CN102117072A - Multi-rotor aircraft ground measurement and control system having function of detecting rotating speeds of rotors - Google Patents
Multi-rotor aircraft ground measurement and control system having function of detecting rotating speeds of rotors Download PDFInfo
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- CN102117072A CN102117072A CN2011100580643A CN201110058064A CN102117072A CN 102117072 A CN102117072 A CN 102117072A CN 2011100580643 A CN2011100580643 A CN 2011100580643A CN 201110058064 A CN201110058064 A CN 201110058064A CN 102117072 A CN102117072 A CN 102117072A
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Abstract
The invention provides a multi-rotor aircraft ground measurement and control system having a function of detecting the rotating speeds of the rotors, which belongs to the technical field of aircraft control. The multi-rotor aircraft ground measurement and control system comprises a pitch angle and roll angle measurement circuit, a rotor rotating speed measurement circuit, an azimuth angle measurement circuit, a wireless communication unit, a pulse-width modulation (PWM) control circuit and a main controller circuit; and the main controller circuit is connected with the pitch angle and roll angle measurement circuit, the rotor rotating speed measurement circuit, the azimuth angle measurement circuit, the wireless communication unit and the PWM control circuit respectively and used for transmitting a rotor rotating speed, an inclination angle and a rotating angular speed so as to control current posture data and a PWM rotating speed control signal. The multi-rotor aircraft ground measurement and control system is low in use price and high in cost performance; an eight-bit micro control unit (MCU) having an Internet service provider (ISP) function is used as a control chip; the rotating speeds of four rotors are measured by a hall chip; a biaxial angle sensor measures a pitch angle and a roll angle; a digital compass measures an azimuth angle; and a wireless transmission chip performs high-speed wireless communication.
Description
Technical field
What the present invention relates to is the device in a kind of aircraft control technology field, specifically is a kind of multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability.
Background technology
The aircraft that adopts four rotor structures is because of its flight stability, the Control System Design simplicity, the flight path dirigibility, adjustable point, orientation and fixed high hover capabilities and need not outstanding advantage such as private track and become both at home and abroad one of the research object of control and intelligent field hottest point and platform automatically.
Find through literature search prior art, " real-time embedded Control System Design of microminiature four rotor wing unmanned aerial vehicles and the realization " that Liu Xiaojie etc. deliver on " application of electronic technology " (2009 the 5th phase 35-38 pages or leaves), this article adopts three single shaft gyrosensor chip ADXRS613 and a diaxon acceleration sensor chip ADXL203 to form the IMU unit, with Xbee Pro module is remote communication module, is that processor chips are used embedded μ C/OS mistake with 32 MCU MCF51QE128 of Freescale company! Do not find Reference source.The RTOS system design the real-time embedded control system of microminiature four rotor wing unmanned aerial vehicles.But there are the following problems: 1) though adopted BLDC direct current brushless motor speed measuring system, but be not embodied in the helicopter governing equation of setting up with Newtonian mechanics, 2) Xbee Pro module adopts the Zigbee communication mode, limited and the close together of data capacity, 3) the IMU unit need obtain the angle of pitch and the roll angle of helicopter by integral operation, need bigger calculated amount and have bigger integral error, 4) the MCF51QE12832MCU processor chips cost an arm and a leg, do not have the ISP function, software upgrading comparatively bothers.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability is provided, use cheap, cost performance is high, 8 MCU with ISP function are control chip, measure four gyroplane rotate speeds by Hall chip, the twin shaft angular transducer is measured the angle of pitch and roll angle, digital compass is measured course angle, and the wireless transmission chip carries out high-speed radiocommunication.
The present invention is achieved by the following technical solutions, the present invention includes: the angle of pitch and rolling angle measurement circuit, gyroplane rotate speed metering circuit, measurement of azimuth circuit, wireless communication unit, pwm control circuit and main controller circuit, wherein: main controller circuit respectively with the angle of pitch with rolling angle measurement circuit, gyroplane rotate speed metering circuit, measurement of azimuth circuit, wireless communication unit and pwm control circuit links to each other and transmit gyroplane rotate speed, inclination angle and angular velocity of rotation, control and current attitude data and PWM speed controling signal respectively.
