CN101239655A - Small-sized unmanned aircraft steering engine control device - Google Patents
Small-sized unmanned aircraft steering engine control device Download PDFInfo
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- CN101239655A CN101239655A CNA2008100323981A CN200810032398A CN101239655A CN 101239655 A CN101239655 A CN 101239655A CN A2008100323981 A CNA2008100323981 A CN A2008100323981A CN 200810032398 A CN200810032398 A CN 200810032398A CN 101239655 A CN101239655 A CN 101239655A
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- steering wheel
- micro controller
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- steering engine
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Abstract
The present invention provides a steering engine control device of small-type unmanned vehicle. The circuit mechanism is the connection of a singlechip and a complex programable logic device, the singlechip connects a host link unit via a Serial Peripheral Interface or a Universal Asynchronous Receiver Transmitter, the CPLD is connected with a receiver, steering engine control signal output by CPLD is connected to the steering engine via a low pass filter. The invention reduces the design complexity of the system, and enhances the late modify signal performance of the system. The aim of the modifying system only needs modifying softer of the system, but not modifies hardware of the system. The invention adopts a modularization design, high credibility, simple testing and lower cost.
Description
Technical field
The present invention relates to a kind of small-sized unmanned aircraft steering engine control device, especially relate to a kind of micro-miniature depopulated helicopter steering engine control device, belong to micro-miniature unmanned plane technical field.
Background technology
Steering gear control system is a visual plant in the unmanned vehicle, is the interface between flight-control computer and the steering wheel, thereby is used for directly steering wheel being operated the running state of controlling aircraft.Because the small-sized unmanned aircraft volume is little, in light weight, very easily is subjected to ambient interference in-flight and destroys autonomous flight; Simultaneously, small-sized unmanned aircraft is the electromagnetic environment complexity often, causes that easily control system is out of control, and the risk of the machine of falling is often arranged.For fear of aircraft accident, just require aircraft steering engine control device energy strong interference immunity, the reliability height, and in case of emergency can in time switch to remote control mode.Given this, each research institution has all proposed different schemes and device, but yet there are no the report of matured product simple in structure, that reliability is high, programming is simple and cheap.
Summary of the invention
The objective of the invention is to problem, a kind of small-sized unmanned aircraft steering engine control device is provided at the prior art existence, simple in structure, cheap, reduced the design complexity of system, and can online modification.
For achieving the above object, design of the present invention is: device adopts digital integrated circuit, double-sided PCB, the system-level microprocessor of selecting a High Performance high integration for use is as main control chip the time, and other adopts a CPLD as I/O expansion and auxiliary process, in expansion I/O, for main control chip reduces the heavy burdens, performance advantage separately makes system architecture simple, the integrated level height; High-speed synchronous SPI serial port or UART serial port that the while microprocessor has can be communicated by letter with upper computer.In CPLD, realize electronic switch, make this device both can control the flight of unmanned vehicle again by upper computer, can freely switch to multiple flicon pattern by remote control hand free exercise control unmanned vehicle.
According to above-mentioned design, the present invention adopts following scheme:
A kind of small-sized unmanned aircraft steering engine control device comprises a complex programmable logic device (CPLD) and a micro controller system, it is characterized in that CPLD links to each other with switching controls mode signal input channel with the steering wheel control signal input channel of receiver; The steering wheel control signal of CPLD output inserts steering wheel through behind the low-pass filter; The port that CPLD exports the port of steering wheel control signal and output mode switching signal in addition is connected the signal sampling port of micro controller system; Micro controller system has six tunnel pulsewidth steering wheel control signal delivery channel ports to link to each other with CPLD; CPLD adopts active crystal oscillator, and clock signal is as the clock signal of micro controller system; Device also has data communication serial port and program to write inlet to draw.Realize having electronic switch among the described CPLD with LIULUTONG road; Realize having three 12 digit counters among the described CPLD, discern the incoming signal of three tunnel described receiver switching controls mode signal linees respectively, after passing through comparison and coding, export six road electronic switch control signals, determine the connection of each passage of electronic switch, and code signal is passed to described micro controller system; Six tunnel pulsewidth steering wheel control signals of the incoming signal of described receiver steering wheel control signal passage and the output of described micro controller system insert electronic switch, enter described low-pass filter after the selection connection through electronic switch, insert steering wheel then; Described CPLD adopts active crystal oscillator, and clock signal is as the clock signal of described micro controller system; Described micro controller system adopts SPI serial port integrated on it or UART serial port and upper machine communication.
