2), can calculate the liter of fuel engines and motor rotorPower, determines that applicable lift compares YFuel oil/YAlways. For example main rotor provides 60% lift, and secondary rotor provides 60% lift.
Unmanned aerial vehicle remote sensing control platform circuitry
Flight control principle: remote control transmitter provides firing order, and receiving device receives after instruction, provide main rotor,The desired value command signal of throttle, direction of advance, lifting, these parameters of gyro is transferred to flight control panel, controls four motors(taking quadrotor as example) and fuel engines air door, by regulating the electric current of four motors to change turning of different motorsSpeed, realizes attitude of flight vehicle adjustment, as move ahead, roll, turn to, rolling etc., the change of the horizontal plane of aircraft platform makes winnerRotor horizontal plane changes thereupon, and this can aggravate the variation of attitude, therefore needs accurately steadily to control main rotor rotating speed, in order to makeFuel engines rotating speed is steady, adopts PID closed-loop control, and engine output speed feedback signal input flight control plate, controls stepEnter motor, adjust air door, realize stabilization of speed.
UAS is taking AT89S52 as main control chip, and expansion multi-channel serial port and USB interface are to realize system and to enclose outwardStandby communication has designed camera driver module and Three Degree Of Freedom stepper motor driver module simultaneously.
Interface Expanding circuit: the expansion of USB mouth is realized by CH375 chip. CH375 is the common interface chip of usb bus. ?Hold USB-HOST host mode and USB-DEVICE/SLAVE DeviceMode. The usb host mode of CH375 is supported conventional USBEquipment at full speed, external microcontroller need to be write firmware program and communicate by letter with USB device according to corresponding usb protocol. But for oftenWith USB memory device, the built-in firmware of CH375 can be processed the private communication of Mass-Storage mass memory unit automaticallyAgreement, under normal circumstances, external microcontroller does not need to write firmware program. the number in just can direct read/write USB memory deviceAccording to. The 2 kinds of modes of having communicated by letter of CH375 and single-chip microcomputer: parallel mode and serial mode. USB expanded circuit schematic diagram is as Fig. 4 instituteShow, CH375 chip is set to built-in firmware mode, uses 12MHz crystal. D0～D7 phase continuous cropping of single-chip microcomputer P0 mouth and CH375For data/address bus, the phase of decoder output CH375 is selected this chip in flakes, and Chip Microcomputer A 0 is connected with the A0 of CH375, can selectThe address of CH375 or data input and output. When A0 be high level be D0～D7 transmission be address, when low level, transmitBe data. P3.6 and P3.7 control respectively the read-write operation of CH375. CH375 connects single-chip microcomputer input, when there being data to pass throughWhen the input of USB mouth, produce interrupt signal, notice single-chip microcomputer carries out data processing. When also success and master after CH375 chip initiationAfter machine is communicated with, indicator lamp is bright.
Stepper motor driving circuit: stable cradle head control is Three Degree Of Freedom step motor control, controls remote sensing sensingThe angle of pitch, roll angle and the course angle of device makes to stablize The Cloud Terrace maintenance level (or vertical) state, increases on this basis engineAir door step motor control. Stepper motor drives and is realized by THB6128 chip, and single-chip microcomputer only need be exported stepper motor traffic directionCan reach the object of control step motor with pulse signal. THB6128 is that high segmentation two-phase hybrid stepping motor drives speciallyWith chip, export control signal by single-chip microcomputer, can design the drive circuit of high-performance, many segmentations. Its feature is for enjoying a double blessingBridge MOSFET drives, low on-resistance Ron=0.55 Ω, the highest withstand voltage 36V, large electric current 2.2A(peak value), multiple segmentation canChoosing, reaches as high as 128 segmentations, has automatic semi-fluid lock function, and decline soon, decline slowly, 3 kinds of decay modes of hybrid decay are optional,Built-in temperature protection and overcurrent protection. Fig. 5 is engine air door stepper motor driving circuit, and course angle stepper motor drives electricityRoad, the angle of pitch, roll angle stepper motor drive identical with it. In figure CP1 and U/D be respectively driving pulse that single-chip microcomputer provides withMotor traffic direction control signal. M1, M2, M3 is that motor drives segmentation number to select signal input, by toggle switch manual control.FDT1 and VREG1 are respectively evanescent mode and select voltage and current controlled voltage input. It in the time of 3.5V, is slow evanescent mode;When being mixing evanescent mode; It in the time of FDT1 < 0.8V, is fast evanescent mode. Adjustment VREG1 terminal voltage can be set stepper motor and driveStreaming current value.
CCD/ phase drive circuit: CCD/ camera drives by monostable flipflop 74LS221 and photo-coupler P521 realExisting. 74LS221 both can trigger also and can trigger by rising edge by trailing edge, and can forbid output. In the pulsewidth of its output is passed throughPortion's compensation obtains and is not subject to external voltage and stabilizing influence, and in great majority application, pulsewidth is only determined by external time control elements.CCD/ phase drive circuit as shown in Figure 6. The monostable flipflop high level lasting time of diagram parameter is about 33ms, can rootAccording to the needs of the real exposure time of camera, the charge constant RC that changes circuit regulates the length of stable state time. In figureCamera is single-chip microcomputer P3.5 mouth, in the time that it is trailing edge, triggers monostable flipflop output high level, and this high level acts onThe diode end of photo-coupler P521, thereby the conducting of trigger triode end, and then trigger camera shutter. The output serial connection of P521The resistance of a 10k Ω, while preventing conducting electric current excessive and damage camera.