Described power circuit form by three block power supply managing chips and realize with external power source provide+the 12V voltage transitions for+5.0V ,+3.3V and+the 1.8V DC voltage, be system's power supply.
The described angle of pitch and rolling angle measurement circuit are formed and are realized measuring the angle of pitch and the roll angle of four rotor crafts by the gyroscope chip of twin shaft angular transducer chip and two quadrature installations.Adopting a slice angular transducer chip and a slice acceleration gyroscope chip to form the angle of pitch respectively with other giro flight control systems compares with the rolling angle measurement system, only once integral operation, also have the zero point correction function, can obtain the high-precision real-time angle of pitch and roll angle data by the high speed kalman filter method.
Described gyroplane rotate speed metering circuit is by the Hall element chip and be installed in magnetic bead on the rotor and form and realize the rotating speed of rotor is converted to the accessible digital pulse signal of main controller circuit.
Described measurement of azimuth circuit is made up of magnetoresistive transducer chip and rate-of-turn gyroscope chip, by the measurement of magnetic declination and yaw rate being measured the heading of four rotor crafts.Adopt a slice angular transducer chip to compare respectively with other giro flight control systems with a slice acceleration gyroscope chipset course angle measuring system, only have an integral operation, can obtain high-precision real-time course angle data by the high speed kalman filter method.
Described wireless communication unit comprises that level transferring chip and high-speed radio count leaflet unit and realize that gyroplane rotate speed, the angle of pitch, roll angle and azimuth signal that main controller circuit is recorded send supervising device to.
The speed controling signal of brushless electric machine is realized and realized the control signal that main controller circuit sends is converted to the inverter circuit that described pwm control circuit is formed by triode.
Described main controller circuit is realized and realizes by the ARM7 embedded control chip handling from the angle of pitch and rolling angle measurement circuit, the analog and digital signal of gyroplane rotate speed metering circuit and measurement of azimuth circuit, by being converted to current flight attitude of four rotor crafts and gyroplane rotate speed after the processing such as A/D conversion, in conjunction with embedded Control Software and algorithm new controlled quentity controlled variable is sent to pwm control circuit and regulate gyroplane rotate speed controlling the particular pose of four rotor crafts, and flight attitude and gyroplane rotate speed information are sent to supervising device by wireless communication unit with this.
Information processing content of the present invention and flow process are: after system powered on, main controller circuit sent pwm signal to pwm control circuit, and four rotors rotate, and aircraft has the particular flight attitude.The tachometric survey circuit is converted into digital pulse signal with the gyroplane rotate speed that Hall element records, and records the current rotating speed of rotor by tally function after delivering to main controller circuit.The angle of pitch and the output of rolling angle measurement circuit and the angle of pitch and roll angle corresponding simulating signal are converted to the current angle of pitch of aircraft and roll angle signal by the A/D function after delivering to main controller circuit.Measurement of azimuth circuit output position angle corresponding simulating signal is converted to the current azimuth signal of aircraft by the A/D function after delivering to main controller circuit.Main controller circuit sends to supervising device by wireless communication unit with the current angle of pitch of the aircraft that records, current roll angle, when forward angle and current gyroplane rotate speed signal.Simultaneously in conjunction with Control Software, the speed controling signal that calculates is sent to brushless electric machine as drive unit by pwm control circuit, to realize the angle of pitch, roll angle and the position angle control under the particular flight attitude.
The present invention compares with traditional background technology, and the beneficial effect that is had is:
1, stable performance, cheap, the MCU that adopts low cost, high performance-price ratio and have the ISP function need not to dismantle the upgrading that can realize Control Software;
2, closed loop configuration, system stability is good.Employing constitutes closed-loop system by Hall element and magnetic bead gyroplane rotate speed measurement mechanism of forming and the pwm control circuit of being made up of the triode phase inverter, in conjunction with the good high angle of pitch of real-time, roll angle and measurement of azimuth mode, can realize high precision, the control of highly sensitive four rotary-wing flight attitudes.