Above-mentioned CPLD adopts EPM240T100C5 type CPLD.
Above-mentioned micro controller system adopts C8051F410 type micro controller system.
Above-mentioned low-pass filter has six the tunnel, and each is made up of a resistance and an electric capacity, six road steering wheel control signals of respectively corresponding CPLD output.
Above-mentioned data communication serial port adopts integrated SPI serial port or UART serial port on the above-mentioned micro controller system.
Above-mentioned active crystal oscillator adopts the KC7050A-C3 chip.
The present invention compared with prior art, have following outstanding substantive distinguishing features and remarkable advantage: the present invention adopts micro controller system and CPLD to combine, have simple in structure, cheap, reliability is high, be easy to realize, and it is simple to have a programming, but online programming is revised the advantage of system.Various small-sized unmanned aircrafts applicable to the usage ratio steering wheel.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the present of invention.
Fig. 2 is the schematic circuit diagram of one embodiment of the present of invention.
Fig. 3 is the CPLD hierarchical structure scheme drawing of realizing among the CPLD of Fig. 1 example.
The specific embodiment
A preferred embodiment of the present invention accompanying drawings is as follows:
Referring to Fig. 1, small-sized unmanned aircraft steering engine control device is series between receiver 5 and the steering wheel 6, be input to the CPLD 8 from six road steering wheel control signals 13 of receiver 5 inputs, CPLD 8 is according to the signal sampling port of six road steering wheel control signals, the 13 output steering wheel control signals 12 that obtain to micro controller system 1.Be input to the CPLD 8 from three tunnel switching controls mode signals 14 of receiver 5 inputs, CPLD 8 is according to the signal sampling port of three tunnel switching controls mode signals, the 14 output mode switching signals 11 that obtain to micro controller system 1.Micro controller system 1 is by serial port 2 and upper machine communication, the information of six road steering wheel control signals 13 that obtain and the information of three tunnel switching controls mode signals 14 are sent to upper computer, after obtaining the steering wheel control information from upper computer simultaneously, in the output steering wheel control signal 10 to CPLD 8, CPLD 8 is according to steering wheel control signal 10 that obtains and the steering wheel control signal 13 that obtains, export six road steering wheel control signals 16, steering wheel control signal 16 is through behind the low-pass filter 7, obtain steering wheel control signal 15, steering wheel control signal 15 outputs to steering wheel 6.Low-pass filter 7 has six the tunnel, and each is made up of a resistance and an electric capacity, and corresponding respectively six road steering wheel control signals 16 carry out filtering.CPLD 8 adopts active crystal oscillator 4 that clock signal is provided, and clock signal 9 is as the clock signal of micro controller system 1.Program is write inlet 3 by program and is written among micro controller system 1 and the CPLD 8.
Referring to Fig. 2 and Fig. 1, the steering wheel control signal input channel 1,2,3,4,5,6 of receiver 5 is input to 54,55,56,57,58,60 ports of CPLD 8 respectively.The switching controls mode signal input channel 7,8,9 of receiver 5 is input to 70,71,72 ports of CPLD 8 respectively.61,63,64,67,68, the 69 ports output steering wheel control signal 16 of CPLD 8 connects No. six low-pass filters 7 respectively.No. six low-pass filters 7 connect six steering wheels 6 respectively.5,6,7,8,9,10 ports of CPLD 8 connect 25,26,27,28,29,30 ports of micro controller system 1, output steering wheel control signal 12.47,48,49 ports of CPLD 8 connect 14,15,16 ports of micro controller system 1, output mode switching signal 11.75 ports of CPLD 8 connect 10 ports of micro controller system 1, to micro controller system 1 clock signal 9.13,12,11,9,24,23 ports of micro controller system 1 connect 27,28,29,30,31,32 ports of CPLD 8, output steering wheel control signal 10.The output terminal of clock mouth 3 of active crystal oscillator 4 connects the clock port 87 of CPLD 8.15,73,4,6 ports of CPLD 8 and 2,32 port linkers of micro controller system 1 are write inlet 3.17,18,19,20 ports of micro controller system 1 are connected serial port 2 with 21,22 ports.