Data memory module is realized by AT24C512, single-chip microcomputer P3.0, and P3.1 mouth is held with SCL, the SDL of AT24C512 respectivelyMouth is connected, and accesses pull-up resistor, Simulation with I 2C bus expansion 64KBE2PROM data storage. SRAM expansion byIDT6116SA chip is realized, and expansion 2KB is for the ephemeral data of buffer memory single-chip microcomputer computational process. System input voltage is 12V direct current, power module adopts 7805 to be connected in series with 7,805 two three terminal regulators, reduces the pressure drop at monolithic voltage-stablizer two ends, obtainsObtain stably+5V voltage. | can coordinate each assembly work of electronics gondola, control the attitude of camera, pass down in real time airborneWork data, the I/O mouth of use is less, and the expansion of USB interface has solved current many notebook computers and has not possessed asking of com portTopic, also photographic intelligence data in processing operation system timely while experiment in the wild. Single-chip microcomputer still also has more resourceCan utilize, can facilitate the upgrading of system, but also be subject to the restriction of microprocessor data disposal ability simultaneously.
Embedded unmanned aerial vehicle control system hardware circuit: in UAV Flight Control System, flight controller is its coreHeart parts, it is responsible for the resolving of collection, control law of flight control system signal, attitude and the speed of aircraft, and and groundThe work such as the communication of equipment. Along with unmanned plane is applied more and more widely, the task that it completes also becomes increasingly complex, to unmannedThe maneuverability requirement of machine is also more and more higher, and this just requires the control core of unmanned plane to high integration and miniaturization development.Taking 586-Engine embedded chip as core, design the flight controller of certain type unmanned plane herein. Based on AMDElanThe microcontroller module of SC520 processor, has the features such as high reliability, compact conformation and low-power consumption, and it has function simultaneouslyPowerful debugging software. The major parameter index of 586-Engine is as follows:
(1) CPU is 32 AMDElanSC520, and dominant frequency is 133MHz; (2) there is high performance FPU Float Point Unit,Support the complex calculation such as sine, tangent, logarithm, be applicable to very much the application of needs complex calculation. (3) SRAM of configuration 512KB,The Flash of 512KB, 114 byte inner RAM; (4) support 15 external interrupt. Have 7 timers, comprise one able to programmeTimer internal, provides 3 16 timer internals and 3 16 GP timers, adds a software timer. These are fixedTime device support timing and the counting of external event. Software timer provides the hardware time reference of Microsecond grade. (5) provide 32 tunnels canProgramming I/O, 2 UART. have the A/D input of 12,19 tunnel, comprise 11 road ADC serial inputs and 8 tunnel Parallel ADC, inversion frequencyFor 300kHz; 6 road D/A outputs, comprise 2 serial output DAC and 4 parallel 12 DAC of output, and inversion frequency is 200kHz.(6) operating temperature is-40 DEG C ~ 80 DEG C, is of a size of 91.4mm × 58.4mm × 7.6mm.
Flight controller hardware: this type UAV Flight Control device is that a small-sized airborne electronics of casing is separately establishedStandby, by DC/DC dc source converter plate, computer main frame panel, analog quantity channel plate, switching value channel plate and steering wheel control panel groupBecome, all template connects by the bus mode on motherboard, to reduce size, improves integrated level. This flight controller need to be withGPS, magnetometer and radio altimeter etc. carry out communication, need altogether 5 serial ports. And 586-Engine mainboard only provides 2 stringsMouthful, respectively for ground detection and observing and controlling radio station, therefore need to carry out serial ports expansion. In serial expanded circuit, adoptTL16C754 four-way UART parallel-serial converter part, becomes 4 tunnel serials outputs by 8 parallel-by-bit data transaction, additional MAX202 andMAX489 electrical level transferring chip, has expanded 2 RS232 serial ports and 2 RS422 serial ports, can meet the hardware need of flight controllerAsk.
Conversion hardware circuit: this kind of unmanned plane adopts simulation steering wheel, needs altogether 6 road D/A passages to produce pwm signal and drives rudderMachine. 586-Engine mainboard provides 8 road D/A altogether, wherein 4 tunnel 12 parallel-by-bit D/A(DA7625) control respectively lifting steering wheel,Left and right aileron steering wheel and direction steering wheel, 2 tunnel 12 Bits Serial D/A(LTC1446) control front-wheel steering wheel and throttle steering wheel. Due toThe output voltage range of DA7625 is 0 ~ 2.5V, and LTC1446 output voltage range is 0 ~ 4.096V, and steering wheel operating voltage is-10 ~ 10V, therefore needs signal to amplify and level translation. D/A level translation circuit as shown in Figure 7.
As seen from the figure, D/A level conversion principle is to adopt add circuit at amplifier input, by input signal and benchmark electricityFlat ratio is added, and obtains being applicable to the voltage range of sampling. Gather about A/D, on 586-Engine mainboard, carry 12,19 roadA/D interface meet the requirement of flight control system port number and conversion accuracy completely, these A/D interfaces gather respectively pressure altimeterData, unmanned aerial vehicle onboard voltage, engine speed and temperature, accelerator open degree etc. These signals mail to ground observing and controlling computer,For operating personnel monitor and provide the foundation unmanned plane duty. Control about I/O, on 586-Engine mainboard, carrySupply 32 16 programmable digital I/O mouths, for gathering Engine Start Signal, umbrella cabin opening signal etc., and output switchAmount signal controlling miscellaneous equipment, controls unmanned plane and takes off and removal process.