3, native system highly versatile not only can be used for the control of common four rotor crafts of plane four axle construction, also can be used for adopting the ground observing and controlling system of two coaxial pair of oar aircraft or three rotor crafts.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
Fig. 2 is power circuit principle figure.
Fig. 3 is the angle of pitch and rolling angle measurement circuit theory diagrams.
Fig. 4 is a gyroplane rotate speed metering circuit schematic diagram.
Fig. 5 is the measurement of azimuth circuit theory diagrams.
Fig. 6 is the wireless communication unit schematic diagram.
Fig. 7 is the pwm control circuit schematic diagram.
Fig. 8 is the main controller circuit schematic diagram.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: power circuit a, the angle of pitch and rolling angle measurement circuit b, gyroplane rotate speed metering circuit c, measurement of azimuth circuit d, wireless communication unit e, pwm control circuit f and main controller circuit g, wherein: power circuit a provides required operating voltage for system, main controller circuit g through extension line respectively with power circuit a, the angle of pitch and rolling angle measurement circuit b, gyroplane rotate speed metering circuit c, measurement of azimuth circuit d, wireless communication unit e and pwm control circuit f link to each other.
As shown in Figure 2, described power circuit a comprises: joint J1, first to the 8th capacitor C 1～C8 and first to the 3rd power management chip U1～U3.Wherein: the GND pin ground connection of joint J1, pin IN input 9～12V DC voltage links to each other with the Vin pin of first to the 3rd power management chip U1～U3 simultaneously, and through capacitor C 1～C2 decoupling extremely.The GND pin ground connection of first to the 3rd power management chip U1～U3.The Vout pin of power management chip U1 provides 5.0V power supply for system through third and fourth capacitor C, 3～C4 decoupling to the ground.The Vout pin of power management chip U2 provides 3.3V power supply for system through the 5th and the 6th capacitor C 5～C6 decoupling to the ground.The Vout pin of power management chip U3 provides 1.8V power supply for system through the 7th and the 8th capacitor C 7～C8 decoupling to the ground.
Described power management chip U1 adopts the LM1117-5.0 chip of National Semiconductor company.Running parameter: input voltage range 6.5～12V, output voltage 5.0V, output-current rating 0.8A.
Described power management chip U2 adopts the LM1117-3.3 chip of National Semiconductor company.Running parameter: input voltage range 4.75～10V, output voltage 3.3V, maximum output current 0.8A.
Described power management chip U3 adopts the LM1117-1.8 chip of National Semiconductor company.Running parameter: input voltage range 3.2～10V, output voltage 1.8V, maximum output current 0.8A.
As shown in Figure 3, the described angle of pitch and rolling angle measurement circuit b comprise: twin shaft angular transducer chip U4, the first and second the first gyroscope chip U5～U6, the 9th the 11 capacitor C 9～C11, the 0th to the 19 resistance R 0～R19, the first and second the first integrated transporting discharging chip U7～U8 first and second adjustable resistance VR1～VR2.Wherein: the pin VDD of twin shaft angular transducer chip U4 meets V5.0, and through capacitor C 9 decouplings extremely.Pin GND meets GND.Pin SS is pulled to V5.0 through resistance R 0, and links to each other with main controller circuit g through extension line.Pin SCK, pin MISO and pin MOSI link to each other with main controller circuit g through extension line.
The VCC pin of the first gyroscope chip U5 meets V5.0, and through 10 decouplings of the tenth capacitor C extremely.Pin GND meets GND.The pin Vout of the first gyroscope chip U5 links to each other with the pin IN1+ of the first integrated transporting discharging chip U7, and pin Vref links to each other with the IN2+ pin of the first integrated transporting discharging chip U7.The pin IN1-of the first integrated transporting discharging chip U7 links to each other with the OUT1 pin through first resistance R 1, and links to each other with pin IN2-through resistance R 2, and pin IN2-links to each other with pin OUT2 through the 3rd resistance R 3.The pin IN4-of the first integrated transporting discharging chip U7 links to each other with pin OUT1 through resistance R 4, links to each other with pin OUT4 through resistance R 6 again.The pin IN4+ of the first integrated transporting discharging chip U7 links to each other with pin OUT2 through resistance R 5, links to each other with V3.3 through resistance R 7 and adjustable resistance VR1 again.The A unit of the first integrated transporting discharging chip U7, B unit, D unit and first to the 7th resistance R 1～R7 form accurate differential amplifier circuit, and adjustable resistance VR1 has zeroing function.The pin IN3-of the first integrated transporting discharging chip U7 links to each other with pin OUT4 through the first diode D1, and links to each other with pin OUT3 through the 8th resistance R 8.The pin IN3+ of the first integrated transporting discharging chip U7 links to each other with pin OUT4 through diode D2, and is pulled down to ground through the 9th resistance R 9.Absolute value circuit is formed in the C unit of the first and second the first diode D1～D2, the 8th and the 9th resistance R 8～R9 and the second integrated transporting discharging chip U8.The OUT3 pin of the second integrated transporting discharging chip U8 links to each other with main controller circuit g through extension line.
