CN107450575A - Flight control system and there is its aircraft - Google Patents
Flight control system and there is its aircraft Download PDFInfo
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- CN107450575A CN107450575A CN201710147222.XA CN201710147222A CN107450575A CN 107450575 A CN107450575 A CN 107450575A CN 201710147222 A CN201710147222 A CN 201710147222A CN 107450575 A CN107450575 A CN 107450575A
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- controller
- speed regulator
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 62
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 13
- 238000012360 testing method Methods 0.000 claims abstract description 12
- 238000002224 dissection Methods 0.000 claims abstract description 9
- 238000011282 treatment Methods 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims abstract description 5
- 238000013016 damping Methods 0.000 claims description 6
- 230000035945 sensitivity Effects 0.000 claims description 6
- 230000000875 corresponding effect Effects 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000006837 decompression Effects 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 2
- 230000008447 perception Effects 0.000 abstract description 7
- 230000009471 action Effects 0.000 abstract description 4
- 230000005611 electricity Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to flight control system, kept in obscurity processing module and head module including controller module, inertia test cell module, GPS module, electron speed regulator module, vision processing module, light stream, controller module completes flying quality dissection process and Control on Communication processing；Posture, height and the acceleration information of inertia test cell module collection aircraft simultaneously exchange in real time with controller module；GPS module provides geography information；The data that electron speed regulator module transmits to controller module carry out the signal of dissection process and output control motor；Vision processing module processes the image into after effective information and carries out data exchange with controller module；Light stream, which keeps in obscurity, processing module collection and processing ground level and positional information and is uploaded to controller module；Head module and controller module real-time communication.It can realize the data-handling capacity of complexity, and integrated level is high, occupies little space, and can realize the perception to the external world, and perform corresponding processing action after carrying out relevant treatment.
Description
Technical field
The invention belongs to vehicle technology field, is related to a kind of flight control system and flies with the flight control system
Row device.
Background technology
Unmanned vehicle, abbreviation unmanned plane, be a kind of flight instruments being in developing rapidly, its have maneuverability,
Rapid reaction, unmanned flight, operation require low advantage.Unmanned plane is by carrying multiple sensors, it is possible to achieve image is real-time
Transmission, high-risk areas detecting function, it is the strong supplement of satellite remote sensing and traditional air remote sensing.At present, the use model of unmanned plane
Enclose and have spread over military, scientific research and civilian three big field, specifically electric power, communication, meteorology, agricultural, ocean, exploration, photography,
Prevent and reduce natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol, the field application such as public security anti-terrorism it is very wide.
Flight control system is the core of aircraft, is responsible for the control of whole aircraft.But existing flight control system
The system following shortcoming of generally existing：1st, data-handling capacity is weak, causes it to rapidly process the data of complexity, so as to influence to fly
Stability, security and the disposal ability of row control system.2nd, modules are all scattered that integrated level is low, bulky, are increased
The big volume and weight of aircraft, is unfavorable for the flight and miniaturization of aircraft.3rd, it is weak to the perception in the external world, to perceiving
The disposal ability of information is weak, it is impossible to realizes various control functions well.4th, communication mode is single, when event occurs in the communication mode
When barrier or signal are weaker, unmanned plane is out of hand, and the problems such as easily causing to crash, the safety belt to unmanned plane carrys out very big danger
Evil.
In view of the drawbacks described above of prior art, there is an urgent need to a kind of new flight control system.
The content of the invention
It is an object of the invention to overcome shortcoming present in prior art, there is provided a kind of flight control system, to solve
Data-handling capacity existing for flight control system is weak at present, and integrated level is low, volume is big, weak to extraneous environment sensing ability etc. to ask
Topic.
To achieve these goals, the present invention provides following technical scheme：
A kind of flight control system, it include controller module and communicate with inertia test cell module, GPS moulds
Block, electron speed regulator module, vision processing module, light stream keep in obscurity processing module and head module, it is characterised in that the control
Device module is used to complete flying quality dissection process and Control on Communication processing；The inertia test cell module is used to gather in real time
Posture, height and the acceleration information of aircraft are simultaneously exchanged in real time between the controller module, with to aircraft
Posture is controlled；The GPS module is used to provide geography information；The electron speed regulator module is used for the controller mould
The data that block transmits carry out the signal of dissection process and output control motor；The vision processing module is used to process the image into
Data exchange is carried out after effective information between the controller module；The light stream keeps in obscurity processing module for gathering and handling
Ground level and positional information are simultaneously uploaded to the controller module；The head module is used between the controller module
Real-time communication is carried out, real-time control and monitoring to head is realized, completes the various operations to head.