Power module hardware circuit: the power module circuitry of flight controller provides clean stable confession to flight controllerPiezoelectric voltage, is used for ensureing that flight controller normally works. The design quality of power module circuitry directly affects flight controller fortuneStability and the reliability of row. This type unmanned plane, owing to size being had to certain requirement, is considered reliability and cost simultaneously, because ofThis has selected ripe standard module power supply in the time of design, and external a small amount of device gets final product work. This aircraft can adopt24T05D12 modular power source is as the master chip of power supply circuits, and the power providing is 30W, and input voltage range is 18V ~ 36V, toolHave three-way power output :+5V and ± 12V, for airborne sensor and steering wheel are powered. The use of embedded chip, has reducedThe volume of flight controller and weight, realized the design object of flight controller miniaturization, high integration; The string of designed, designedPort expansion circuit, steering wheel control panel etc. have reduced development cost, have met the requirement of project demands side. Can predict 586-The distinctive function of Engine and higher cost performance will be widely used in UAV Flight Control field.
Power-supply management system circuit: small-sized rotor robot is taking model copter as carrier, equipment upper sensor unit,The device such as control module and servo control mechanism is to realize autonomous flight. And in order to improve the security of aircraft, need to design one sheathedStandby monitoring system, the attitude information of real-time monitoring aircraft, the situation of airborne equipment and the situation of power supply etc. This platform makesWith power supply be the battery pack that two joint lithium batteries are composed in series, utilize the charge-discharge characteristic of lithium ion battery, adopt with mega16lFor the management of charging and discharging system of core. Lithium battery has that volume is little, energy density is high, memory-less effect, cycle life is high, height is electricThe advantages such as piezoelectric battery and self-discharge rate are low, with nickel-cadmium cell, Ni-MH battery not quite alike be must consider charging, electric discharge timeSecurity, to prevent deterioration in characteristics. Therefore in system running, in order to protect the safety of lithium battery, designed a set of owingVoltage protection circuit, to prevent that power-supply management system is because crossing with battery behavior occurring and durability characteristics is deteriorated.
Power-supply management system overall framework: unmanned plane power-supply management system is the important composition portion that aircraft is realized autonomous flightPoint, roughly framework is as shown in Figure 8 for it. In this system, utilize 2212/34 model generator of AXI company production by kinetic energyBeing converted to 220V alternating current, then after rectifying and voltage-stabilizing, exporting the DC voltage of 11.6V, can be two joint lithiums by this output voltageBattery charging. The controller of power-supply management system is mega161 single-chip microcomputer, and this controller is by detecting the electricity of two joint lithium batteriesThereby press size control relay switch to carry out management of charging and discharging to battery.
Controller collects after the information in power-supply system, gives ground by radio transmission apparatus by this real-time data transmissionFace. Ground monitoring platform can also send some instructions to mega16l, controls battery charge and discharge by control relay switchElectricity, thus realize the object of monitoring and controlling aircraft. The lithium that machine power source module is produced by two Jie Yingteman Battery Co., LtdBattery composition, when battery electric quantity is sufficient, voltage is the carrying capacity of 8.4V. battery and the close phase of the reliability of whole electric power systemClose, battery dump energy is more, and the reliability of system is higher, can obtain in real time the dump energy of battery while therefore flight, and this willGreatly improve the reliability of aircraft.
Power supply monitoring system: go straight up to function and complete smoothly aerial mission, sufficient power supply supply is indispensable. By lithium batteryCharacteristic known, the in the situation that of over-discharge, electrolyte causes battery behavior deteriorated and cause charging times to fall because of decompositionLow. Therefore in order to protect the safety of battery, power-supply system will be passed through under-voltage protection module and voltage stabilizing before to control system power supplyModule. In order to predict remaining electric weight in power-supply system, adopt the method that detects power-supply system voltage here, recording systemAfter supply voltage, search the database of being set up by discharge curve, just can estimate electric weight remaining in power-supply system. Single-chip microcomputerNeeded supply voltage is 2.7 ~ 5.5V, and therefore can be mega16l design outside reference voltage is 2.5V, and this benchmark is steadyVolt circuit as shown in figure 12. So system will detect the voltage of battery, battery resistance need to be carried out to dividing potential drop and maximum is gotMagnitude of voltage can not exceed magnitude of voltage that 2.5V. controller records and be multiplied by after the multiple that voltage dividing potential drop dwindles, just can obtain power supplyReal-time voltage in system. The electricity consumption situation of moment monitoring lithium battery, prevents from that battery from crossing to occur by phenomenon, just can reach effectively and makeBy battery capacity and life-extending object.
DC brushless motor circuit: brshless DC motor is made up of motor body and driver is a kind of typicalElectromechanical integrated product. DC brushless motor has identical operation principle and application characteristic with general direct current generator, and its groupOne-tenth is different, except motor itself, and a commutating circuit more than the former, the motor of DC Brushless Motor itself is machineElectric energy conversion part, it is except armature, permanent magnet excitation two parts, also with sensor. The part AC-of this generatorDC circuit as shown in figure 13.