The VCC pin of the second gyroscope chip U6 meets V5.0, and through 11 decouplings of the 11 capacitor C extremely.Pin GND meets GND.The pin Vout of the second gyroscope chip U6 links to each other with the pin IN1+ of the second integrated transporting discharging chip U8, and pin Vref links to each other with the IN2+ pin of the second integrated transporting discharging chip U8.The pin IN1-of the second integrated transporting discharging chip U8 links to each other with the OUT1 pin through the 11 resistance R 11, and links to each other with pin IN2-through first resistance R 12, and pin IN2-links to each other with pin OUT2 through first resistance R 13.The pin IN4-of the second integrated transporting discharging chip U8 links to each other with pin OUT1 through first resistance R 14, links to each other with pin OUT4 through first resistance R 16 again.The pin IN4+ of the second integrated transporting discharging chip U8 links to each other with pin OUT2 through first resistance R 15, links to each other with V3.3 through the 17 resistance R 17 and adjustable resistance VR2 again.The A unit of the second integrated transporting discharging chip U8, B unit, D unit and the 11 to the 17 resistance R 11～R17 form accurate differential amplifier circuit, and adjustable resistance VR2 has zeroing function.The pin IN3-of the second integrated transporting discharging chip U8 links to each other with pin OUT4 through diode D3, and links to each other with pin OUT3 through the 18 resistance R 18.The pin IN3+ of the second integrated transporting discharging chip U8 links to each other with pin OUT4 through diode D4, and is pulled down to ground through the 19 resistance R 19.Third and fourth diode D3～D4, the 18 and the C unit of the 19 resistance R 18～R19 and the second integrated transporting discharging chip U8 form absolute value circuit.The OUT3 pin of the second integrated transporting discharging chip U8 links to each other with main controller circuit g through extension line.
Described twin shaft angular transducer chip U4 is the SCA100T-D02 chip of VTI company.Running parameter: operating voltage 5.0V, nominal measure scope ± 90 °, frequency response 8～28Hz, sensitivity 35mV/ °, electric current 4mA.
Described first and second gyroscope chip U5～U6 are the ENC-03 chip of field, village company.Running parameter: operating voltage 2.7～5.25V, maximum angular rate ± 300 °/S, frequency response 50Hz, scale-up factor 0.67mV/deg/sec, the linearity ± 5%.
Described first and second integrated transporting discharging chip U7～U8 are the LF347N chip of Texas Instrument company.Running parameter: operating voltage ± 15V, input bias current 50pA, input current 8mA, bandwidth 3MHz, Slew Rate 13V/ μ s.