Further, wherein, the flight control system further comprises system power management module, the system power supply
Management module is used to power for the modules of flight control system.
Further, wherein, the system power management module is powered using multichannel independent current source, to reduce each mould
Power supply disturbance between block.
Yet further, wherein, the system power management module is powered using DC-DC decompressions plus LDO linear voltage stabilizations, with
The ripple of power supply is reduced, improves the job stability of flight control system.
On the other hand, wherein, the flight control system further comprises battery management system module, the battery management
System module is used for the voltage, electric current and information about power for gathering power supply, and carries out data exchange with the controller module.
Further, wherein, the controller module obtains the upload information of the battery management system module, is patrolled
Collect and judge, perform corresponding action, realize that the optimization to power supply manipulates.
In addition, wherein, the controller module uses dual-core architecture, including a Main Control Unit and one are from control
Device unit.
Further, wherein, it is described be used to realize from controller unit the peripheral hardware of the electron speed regulator module is manipulated,
Mitigate the operating pressure of the Main Control Unit；The Main Control Unit is realized to various data with high speed operation dominant frequency
Fusion treatment.
Further, wherein, the Main Control Unit possesses multiple communication interface, realizes conveniently connecing for various modules
Enter.
Yet further, wherein, the multiple communication interface includes UART, SPI, USB, I2C and CAN.
More further, wherein, the controller module carries storage device, and the storage device, which is used to realize, flies
The real-time storage of device flying quality.
Yet another aspect, wherein, the inertia test cell module is provided with damping, and the damping can be effective
Ground weakens the dither component in flight course, improves the stability of flight control system.
Further, wherein, the GPS module uses the high-precision d GPS locating module of bimodulus, and it receives high sensitivity,
Registration.
Further, wherein, the GPS module is existed using independent module.
Yet further, wherein, anti-jamming signal shielding body is added outside the GPS module, improves the GPS module
Receiving sensitivity and antijamming capability.
Moreover, wherein, the controller of the electron speed regulator module integrates with driver.
Further, wherein, the control mode of the electron speed regulator module is Field orientable control.
Further, wherein, the electron speed regulator module includes multiple electron speed regulators, the multiple electronic speed regulation
Device controls a motor respectively.
Yet further, wherein, the multiple electron speed regulator is integrated on same pcb board, and integrated level is high.
Finally, the present invention also provides a kind of aircraft, it is characterised in that has above-mentioned flight control system.
Compared with existing flight control system, flight control system of the invention has following advantageous effects：
1st, the controller module of flight control system of the invention is dual-core architecture, and it can realize the data processing energy of complexity
Power, it is easy to implement the control of aircraft.
2nd, the integrated level of the modules of flight control system of the invention is higher, occupies little space, and can realize flight control
The miniaturization of system processed, suitable for being used on unmanned plane.
3rd, it has powerful extraneous perception and the disposal ability to extraneous perception information, accordingly, it is capable to by external
The perception on boundary and control aircraft to perform corresponding processing action.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of the flight control system of the present invention.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the content of embodiment is not as the guarantor to the present invention
Protect the limitation of scope.
Fig. 1 shows the composition schematic diagram of the flight control system of the present invention.As shown in figure 1, the flight control of the present invention
System includes controller module (MCU module) and the inertia test cell module (IMU modules) communicated with, GPS module, electricity
Sub- speed regulator module (ESC module), vision processing module, light stream keep in obscurity processing module and head module.