Charging circuit: the charge characteristic of the charge characteristic of lithium ion battery and NI-G, Ni-MH battery is different, lithium ionBattery is in when charging, cell voltage rising, and charging current reduces gradually, and in the time that voltage reaches 4.2V left and right, voltage is basicConstant, charging current continues to reduce. Therefore can first charge with constant voltage charging method after first constant current for remodeling charger, toolBulk charging circuit as shown in Figure 9. This circuit is selected LM2575ADJ composition chopped mode switching regulator, and maximum charging current is1A。
This circuit working principle is as follows: when after battery access charger, this circuit output constant current, charges to battery.The constant current control section of this charger is by half, gain setting resistance R 3 and R4, the current sampling resistor R5 of double operational LM358Form with 1.23V feedback reference voltage source. Rigidly connect after battery amplifier LM358 output low level, switching regulatorLM2575-ADJ output voltage is high, and battery starts charging. In the time that charging current rises to 1A, sample resistance R5(50m Europe) twoSide pressure is fallen and is reached 50mV, after the amplifier that this voltage is 25 through gain is amplified, and output 1.23V voltage, this voltage is added toThe feedback end of LM2575, stablizes feedback circuit. When cell voltage reaches after 8.4V, LM3420 starts to control LM2575ADJFeedback pin. LM3420 makes charger be transferred to constant-voltage charge process, and battery both end voltage is stabilized in 8.4V.R6, R7 and C3Composition compensating network, ensures charger steady operation under constant current/constant voltage state. If input supply voltage interrupts, diode D2With the PNP input stage reverse bias in amplifier LM358, thereby make battery and charging circuit isolation, ensure that battery can not pass throughCharging circuit electric discharge. In the time that charging proceeds to constant-voltage charge state, diode D3 reverse bias, therefore can not produce filling in amplifierElectric current.
Line under-voltage holding circuit: line under-voltage protection easily known by the battery discharge characteristic of lithium battery, when battery inWhen 3.5V, now battery electric quantity is about to be finished, and should charge the battery in time, otherwise cell voltage will sharply decline until batteryDamage. As shown in figure 10, the reference voltage comparison that utilizes electric resistance partial pressure gained and designed by TL431, will for cover under-voltage protecting circuitMake a gift to someone LM324 amplifying circuit and then trigger the switching system that formed by triode of comparative result, thus control load loop is logicalResistance. Evidence, in the time that system voltage reaches borderline risk voltage 7V, the output current of system is only 4mA, thereby has preventedThe generation of system lithium battery over-discharge phenomenon. Because lithium ion battery energy density is high, be therefore difficult to guarantee the safety of batteryProperty. Under the state of overcharging, after battery temperature rises energy by surplus, so electrolyte decomposition and produce gas, because of interior pressureThe danger of rising and spontaneous combustion occurs or break; Otherwise under over-discharge state, electrolyte causes battery behavior and resistance to because decomposingProperty is deteriorated for a long time, thereby reduces chargeable number of times. This charging circuit and this management system energy effectively preventing lithium battery overcharge andCross use, thereby guaranteed the safety of battery, improve the service life of lithium battery. Native system has automatic control management of charging and discharging,The functions such as Real-Time Monitoring cell voltage. Its feasibility that this system has been passed through debugging and verification experimental verification, but fly in order to ensureMachine safety, also will do more test to ensure the safety of unmanned plane autonomous flight and to stablize.
SUAV flight control system
SUAV is more and more extensive in the application of modern military and civil area. Fly having experienced early stage remote controlAfter row, its Navigation Control mode has developed into autonomous flight and Intelligent flight at present. The change of navigate mode is controlled flightThe precision of computer is had higher requirement; Along with the execute the task increase of complexity of SUAV, calculate flying controlThe requirement of machine arithmetic speed is also higher; And power consumption and the volume of the requirement of miniaturization to flight control computer also proposed very high wantingAsk. High accuracy not only requires the control accuracy of computer high, and requirement can move complicated control algolithm, and miniaturization is wantedAsk the volume of unmanned plane little, mobility is good, and then requires the volume of control computer the smaller the better. In numerous processor chipsIn, the chip of the most applicable small-sized flight control computer CPU surely belongs to the TMS320LF2407 of TI company, its arithmetic speed and numerousPeripheral interface circuit is well suited for for completing the Real Time Control Function to SUAV. It adopts Harvard structure, multistage flowing waterLine operation is read data and instruction simultaneously, carries resource and comprise 10,16 tunnel A/D converter and band auto-sequencing in sheetFunction, ensures that maximum 16 tunnels have conversion to carry out in the same transition period, and can not increase the expense of CPU; Can programme separately in 40 tunnelsOr multiplexing universal input/output channel; 5 external interrupt; Integrated serial communication interface (SCI), can make it possess and beIn system, other controllers carry out the ability of asynchronous (RS485) communication; 16 bit synchronization SPIs (SPI) can be used easilyCommunicate by letter with other ancillary equipment; WatchDog Timer module (WDT) and CAN communication module are also provided.