As shown in Figure 4, described gyroplane rotate speed metering circuit c comprises: first to fourth Hall element J2～J5, the 21 to the 24 resistance R 21～R24 and capacitor C 13～C21.Wherein: the pin P1 of the first Hall element J2 meets V5.0, and through capacitor C 13 decouplings extremely.The pin P2 ground connection of the first Hall element J2.The pin P3 of the first Hall element J2 is pulled to V5.0 through the 21 resistance R 21, links to each other with main controller circuit g and realizes that gyroplane rotate speed measures through extension line again to the ground through 14 decouplings of the 14 capacitor C.The pin P1 of the second Hall element J3 meets V5.0, and through capacitor C 15 decouplings extremely.The pin P2 ground connection of the second Hall element J3.The pin P3 of the second Hall element J3 is pulled to V5.0 through resistance R 22, links to each other with main controller circuit g and realizes that gyroplane rotate speed measures through extension line again to the ground through capacitor C 16 decouplings.The pin P1 of the 3rd Hall element J4 meets V5.0, and through capacitor C 17 decouplings extremely.The pin P2 ground connection of the 3rd Hall element J4.The pin P3 of the 3rd Hall element J4 is pulled to V5.0 through resistance R 23, links to each other with main controller circuit g and realizes that gyroplane rotate speed measures through extension line again to the ground through capacitor C 18 decouplings.The pin P1 of the 4th Hall element J5 meets V5.0, and through capacitor C 19 decouplings extremely.The pin P2 ground connection of the 4th Hall element J5.The pin P3 of the 4th Hall element J5 is pulled to V5.0 through resistance R 24, links to each other with main controller circuit g and realizes that gyroplane rotate speed measures through extension line again to the ground through capacitor C 21 decouplings.
Described first to fourth Hall element J2～J5 adopts the A3144 Hall element of ALLEGRO company.Running parameter: operating voltage 4.5～28V, input current 4.4mA, continuous output current 25mA.
As shown in Figure 5, described measurement of azimuth circuit d comprises: magnetoresistive transducer U9, integrated transporting discharging U10, MOSFET manage U11, gyroscope chip U12, the 25 to the 33 resistance R 25～R33, the 23 to the 29 capacitor C 23～C29 and the 3rd adjustable resistance VR3.Wherein: meet GND after the pin GND of magnetoresistive transducer U9, pin GND1, pin GND2 and the pin S/R-parallel connection.Pin VCC meets V3.3, and through the C23 decoupling extremely.The pin IN3+ of integrated transporting discharging U10 links to each other with the pin OA+ of magnetoresistive transducer U9 through resistance R 26, and is pulled to V2.5 through resistance R 25.The pin IN3-of integrated transporting discharging U10 links to each other with the pin OA-of magnetoresistive transducer U9 through resistance R 27, and links to each other with pin OUT3 through resistance R 28 and capacitor C 25, constitutes differential amplifier circuit.The pin OUT3 of integrated transporting discharging U10 links to each other and links to each other with main controller circuit g through extension line.The pin S/R+ of magnetoresistive transducer U9 links to each other through the pin S1 of capacitor C 26 with MOSFET pipe U11.The pin G1 of MOSFET pipe U11 links to each other with main controller circuit g through extension line, constitutes the reset control circuit of magnetoresistive transducer U9.
The VDD pin of gyroscope chip U12 meets V3.3, and through 27 decouplings of the 27 capacitor C extremely.Pin GND meets GND.The pin IN1-of integrated transporting discharging chip U10 links to each other through the pin Vout of the 29 resistance R 29 with gyroscope chip U12, the 31 resistance R 31 and the 28 capacitor C 28 through parallel connection links to each other with pin OUT1 again, and the IN1+ pin links to each other through the Vref pin of the 3rd resistance R 30 with gyroscope chip U12.The pin IN2-of integrated transporting discharging chip U10 links to each other with pin OUT1 through the 32 resistance R 32, and the 33 resistance R 33 and the capacitor C 29 through parallel connection links to each other with pin OUT2 again.The pin IN2+ of integrated transporting discharging chip U10 meets V3.3 and realizes the regulatory function at zero point through the 3rd adjustable resistance VR3.The pin OUT2 of integrated transporting discharging chip U10 links to each other with main controller circuit g and realizes that course angle measures through extension line.
Described magnetoresistive transducer U9 is the HMC1051 of Honeywell company chip.Running parameter: operating voltage 2.5V, sensitivity 1.0mV/V/Gauss, bandwidth 5MHz, resetting current 0.5A.
Described integrated transporting discharging U10 is the LF347N chip of Texas Instrument company.Running parameter: operating voltage ± 15V, input bias current 50pA, input current 8mA, bandwidth 3MHz, Slew Rate 13V/ μ s.