The controller module (MCU module) is used to complete flying quality dissection process and Control on Communication processing.In this hair
In bright, the controller module uses dual-core architecture, including a Main Control Unit and one are from controller unit.Wherein,
It is described to be used to realize the peripheral hardware manipulation to the electron speed regulator module from controller unit, mitigate the Main Control Unit
Operating pressure.The Main Control Unit realized to the fusion treatments of various data with high speed operation dominant frequency, that is, realize from
The fusion treatment for the data that other modules obtain.Because using dual-core architecture, it can realize the data-handling capacity of complexity, be easy to
Realize the control of aircraft.
Also, in the present invention, the Main Control Unit possesses multiple communication interface, conveniently connecing for various modules is realized
Enter, and with preferably compatibility.Preferably, the multiple communication interface includes UART, SPI, USB, I2C and CAN etc..Due to
With different types of a variety of communication structures, so, no matter various modules, such as vision processing module, head module etc. have
Which type of communication interface, it can be communicated to connect with the MCU module so that the compatibility of the MCU module carries significantly
It is high.
In addition, in the present invention, the controller module carries storage device.The storage device is used to realize aircraft
The real-time storage of flying quality.So, contribute to the real-time storage of flying quality, be easy to control various flying qualities, as fly
Flight next time of row device provides reference, it helps follow-up research and development.
The inertia test cell module be used for the information such as posture, height and acceleration for gathering aircraft in real time and with institute
State and exchanged in real time between controller module, is controlled with the posture to aircraft.It is, the inertia test cell
Module gives the information transfers such as the posture, height and acceleration of the aircraft collected in real time to the controller module, by described
Controller module sends control command after carrying out data dissection process, so as to realize the control to the posture of aircraft.
In the present invention, it is preferred to the inertia test cell module is provided with damping.The damping can have
Effect ground weakens the dither component in flight course, improves the stability of flight control system.
Preferably, the GPS module is used to provide geography information, so as to realize positioning.It is, the GPS module is used
In obtaining geography information and acquired geography information being transferred into the MCU module, by the MCU module according to positioning scenarios
Suitably controlled.
In the present invention, it is preferred to the GPS module uses the high-precision d GPS locating module of bimodulus, so that it connects
Receive high sensitivity, registration.It is highly preferred that the GPS module is existed using independent module.Most preferably, the GPS moulds
Add anti-jamming signal shielding body outside block.In such manner, it is possible to that improves the GPS module receives sensitivity and antijamming capability,
So as to provide more accurately geography information, realization more accurately positions.
The data that the electron speed regulator module is used to transmit the controller module carry out dissection process and export control
The signal of motor processed.
In the present invention, it is preferred to the electron speed regulator module uses highly integrated control program, it is, it is controlled
Device processed integrates with driver, so as to simplify system, heightens reliability.It is highly preferred that the electron speed regulator mould
Block uses FOC control programs, it is, its control mode is Field orientable control, so as to improve the control efficiency of motor
And stability
Moreover, in the present invention, the electron speed regulator module includes multiple electron speed regulators, for example, four in Fig. 1
Electron speed regulator.The multiple electron speed regulator controls a motor respectively.Preferably, the multiple electron speed regulator is integrated in
On same pcb board.So, its integrated level is high, small volume.
The vision processing module is used to enter line number between the controller module after processing the image into effective information
According to exchange.It is, the vision processing module can be to extraneous awareness apparatus, such as the image of the acquisition such as camera, camera
Handled, effective information will be quantized into the perception of external object.Meanwhile the effective information is transferred to the MCU moulds
Block.After the MCU module obtains the effective information that the vision processing module is sent, corresponding action is performed, realizes intelligence behaviour
Control.
The light stream keeps in obscurity processing module for gathering and handling the information such as ground level and position and will gather and locate
The information such as ground level and position after reason are uploaded to the controller module.The MCU module obtain the ground level and
After the information such as position, three-dimensional space model is established, and performs the action of correlation, realizes aircraft to the high-precision fixed of ground
Position.
The head module is used to carry out real-time communication between the controller module.So, the head module energy
The real-time control and monitoring to head are realized in enough instructions according to the controller module, complete the various operations to head.
In addition, in the present invention, the flight control system further comprises system power management module.The system electricity
Source control module is used to power for the modules of flight control system.