Flight control system composition module: the Flight Condition Data of the each sensor measurement of flight control system Real-time Collection, receive wirelessThe control command of being sent here by ground control station up channel and the data of the transmission of electrical measurement control terminal, process as calculated, and output is controlledInstruction, to executing agency, realizes the control to various model of flights in unmanned plane and the management to task device and control; SimultaneouslyThe working status parameter of the status data of unmanned plane and engine, airborne power supply system, task device is real-time transmitted to airborneRadio data terminal, sends it back ground control station through radio downlink channel. Divide the hardware of this flight control system according to functionComprise: main control module, signal condition and interface module, data acquisition module and servo driving module etc. Concrete hardwarePrinciple of compositionality as shown in figure 11.
Functions of modules
Each functional module is combined, and form the core of flight control system, and main control module is flight control systemCore, it and signal condition module, interface module and servo driving module are combined, only need to revise software and simple changeOn the basis of peripheral circuit, can meet flight control and the flight management functional requirement of series of small unmanned plane, thereby realizePrimary development, polytypic uses, and reduces the object of system development costs.
System mainly completes following function:
(1) complete the high precision collecting of multichannel analog signals, comprise gyro signal, course signal, angle of rudder reflection signal, startMachine rotating speed, cylinder temperature signal, dynamic and static pressure sensor signal, power supply voltage signal etc. Because CPU carries precision and the port number of A/DLimited, so used other data acquisition circuit, its sheet choosing and control signal produce by decoding circuit in EPLD.
(2) output switch amount signal, analog signal and pwm pulse signal etc. can adapt to different executing agencies (as rudderMachine, aileron steering wheel, lifting steering wheel, air flue and air door steering wheel etc.) control requirement.
(3) utilize multiple communication channels, respectively realization and airborne data terminal, gps signal, digital sensors and phaseClose the communication of task device. The serial ports configuring due to the SCI passage of CPU self can not meet system requirements, uses many in designSerial port extended chip 28C94 expands 8 serial ports.
Design of System Software
The Software for Design of this system is divided into 2 parts, i.e. the programming of logic circuit chip EPLD decoding circuit and fly controlThe application programming of system.
Logic circuit programming: EPLD is used for forming Digital Logic control circuit, completes decoding and isolation and isA/D, D/A, 28C94 provides the function of chip selection signal and read/write control signals. The design of this software adopt schematic diagram input andThe Mixed Design mode of VERILOGHDL Programming with Pascal Language, follows design input → design realization → design verification → device programmingFlow process. System has been used two ispLSI1048 chips, is used for respectively realizing A/D, and the control of D/A and to serial ports expansionThe control of chip 28C94.
System application design: because application program, system program not only can be write in C language, can also be as compilationLanguage is equally direct to be controlled computer hardware, and the program portability of writing is strong. Owing to taking DSP as core design beingIn system, relate to a large amount of operations to peripheral port, and consider the work that down-stream is transplanted, so the application of flight control systemProgram selects BC3.1 to design, and realizes respectively flight and controls and flight management function.
Software is divided into 4 modules according to function: time management module, data acquisition and processing module, communication module, controlSystem rule is resolved module. Unmanned plane is controlled in real time within the Millisecond time by time management module; Data acquisition moduleState of flight, attitude parameter and the flight parameter, state of flight and the flight parameter that gather unmanned plane take remote measurement and encode and lead toCross serial line interface and be sent to airborne data terminal, send to the ground control station monitoring of flying by radio data channels; AppearanceState parameter is sent control law to resolve module by software inhouse interface and is resolved, and result is sent airborne servo by D/A passageSystem, controls steering wheel operation, reaches the object of adjustment, aircraft flight attitude; Communication module completes flight control computer and other machinesCarry the data exchanging function between peripheral hardware.
Utilize the advantage of high-speed dsp control chip aspect control law calculating and data processing and abundant outside money thereofSource, coordinate scale programmable logic device CPLD and serial line interface extended chip 28C94 small design airborne fly control calculateMachine, it is complete that the SUAV flight control system taking it as core design has function, and volume is little, lightweight, feature low in energy consumption, veryMeet well SUAV to flight control computer high accuracy, miniaturization, requirement cheaply. This design is successfully applied toCertain verifies UAS.
Fly to control microcontroller: four-axle aircraft fly to control on mainboard, the chip that need to use is also few. Current toyLevel aircraft is just flight aloft or stop simply also, as long as can receive the instruction that remote controller sends over, controlsFour motor driving paddles, the function that substantially just can realize flight or hover. The senior market engineer of STMicw Electronics is situated betweenContinue, unmanned plane/Multi-axis aircraft critical piece comprises flight control and remote controller two parts. Wherein flight is controlled and is comprised electricityTune/motor control, aspect control and cradle head control etc. The electricity of main flow adjusts control mode to be mainly divided into BLDC square wave at presentControl and the sinusoidal wave control of FOC.