Referring to Fig. 3,19, one electronic switchs 20 of 18, one coders of 17, three comparators of three counting machines and a clock output module 22 in CPLD 8, have been realized.Steering wheel control signal 13 is input among the CPLD 8 and the port of the electronic switch 20 realized among the CPLD 8 now connects.After the selection by electronic switch 20 of steering wheel control signal 13 and steering wheel control signal 10 is connected, output steering wheel control signal 16 and steering wheel control signal 12.Three tunnel switching controls mode signals 14 are input among the CPLD 8, port with three counting machines 17 links to each other respectively, through 17 samplings of three counting machines, respectively through after three comparators 18 and the coder 19, obtain the control signal 21 and the mode switching signal 11 of electronic switch 20 again.CPLD 8 adopts active crystal oscillator 4 to provide clock signal to offer each module, each module samples synchronized clocke design.Clock output module 22 clock signals 9.
Claims (6)
1. small-sized unmanned aircraft steering engine control device, comprise a complex programmable logic device (CPLD) (8) and a micro controller system (1), it is characterized in that CPLD (8) links to each other with switching controls mode signal (14) input channel with steering wheel control signal (13) input channel of receiver (5); Obtain steering wheel control signal (15) behind steering wheel control signal (16) the process low-pass filter (7) of CPLD (8) output and insert steering wheel (6); The port of CPLD (8) output steering wheel control signal (12) is connected the signal sampling port of micro controller system (1) with the port of output mode switching signal (11); Micro controller system (1) has six tunnel pulsewidth steering wheel control signal (10) delivery channel ports to link to each other with CPLD (8); CPLD (8) adopts active crystal oscillator (4), and clock signal (9) is as the clock signal of micro controller system (1); Device also has data communication serial port (2) and program to write inlet (3) to draw.
2. small-sized unmanned aircraft steering engine control device according to claim 1 is characterized in that described CPLD (8) adopts EPM240T100C5 type CPLD.
3. small-sized unmanned aircraft steering engine control device according to claim 1 is characterized in that described micro controller system (1) adopts C8051F410 type micro controller system.
4. small-sized unmanned aircraft steering engine control device according to claim 1 is characterized in that described low-pass filter (7) has six the tunnel, and each is made up of a resistance and an electric capacity, six road steering wheel control signals (16) of respectively corresponding CPLD output.
5. small-sized unmanned aircraft steering engine control device according to claim 1 is characterized in that described data communication serial port (2) adopts described micro controller system (1) to go up integrated SPI serial port or UART serial port.
6. small-sized unmanned aircraft steering engine control device according to claim 1 is characterized in that described active crystal oscillator (4) adopts the KC7050A-C3 chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB2008100323981A CN100568138C (en) | 2008-01-08 | 2008-01-08 | Small-sized unmanned aircraft steering engine control device |
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| CNB2008100323981A CN100568138C (en) | 2008-01-08 | 2008-01-08 | Small-sized unmanned aircraft steering engine control device |
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| CN101239655A true CN101239655A (en) | 2008-08-13 |
| CN100568138C CN100568138C (en) | 2009-12-09 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102097077A (en) * | 2010-12-11 | 2011-06-15 | 九江中弘电子科技有限公司 | Automotive integrated information liquid crystal display driving technique |
| CN102442425A (en) * | 2010-09-30 | 2012-05-09 | 林登贝格利勃海尔-航空股份有限公司 | High-lift system for aircraft |
| CN102522059A (en) * | 2011-12-26 | 2012-06-27 | 深圳市长宇电器有限公司 | Display device of automobile state data and display item control achieving method thereof |
| CN102631787A (en) * | 2012-03-26 | 2012-08-15 | 江阴市捷力电子科技有限公司 | Double-shaft autostability control device for model airplane plane and control method thereof |
| CN102053619B (en) * | 2009-11-06 | 2012-11-21 | 北京理工大学 | Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter |
| CN103566598A (en) * | 2013-10-24 | 2014-02-12 | 上海北大方正科技电脑系统有限公司 | Aeromodel remote controller switcher and aeromodel with same |
| CN104079309A (en) * | 2014-06-11 | 2014-10-01 | 南京第五十五所技术开发有限公司 | Communication device and communication method of K wave band vehicle-mounted receiver |
| CN105334866A (en) * | 2015-11-27 | 2016-02-17 | 湖北三江航天红峰控制有限公司 | Automatic piloting control system used for aircraft |
| CN106078796A (en) * | 2016-08-03 | 2016-11-09 | 西安旭天电子科技有限公司 | A kind of multiplex interface steering wheel |
| CN106494609A (en) * | 2016-11-24 | 2017-03-15 | 兰州飞行控制有限责任公司 | A kind of steering wheel clutch adhesive/off-state control circuit |
| CN106564587A (en) * | 2016-10-12 | 2017-04-19 | 重庆零度智控智能科技有限公司 | Steering engine protection system and method, as well as unmanned aerial vehicle |
| CN106802567A (en) * | 2017-03-20 | 2017-06-06 | 上海航天控制技术研究所 | A kind of anti-dithering method of electric steering engine |
| CN108594715A (en) * | 2018-05-18 | 2018-09-28 | 赫星科技有限公司 | Unmanned plane master control borad |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102837821B (en) * | 2012-08-27 | 2014-07-09 | 中国航天科技集团公司第四研究院四0一所 | Controller of steering engine |
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2008
- 2008-01-08 CN CNB2008100323981A patent/CN100568138C/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102053619B (en) * | 2009-11-06 | 2012-11-21 | 北京理工大学 | Method for switching automatic flight mode and manual remotely-controlled flight mode of miniature unmanned helicopter |
| CN102442425B (en) * | 2010-09-30 | 2016-12-28 | 林登贝格利勃海尔-航空股份有限公司 | The high-lift system of aircraft |
| CN102442425A (en) * | 2010-09-30 | 2012-05-09 | 林登贝格利勃海尔-航空股份有限公司 | High-lift system for aircraft |
| US8960610B2 (en) | 2010-09-30 | 2015-02-24 | Liebherr-Aerospace Lindenberg Gmbh | High-lift system of an aircraft |
| CN102097077A (en) * | 2010-12-11 | 2011-06-15 | 九江中弘电子科技有限公司 | Automotive integrated information liquid crystal display driving technique |
| CN102522059A (en) * | 2011-12-26 | 2012-06-27 | 深圳市长宇电器有限公司 | Display device of automobile state data and display item control achieving method thereof |
| CN102522059B (en) * | 2011-12-26 | 2015-08-05 | 深圳市长宇电器有限公司 | Vehicle condition data presentation device and realize display items display control method |
| CN102631787B (en) * | 2012-03-26 | 2016-08-31 | 江阴市翔诺电子科技有限公司 | A kind of double-shaft autostability control device for the model airplane plane provided by |
| CN102631787A (en) * | 2012-03-26 | 2012-08-15 | 江阴市捷力电子科技有限公司 | Double-shaft autostability control device for model airplane plane and control method thereof |
| CN103566598A (en) * | 2013-10-24 | 2014-02-12 | 上海北大方正科技电脑系统有限公司 | Aeromodel remote controller switcher and aeromodel with same |
| CN104079309A (en) * | 2014-06-11 | 2014-10-01 | 南京第五十五所技术开发有限公司 | Communication device and communication method of K wave band vehicle-mounted receiver |
| CN105334866A (en) * | 2015-11-27 | 2016-02-17 | 湖北三江航天红峰控制有限公司 | Automatic piloting control system used for aircraft |
| CN106078796A (en) * | 2016-08-03 | 2016-11-09 | 西安旭天电子科技有限公司 | A kind of multiplex interface steering wheel |
| CN106564587A (en) * | 2016-10-12 | 2017-04-19 | 重庆零度智控智能科技有限公司 | Steering engine protection system and method, as well as unmanned aerial vehicle |
| CN106564587B (en) * | 2016-10-12 | 2019-10-11 | 天津远度科技有限公司 | Steering engine protects system and method, unmanned plane |
| CN106494609A (en) * | 2016-11-24 | 2017-03-15 | 兰州飞行控制有限责任公司 | A kind of steering wheel clutch adhesive/off-state control circuit |
| CN106802567A (en) * | 2017-03-20 | 2017-06-06 | 上海航天控制技术研究所 | A kind of anti-dithering method of electric steering engine |
| CN108594715A (en) * | 2018-05-18 | 2018-09-28 | 赫星科技有限公司 | Unmanned plane master control borad |
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| CN100568138C (en) | 2009-12-09 |
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Owner name: WANLI MACHINERY CO., LTD., JIANGSU Free format text: FORMER OWNER: SHANGHAI UNIVERSITY Effective date: 20130909 |
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Effective date of registration: 20130909 Address after: 226600 Haian City, Nantong province Haian County town of Jianghai West Road, No. 168 Patentee after: Wanli Mechanical Co., Ltd., Jiangsu Address before: 200444 Baoshan District Road, Shanghai, No. 99 Patentee before: Shanghai University |
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