Described MOSFET pipe U11 is the IRF7507 chip of International Rectifier company.Running parameter: drain electrode-source electrode maximum voltage 20V, maximum drain current 2.4A continuously, maximum drain pulse current 19A, maximum gate pole-source voltage ± 12V.
Described gyroscope chip U12 is the XV-3700 chip of Epson.Running parameter: operating voltage 3.3V, measurement range ± 1500 °/s, scale-up factor 0.8mV/ °/s.
As shown in Figure 6, described wireless communication unit circuit e comprises: interface chip U13, the 31 to the 35 capacitor C 31～C35 and joint J8.Wherein: the pin C1+ of interface chip U8 links to each other with pin C1-through the 31 capacitor C 31, and pin C2+ links to each other with pin C2-through the 32 capacitor C 32.Pin VCC meets V3.3, and through capacitor C 33 decouplings extremely.Pin V+ meets V3.3 through capacitor C 34.Pin GND ground connection.Pin V-is through capacitor C 35 ground connection.Pin R1OUT, pin T1IN link to each other with main controller circuit g through extension line respectively.Pin R1IN links to each other with the pin TXD of joint J8, and pin T1OUT links to each other with the pin RXD of joint J8, constitutes communication loop.The pin GND ground connection of joint J8.
Described interface chip U13 is the SP32323.3V TTL/RS232 level transferring chip of Sipex company.Running parameter: operating voltage 3.0～5.5V, working current 0.3mA, speed is greater than 120Kbps.
As shown in Figure 7, described pwm control circuit f comprises: first to fourth triode Q1～Q4, the 35 to the 38 the 35 resistance R 35～R38, the 37 to the 41 capacitor C 37～C41 and joint J11～J14.Wherein: the B utmost point of the first triode Q1 links to each other with main controller circuit g through the 35 resistance R 35, and the E utmost point is pulled to V3.3 through the 36 resistance R 36, links to each other with the pin P3 of joint J11 to the ground and realizes pwm signal output through capacitor C 37 decouplings.The C utmost point ground connection of the first triode Q1.The pin P2 ground connection of joint J11, pin P1 meets V5.0.The first triode Q1, the 35 resistance R 35 and the 36 resistance R 36 constitute the PWM inverter loop and realize the drive signal of dc brushless motor.The B utmost point of the second triode Q2 links to each other with main controller circuit g through the 38 resistance R 38, and the E utmost point is pulled to V3.3 through the 39 resistance R 39, links to each other with the pin P3 of joint J12 to the ground and realizes pwm signal output through 38 decouplings of the 38 capacitor C.The C utmost point ground connection of the second triode Q2.The pin P2 ground connection of joint J12, pin P1 meets V5.0.The second triode Q2, the 38 resistance R 38 and the 39 resistance R 39 constitute the PWM inverter loop and realize the drive signal of dc brushless motor.The B utmost point of the 3rd triode Q3 links to each other with main controller circuit g through the 41 resistance R 41, and the E utmost point is pulled to V3.3 through the 42 resistance R 42, links to each other with the pin P3 of joint J13 to the ground and realizes pwm signal output through 39 decouplings of the 39 capacitor C.The C utmost point ground connection of the 3rd triode Q3.The pin P2 ground connection of joint J13, pin P1 meets V5.0.The 3rd triode Q3, the 41 resistance R 41 and the 42 resistance R 42 constitute the PWM inverter loop and realize the drive signal of dc brushless motor.The B utmost point of the 4th triode Q4 links to each other with main controller circuit g through the 43 resistance R 43, and the E utmost point is pulled to V3.3 through the 44 resistance R 44, links to each other with the pin P3 of joint J14 to the ground and realizes pwm signal output through 41 decouplings of the 41 capacitor C.The C utmost point ground connection of the 4th triode Q4.The pin P2 ground connection of joint J14, pin P1 meets V5.0.The 4th triode Q4, the 43 resistance R 43 and the 44 resistance R 44 constitute the PWM inverter loop and realize the drive signal of dc brushless motor.Joint J11～J14 links to each other with four dc brushless motors with four GX-30A DC brushless motor controllers respectively and realizes that aircraft rotor drives and control.