The EMS/ sensor of multiaxis unmanned plane: with the variation of MEMS sensor measurement angle, generally want Selection and Constitute sensingDevice, can not rely on merely accelerometer, can not rely on merely gyroscope, and this is because every kind of sensor has certain officeSex-limited. Such as gyroscope output is angular speed, could obtain angle by integration, even still at zero input stateTime, gyro still has output, and its output is white noise and the slow stack that becomes random function, affected by this, at integrationIn process, will inevitably introduce cumulative errors, the time of integration is longer, and error is just larger. This just needs accelerometer to proofread and correct gyroInstrument, because accelerometer can utilize force resolution principle, is judged and inclines at disalignment component upwards by acceleration of gravityAngle. Owing to there is no integral error, so accelerometer can be proofreaied and correct gyrostatic error under relatively static condition. But in fortuneUnder moving state, the confidence level of accelerometer output will decline, because its measurement is making a concerted effort of gravity and external force. More commonAlgorithm utilizes complementary filter exactly, calculates angle variation in conjunction with accelerometer and gyrostatic output. Gyrostatic ideal is defeatedGoing out is only to respond angular velocity varies, but is subject to the restriction of design and processes, and gyro is also responsive to acceleration, is exactly that we are at topThe index of common deg/sec/g on spiral shell instrument databook. For the application of Multi-axis aircraft, this index is particularly heavyWant, because the motor in aircraft generally can bring stronger vibration, once damping control is bad, will be in flight courseProduce very large acceleration, that will certainly bring the variation of gyro output, and then causes that angle changes, and motor will misoperation,Finally giving terminal use's visual sense is exactly that aircraft is not steady.
Along with the function of unmanned plane constantly increases, GPS sensor, infrared sensor, baroceptor, ultrasonic sensorBe used to more and more on unmanned plane. Scheme business is utilizing infrared and ultrasonic sensor to develop collision avoidance automaticallyUnmanned plane, to meet the in the future requirement of relevant laws and regulations. The unmanned plane of integrated GPS sensor can be realized the key merit of making a return voyageCan, prevent unmanned plane during flying loss. And the built-in unmanned plane of GPS function can arrange and approach airport or aviation in softwareThe responsive place of restriction, does not allow and takes off.
Beneficial effect
The utlity model has the advantage of the aircraft of two types, while thering is the long boat of fuel oil aircraft, the spy of large loadProperty; There is the performance that electronic multi-rotor aerocraft can accurately be manipulated simultaneously, can complete programming in advance, in the navigation of GPSComplete exercises along fixed course down, the characteristic while having again the long boat of large load simultaneously, can expire multi-rotor aerocraftThe practical application request that foot is wider, has good promotion prospect.
Brief description of the drawings:
Fig. 1 is engine main rotor structural representation;
Fig. 2 is overall structure schematic diagram;
Fig. 3 is electric control schematic diagram;
Fig. 4 is USB expanded circuit schematic diagram;
Fig. 5 engine air door stepper motor driving circuit;
Fig. 6 CCD/ phase drive circuit;
Fig. 7 D/A level translation circuit;
Fig. 8 power-supply management system the general frame;
Fig. 9 efficient switch type constant current/constant voltage charger partial circuit;
Figure 10 under-voltage protecting circuit;
Figure 11 flight control system schematic diagram;
Figure 12 reference voltage circuit figure;
Figure 13 brushless electric machine AC-DC circuit.
In Fig. 1-13: 1, upper main rotor, 2, lower main rotor, 3, multi-rotor aerocraft antenna, 4, multi-rotor aerocraft is automatically controlledPlate, 5, motor drives secondary rotor, 6, motor, 7, fuel engines, 8, rotating speed antithesis gear-box, 9, carburetor, 10, motor cabinet,11, battery, 12, fuel oil inlet flap, 13, petroleum pipeline, 14, engine analog bracket, 15, fuel tank, 16, horn, 17, rise and fallFrame, 18, upper main rotor shaft, 19, lower main rotor quill, 20, upper bevel gear, 21, lower bevel gear, 22, speed probe, 23,The exhaust pipe of engine, 24, airdoor control motor.
Detailed description of the invention: the utility model is described in further detail below in conjunction with drawings and Examples.
Example one: oil electric mixed dynamic aircraft divides by main rotor and secondary rotor provides flying power jointly, and main rotor providesMain lift-off power, secondary rotor provides fraction lift-off power, and main rotor is made up of (referring to figure upper main rotor 1 and lower main rotor 2Shown in 1), upper main rotor shaft 18 from top through after 2 times main rotor quills of main rotor 19 with lower bevel gear 21 welding afterBe connected and fixed with engine power output shaft, the rotary main shaft of lower main rotor 2 is lower main rotor quill 19, in this quill, establishesCavity, only has 3 end faces of upper, middle and lower to contact with inner upper main rotor shaft 18, forms constraint, makes lower main rotor quill 19Can be along the separate rotation of same axial line with upper main rotor shaft 18, lower main rotor quill 19 and upper bevel gear 20 are upwardsLarge end face welding, is provided with left and right bevel gear between upper bevel gear 20 and lower bevel gear 21, amounts to four gears, packs rotating speed antithesis intoIn gear-box 8, left and right bevel gear rotating shaft and gear-box sidewall are fixed, and lower bevel gear 21 belows are provided with the upper main rotor shaft 18 of monitoringThe speed probe 21 of rotating speed, gear housing is fixed on fuel engines body, and fuel engines 7 is fixed holder by engineFrame 14 is fixed on (shown in Figure 2) on horn 16, engine analog bracket 14 fixed oil tank 15 simultaneously, and upper main rotor shaft is passedThe geometric center of multi-rotor aerocraft, the center of gravity of fuel tank 15 is positioned at the geometric center of multi-rotor aerocraft, and undercarriage 17 to revolve moreThe geometric center of rotor aircraft is axle, and axial symmetry is installed.