In the present invention, it is preferred to the system power management module is powered using multichannel independent current source.In such manner, it is possible to
To reduce the power supply disturbance between modules so that power supply is more stable.It is highly preferred that the system power management module uses
DC-DC decompressions plus the power supply of LDO linear voltage stabilizations.In such manner, it is possible to reduce the ripple of power supply, the work of flight control system is improved
Stability.
Meanwhile in the present invention, the flight control system may further include battery management system module (BMS moulds
Block).The battery management system module (BMS modules) is used to gather the information such as the voltage, electric current and electricity of power supply, realizes to electricity
The real-time monitoring of the information such as voltage, electric current and the electricity in source, and carry out data exchange with the controller module.The controller
Module obtains the upload information of the battery management system module, that is, the voltage of power supply, electric current and electricity etc., and is patrolled
Collect and judge, perform according to logic judgment result and act accordingly, realize the optimization manipulation to power supply.
Moreover, in the present invention, the flight control system further comprises WiFi communication module.The WiFi communication mould
Block is used to realize the communication between ground and aircraft, so as to realize that image exchanges with the real-time of control signal.Preferably, it is described
Flight control system further comprises 4G communication modules.The 4G communication modules are used to realize logical between ground and aircraft
Letter, realizes overlength distance control.
In the present invention, for the ease of realizing the switching of two kinds of communication modes so that described in control terminal preferentially uses
Wifi communication modules are established data with flight control system and are connected；When the signal intensity of the Wifi communication modules is less than default threshold
During value, enable the 4G communication modules and be connected with establishing data without flight control system.
The present invention in flight control system by setting 4G communication modules and Wifi communication modules, and to communication mode
Selection priority is configured, and is overcome the problem of flight control system communication mode is single in the prior art, is realized flight
Control system with control terminal communication be connected, different distance, varying environment can free switching communication mode, have
Effect has ensured flight control system with controlling the communication stability and reliability of terminal.
Finally, the present invention provides a kind of aircraft.The aircraft has foregoing flight control system.Preferably, institute
It is unmanned plane to state aircraft.
The flight control system of the present invention can realize the data-handling capacity of complexity, and integrated level is high, occupies little space, can be real
Now to the perception in the external world, and corresponding processing action is performed after carrying out relevant treatment.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
Other various forms of changes or variation.Here all embodiments can not be exhaustive.Every skill for belonging to the present invention
Row of the obvious changes or variations that art scheme is extended out still in protection scope of the present invention.
Claims (20)
1. a kind of flight control system, it include controller module and communicate with inertia test cell module, GPS moulds
Block, electron speed regulator module, vision processing module, light stream keep in obscurity processing module and head module, it is characterised in that the control
Device module is used to complete flying quality dissection process and Control on Communication processing；The inertia test cell module is used to gather in real time
Posture, height and the acceleration information of aircraft are simultaneously exchanged in real time between the controller module, with to aircraft
Posture is controlled；The GPS module is used to provide geography information；The electron speed regulator module is used for the controller mould
The data that block transmits carry out the signal of dissection process and output control motor；The vision processing module is used to process the image into
Data exchange is carried out after effective information between the controller module；The light stream keeps in obscurity processing module for gathering and handling
Ground level and positional information are simultaneously uploaded to the controller module；The head module is used between the controller module
Real-time communication is carried out, real-time control and monitoring to head is realized, completes the various operations to head.
2. flight control system according to claim 1, it is characterised in that further comprise system power management module,
The system power management module is used to power for the modules of flight control system.
3. flight control system according to claim 2, it is characterised in that the system power management module uses multichannel
Independent current source is powered, to reduce the power supply disturbance between modules.
4. flight control system according to claim 3, it is characterised in that the system power management module uses DC-
DC decompressions plus the power supply of LDO linear voltage stabilizations, to reduce the ripple of power supply, improve the job stability of flight control system.
5. flight control system according to claim 4, it is characterised in that further comprise battery management system module,
The battery management system module is used for the voltage, electric current and information about power for gathering power supply, and is carried out with the controller module
Data exchange.
6. flight control system according to claim 5, it is characterised in that the controller module obtains the cell tube
The upload information of system module is managed, carries out logic judgment, performs corresponding action, realizes the optimization manipulation to power supply.