As shown in Figure 8, described main controller circuit g comprises: master controller chip U14, the 42 to the 19 capacitor C 42～C49, the 45 to the 48 resistance R 45～R48, the 6th diode D6, first and second button SW1～SW2, first and second crystal oscillator XT1～XT2 and wire jumper J16.Wherein: the pin VDDA of master controller chip U14, pin VBAT, pin VDD (3V3) meet V3.3, and through the 42, the 43 capacitor C 43 decouplings of the 42 capacitor C extremely.Pin VDD (1V8) meets V1.8, through capacitor C 44 decouplings extremely.Ground connection after pin VSSA, the pin VSS parallel connection.Pin P0.19 links to each other with the pin MISO of twin shaft angular transducer chip U4 among the rolling angle measurement circuit b with the angle of pitch through extension line.Pin P0.20 links to each other with the pin MOSI of twin shaft angular transducer chip U4 among the rolling angle measurement circuit b with the angle of pitch through extension line.Pin P0.14 through extension line with link to each other with the pin SCK of twin shaft angular transducer chip U4 among the rolling angle measurement circuit b with the angle of pitch, constitute the SPI interface loop of main controller circuit g and the angle of pitch and rolling angle measurement circuit b measurement of angle.Pin P0.14 is pulled to V3.3 through resistance R 46 simultaneously, again through the second button SW2 ground connection, the ISP control loop of construction system.Pin RST is pulled to V3.3 through resistance R 45, the first diode D1, again through the 45 capacitor C 45, the first button SW1 ground connection, constitutes that having powers on and automatically resets and the reset control circuit of hand-reset function.The pin G1 of pin P0.27 MOSFET pipe U11 in extension line and measurement of azimuth circuit d links to each other and realizes the control that resets of magnetoresistive transducer U9.Pin X1 links to each other with pin X2 through crystal oscillator XT1, again through capacitor C 46 ground connection.Pin X2 is through the 47 capacitor C 47 ground connection.The first crystal oscillator XT1, the 46 capacitor C 46 and the 47 capacitor C 47 are formed the clock circuit of master controller chip U14.Pin P0.0, pin P0.1 link to each other with pin T1IN and the pin R1OUT of interface chip U11 among the wireless communication unit e respectively through extension line, form the asynchronous communication passage of main controller circuit.Pin RTXC1 links to each other with pin RTXC2 through crystal oscillator XT2, and again through capacitor C 49 ground connection, pin RTXC2 is through the 48 capacitor C 48 ground connection.Crystal oscillator XT2, capacitor C 48 and capacitor C 49 are formed the real time clock circuit of master controller chip U10.Pin P0.3 links to each other with the 41 resistance R 41 among the pwm control circuit f through extension line, pin P0.5 links to each other with the 43 resistance R 43 among the pwm control circuit f through extension line, pin P0.12 links to each other with the 38 resistance R 38 among the pwm control circuit f through extension line, pin P0.13 links to each other with the 35 resistance R 35 among the pwm control circuit f through extension line, forms the brushless motor speed control loop.Pin DBGSEL is pulled to V3.3 through the 48 resistance R 48, again through wire jumper J16 ground connection, constitutes master controller U14 mode of operation control loop.Pin P0.7 links to each other with the pin SS of twin shaft angular transducer chip U4 among the rolling angle measurement circuit b with the angle of pitch through extension line.Pin P0.22 links to each other with the pin OUT3 of integrated transporting discharging U10 among the measurement of azimuth circuit d through extension line, and pin P0.23 links to each other with the pin OUT2 of integrated transporting discharging U10 among the measurement of azimuth circuit d and realizes that aircraft course measures through extension line.Pin P0.24 links to each other with the pin OUT3 of the first integrated transporting discharging chip U7 among the rolling angle measurement circuit b with the angle of pitch and realizes that the aircraft angle of pitch measures through extension line.Pin P0.25 links to each other with the pin OUT3 of the second integrated transporting discharging chip U8 among the rolling angle measurement circuit b with the angle of pitch and realizes the aircraft rolling angle measurement through extension line.Pin P0.10 links to each other with the pin P3 of the first Hall element J2 among the gyroplane rotate speed circuit c and realizes that gyroplane rotate speed measures through extension line.Pin P0.11 links to each other with the pin P3 of the second Hall element J3 among the gyroplane rotate speed circuit c and realizes that gyroplane rotate speed measures through extension line.Pin P0.17 links to each other with the pin P3 of the 3rd Hall element J4 among the gyroplane rotate speed circuit c and realizes that gyroplane rotate speed measures through extension line.Pin P0.18 links to each other with the pin P3 of the 4th Hall element J5 among the gyroplane rotate speed circuit c and realizes that gyroplane rotate speed measures through extension line.