Example two: oil electric mixed dynamic aircraft divides by main rotor and secondary rotor provides flying power jointly, and main rotor providesMain lift-off power, secondary rotor provides fraction lift-off power, and main rotor is made up of (referring to figure upper main rotor 1 and lower main rotor 2Shown in 1), upper main rotor shaft 18 from top through after 2 times main rotor quills of main rotor 19 with lower bevel gear 21 welding afterBe connected and fixed with engine power output shaft, the rotary main shaft of lower main rotor 2 is lower main rotor quill 19, in this quill, establishesCavity, only has 3 end faces of upper, middle and lower to contact with inner upper main rotor shaft 18, forms constraint, makes lower main rotor quill 19Can be along the separate rotation of same axial line with upper main rotor shaft 18, lower main rotor quill 19 and upper bevel gear 20 are upwardsLarge end face welding, is provided with left and right bevel gear between upper bevel gear 20 and lower bevel gear 21, amounts to four gears, packs rotating speed antithesis intoIn gear-box 8, left and right bevel gear rotating shaft and gear-box sidewall are fixed, and lower bevel gear 21 belows are provided with the upper main rotor shaft 18 of monitoringThe speed probe 21 of rotating speed, gear housing is fixed on fuel engines body, and fuel engines 7 is fixed holder by engineFrame 14 is fixed on (shown in Figure 2) on horn 16, engine analog bracket 14 fixed oil tank 15 simultaneously, and upper main rotor shaft is passedThe geometric center of multi-rotor aerocraft, the center of gravity of fuel tank 15 is positioned at the geometric center of multi-rotor aerocraft, and undercarriage 17 to revolve moreThe geometric center of rotor aircraft is axle, and axial symmetry is installed.
The petroleum pipeline 13 of fuel tank 15 connects carburetor 9, and carburetor connects fuel oil inlet flap 12, changes keeping out the wind of inlet flapPlate rotating shaft connects airdoor control stepper motor 24, opens and closes angle for controlling deep bead.
This multi-rotor aerocraft multi-rotor aerocraft antenna 3 and multi-rotor aerocraft electric-controlled plate 4 are arranged on horn 16, electricityPond 11 is arranged on frame below, and the center of gravity that adjustment battery mounting is integrally formed antenna, electric-controlled plate and battery flies at rotorThe geometric center of row device, the termination mounted motor seat 10 of horn 16, motor cabinet fixed electrical machinery 6, motor power output shaft is installed electricityMachine drives secondary rotor 5, and the projection interval in the plane that main rotor and secondary rotor form at intersection horn is at least greater than 3cm, makesThere is not mutual disturbance in the air-flow that obtains both.
Remote control transmitter provides firing order, and receiving device receives after instruction, provide main rotor, throttle, direction of advance,The desired value command signal of lifting, these parameters of gyro is transferred to flight control panel, controls four motors (with quadrotorFor example) and fuel engines air door, by regulating the electric current of four motors to change the rotating speed of different motors, realize attitude of flight vehicleAdjust, as move ahead, roll, turn to, rolling etc., the change of the horizontal plane of aircraft platform changes main rotor horizontal plane thereuponBecome, this can aggravate the variation of attitude, therefore needs accurately steadily to control main rotor rotating speed, in order to make fuel engines rotating speed flatSurely, adopt PID closed-loop control, engine output speed feedback signal input flight control plate, control step motor, adjusts air door,Realize stabilization of speed.
The each module of unmanned plane technology: unmanned plane promptly became the hot product of phenomenon level in 2015, even IBefore be not all able to do in time fine research it. Compared with fixed-wing unmanned plane, the flight of Multi-axis aircraft is more stable, can beHovering. Some is more senior to the UAS for model plane fan and the users that take photo by plane, and also can require cloudThe more multimode such as platform, camera, Video transmission system and video reception.
What high pass and Intel pushed away fly to control master chip: CES is upper, and we have seen that high pass and Intel have shown that function moreAbundant Multi-axis aircraft, they have adopted the CPU more more powerful than microcontroller (MCU) or ARMCortex-A series placeReason device is as flying to control master chip. For example, the upper SnapdragonCargo unmanned plane of showing of high pass CES is based on high passSnapdragon chip development flight controller out, it has the functions such as the integrated and space orientation of radio communication, sensor.IntelCEOBrianKrzanich has also demonstrated their unmanned plane in person on CES. This unmanned plane has adopted" RealSense " technology, can build up 3D map and perception surrounding environment, and it can fly as a bat, can be initiativelyAvoid barrier. The unmanned plane of Intel is to cooperate with a German Industrial unmanned plane vendor A scendingTechnologiesExploitation, built-in " RealSense " 3D camera up to 6 Intel, and adopted Intel's atom of four cores(Atom) the PCI-express custom card of processor, processes the real time information of distance distance and sensor, and how to keep awayExempt from in-plant barrier. Zhe Liang company shows the unmanned plane of power like this at CES, the one, and the city of good unmanned plane, the 2nd, the U.S. is about to release relevant laws and regulations, and the flight of unmanned plane will be had to strict management and control.