7. according to the flight control system any one of claim 1-6, it is characterised in that the controller module uses
Dual-core architecture, including a Main Control Unit and one are from controller unit.
8. flight control system according to claim 9, it is characterised in that described to be used to realize to institute from controller unit
The peripheral hardware manipulation of electron speed regulator module is stated, mitigates the operating pressure of the Main Control Unit；The Main Control Unit is used
High speed operation dominant frequency realizes the fusion treatment to various data.
9. flight control system according to claim 10, it is characterised in that the Main Control Unit possesses a variety of logical
Believe interface, realize the convenient access of various modules.
10. flight control system according to claim 11, it is characterised in that the multiple communication interface includes UART,
SPI, USB, I2C and CAN.
11. flight control system according to claim 12, it is characterised in that the controller module is set with storage
Standby, the storage device is used for the real-time storage for realizing aircraft flight data.
12. according to the flight control system any one of claim 1-13, it is characterised in that the inertia test cell
Module is provided with damping, and the damping can limitedly weaken the dither component in flight course, improve flight
The stability of control system.
13. flight control system according to claim 14, it is characterised in that the GPS module is using bimodulus high accuracy
D GPS locating module, it receives high sensitivity, registration.
14. flight control system according to claim 15, it is characterised in that the GPS module uses independent module
In the presence of.
15. flight control system according to claim 16, it is characterised in that add anti-interference letter outside the GPS module
Number shielding body, improve the receiving sensitivity and antijamming capability of the GPS module.
16. according to the flight control system any one of claim 1-17, it is characterised in that the electron speed regulator mould
The controller of block integrates with driver.
17. flight control system according to claim 18, it is characterised in that the controlling party of the electron speed regulator module
Formula is Field orientable control.
18. flight control system according to claim 19, it is characterised in that the electron speed regulator module includes multiple
Electron speed regulator, the multiple electron speed regulator control a motor respectively.
19. flight control system according to claim 20, it is characterised in that the multiple electron speed regulator is integrated in together
On one piece of pcb board, integrated level is high.
20. a kind of aircraft, it is characterised in that there is the flight control system any one of claim 1-21.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710147222.XA CN107450575A (en) | 2017-03-13 | 2017-03-13 | Flight control system and there is its aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710147222.XA CN107450575A (en) | 2017-03-13 | 2017-03-13 | Flight control system and there is its aircraft |
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| CN107450575A true CN107450575A (en) | 2017-12-08 |
Family
ID=60486281
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710147222.XA Pending CN107450575A (en) | 2017-03-13 | 2017-03-13 | Flight control system and there is its aircraft |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108337481A (en) * | 2018-02-08 | 2018-07-27 | 湖南文理学院 | A kind of rotatable intelligent unmanned machine of the fire department based on Internet of Things |
| CN109538900A (en) * | 2018-09-10 | 2019-03-29 | 天津市亚安科技有限公司 | Based on gyroscope PID surely as cloud platform control system and method, manned vehicle |
| CN109634297A (en) * | 2018-12-18 | 2019-04-16 | 辽宁壮龙无人机科技有限公司 | A kind of multi-rotor unmanned aerial vehicle and control method based on light stream sensor location navigation |
| WO2019144288A1 (en) * | 2018-01-23 | 2019-08-01 | SZ DJI Technology Co., Ltd. | Devices and systems utilizing single chip for control of device movement |
| WO2019183801A1 (en) * | 2018-03-27 | 2019-10-03 | 深圳市大疆创新科技有限公司 | Mobile platform system and mobile platform load system |
| CN112388677A (en) * | 2020-10-27 | 2021-02-23 | 四川大学 | Miniature VSLAM vision sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019144288A1 (en) * | 2018-01-23 | 2019-08-01 | SZ DJI Technology Co., Ltd. | Devices and systems utilizing single chip for control of device movement |
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| CN109634297A (en) * | 2018-12-18 | 2019-04-16 | 辽宁壮龙无人机科技有限公司 | A kind of multi-rotor unmanned aerial vehicle and control method based on light stream sensor location navigation |
| CN112388677A (en) * | 2020-10-27 | 2021-02-23 | 四川大学 | Miniature VSLAM vision sensor |
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