Adopt xCORE multinuclear microcontroller have quantity between 8 to 32, frequency is up to 32 of 500MHzRISC kernel. XCORE device is also with HardwareResponseI/O interface, and they can provide the remarkable real-time I/O of hardwarePerformance is followed very low delay simultaneously. " support of this multinuclear solution completely independently executive system control with communicate by letter appointBusiness, does not produce any real time operating system (RTOS) expense. The hardware real-time performance of xCORE microcontroller makes our clientCan realize point-device control algolithm, simultaneously non-jitter in system. These advantages of xCORE multinuclear microcontroller, justIt is the crucial part attracting such as the such high reliability of unmanned plane/Multi-axis aircraft, high real-time user application. " multiaxis fliesRow device need to be used four to six brushless electric machines and be used for driving the rotor of unmanned plane. And motor drive controller is used for controlling exactlyThe speed of unmanned plane and direction. A motor need to configure 8 MCU and controls in principle, but also has a MCU to controlThe scheme of multiple BLDC motors.
Claims (3)
1. an oil electric mixed dynamic multi-rotor aerocraft, mainly by upper main rotor (1), lower main rotor (2), multi-rotor aerocraftAntenna (3), multi-rotor aerocraft electric-controlled plate (4), motor drive secondary rotor (5), motor (6), fuel engines (7), rotating speed pairEven gear-box (8), carburetor (9), battery (11), fuel oil inlet flap (12), petroleum pipeline (13), fuel tank (15), horn (16),Upper main rotor shaft (18), lower main rotor quill (19), upper bevel gear (20), lower bevel gear (21), speed probe (22), send outEngine exhaust pipe (23), airdoor control stepper motor (24) form, and it is characterized in that jointly providing flight by main rotor and secondary rotorPower, main rotor provides main lift-off power, secondary rotor provides fraction lift-off power, main rotor by upper main rotor (1) and underMain rotor (2) forms, upper main rotor shaft (18) from top through after the lower main rotor quill (19) of main rotor (2) and subumbrella toothAfter wheel (21) welding, be connected and fixed with engine power output shaft, the rotary main shaft of lower main rotor (2) is lower main rotor sleeve pipeAxle (19), establishes cavity in this quill, only has 3 end faces of upper, middle and lower to contact with inner upper main rotor shaft (18), forms constraint,Make lower main rotor quill (19) and the upper main rotor shaft (18) can be along the separate rotation of same axial line, lower main rotor coverTubular axis (19) and upper bevel gear (20) large end face welding upwards, be provided with left and right between upper bevel gear (20) and lower bevel gear (21)Bevel gear, amounts to four gears, packs in rotating speed antithesis gear-box (8), and left and right bevel gear rotating shaft and gear-box sidewall are fixed, underBevel gear (21) below is provided with the speed probe (22) of upper main rotor shaft (18) rotating speed of monitoring, and gear housing is fixed on fuel oilOn engine body, it is upper that fuel engines (7) is fixed on horn (16) by engine analog bracket (14), the fixing holder of engineFrame (14) is fixed oil tank (15) simultaneously, and main rotor rotating shaft is through the geometric center of multi-rotor aerocraft, the center of gravity position of fuel tank (15)In the geometric center of multi-rotor aerocraft, undercarriage (17) is taking the geometric center of multi-rotor aerocraft as axle, and axial symmetry is installed.
2. a kind of oil electric mixed dynamic multi-rotor aerocraft according to claim 1, is characterized in that the oil transportation of fuel tank (15)Pipe (13) connects carburetor (9), and carburetor connects fuel oil inlet flap (12), and the deep bead rotating shaft of this inlet flap connects air doorControl step motor (24), opens and closes angle for controlling deep bead.
3. a kind of oil electric mixed dynamic multi-rotor aerocraft according to claim 1 and 2, is characterized in that this many rotor flyingsIt is upper that device multi-rotor aerocraft antenna (3) and multi-rotor aerocraft electric-controlled plate (4) are arranged on horn (16), and battery (11) is arranged on machineFrame below, adjusts battery mounting and makes center of gravity that antenna, electric-controlled plate and battery be integrally formed in the geometry of rotor craftThe heart, the termination mounted motor seat (10) of horn (16), motor cabinet fixed electrical machinery (6), motor power output shaft mounted motor drivesSecondary rotor (5), the projection interval in the plane that main rotor and secondary rotor form at intersection horn is at least greater than 3cm, makes twoThere is not mutual disturbance in person's air-flow.
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| CN201520961579.8U CN205239906U (en) | 2015-11-29 | 2015-11-29 | Many rotor crafts of oil -electricity hybrid vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106411196A (en) * | 2016-11-13 | 2017-02-15 | 南京科技职业学院 | Drive circuit by utilizing STM32 chip to control peristaltic pump stepping motor |
| EP3375707A1 (en) * | 2017-03-17 | 2018-09-19 | Ricoh Company Ltd. | Aircraft and flight system |
| CN108700888A (en) * | 2017-04-18 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, flight controller and the unmanned vehicle of unmanned vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106411196A (en) * | 2016-11-13 | 2017-02-15 | 南京科技职业学院 | Drive circuit by utilizing STM32 chip to control peristaltic pump stepping motor |
| EP3375707A1 (en) * | 2017-03-17 | 2018-09-19 | Ricoh Company Ltd. | Aircraft and flight system |
| US10717523B2 (en) * | 2017-03-17 | 2020-07-21 | Ricoh Company, Ltd. | Aircraft and flight system |
| CN108700888A (en) * | 2017-04-18 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, flight controller and the unmanned vehicle of unmanned vehicle |
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