Described master controller chip U14 is the LPC2103ARM7TDMI-S of NXP company chip.Flash in running parameter: the operating voltage 3.3V, 8k sheet, 8 path 10 position ADC, 2 32 bit timing device/counters, 2 16 bit timing device/counters, 2 UART, 2 High Speed I
2C, frequency of operation 10～25MHz.
The concrete course of work to present embodiment illustrates below:
After the present embodiment system powered on, main controller circuit g sent pwm signal to pwm control circuit f, and four rotors rotate, and aircraft has the particular flight attitude.Tachometric survey circuit c is converted into digital pulse signal with the gyroplane rotate speed that Hall element records, and records the current rotating speed of rotor by tally function after delivering to main controller circuit g.The angle of pitch and the b output of rolling angle measurement circuit and the angle of pitch and roll angle corresponding simulating signal are converted to the current angle of pitch of aircraft and roll angle signal by the A/D function after delivering to main controller circuit g.Measurement of azimuth circuit d output position angle corresponding simulating signal is converted to the current azimuth signal of aircraft by the A/D function after delivering to main controller circuit g.Main controller circuit g sends to supervising device by wireless communication unit e with the current angle of pitch of the aircraft that records, current roll angle, when forward angle and current gyroplane rotate speed signal.Simultaneously in conjunction with Control Software, the speed controling signal that calculates is sent to brushless electric machine as drive unit by pwm control circuit f, to realize the angle of pitch, roll angle and the position angle control under the particular flight attitude.
Claims (8)
1. multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability, it is characterized in that, comprise: the angle of pitch and rolling angle measurement circuit, the gyroplane rotate speed metering circuit, the measurement of azimuth circuit, wireless communication unit, pwm control circuit and main controller circuit, wherein: main controller circuit respectively with the angle of pitch and rolling angle measurement circuit, the gyroplane rotate speed metering circuit, the measurement of azimuth circuit, wireless communication unit and pwm control circuit link to each other and transmit gyroplane rotate speed respectively, inclination angle and angular velocity of rotation, control and current attitude data and PWM speed controling signal.
2. the multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability according to claim 1, it is characterized in that, described power circuit form by three block power supply managing chips and realize with external power source provide+the 12V voltage transitions for+5.0V ,+3.3V and+the 1.8V DC voltage, be system's power supply.
3. the multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability according to claim 1 is characterized in that, the described angle of pitch and rolling angle measurement circuit are made up of the gyroscope chip of twin shaft angular transducer chip and two quadrature installations.
4. the multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability according to claim 1, it is characterized in that described gyroplane rotate speed metering circuit is by the Hall element chip and be installed in magnetic bead on the rotor and form and realize the rotating speed of rotor is converted to the accessible digital pulse signal of main controller circuit.
5. the multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability according to claim 1 is characterized in that described measurement of azimuth circuit is made up of magnetoresistive transducer chip and rate-of-turn gyroscope chip.
6. the multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability according to claim 1, it is characterized in that described wireless communication unit comprises that level transferring chip and high-speed radio count leaflet unit and realize that gyroplane rotate speed, the angle of pitch, roll angle and azimuth signal that main controller circuit is recorded send supervising device to.
7. the multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability according to claim 1, it is characterized in that the speed controling signal of brushless electric machine is realized and realized the control signal that main controller circuit sends is converted to the inverter circuit that described pwm control circuit is formed by triode.
8. the multi-rotor aerocraft ground observing and controlling system with gyroplane rotate speed measuring ability according to claim 1, it is characterized in that, described main controller circuit is realized and realizes by the ARM7 embedded control chip handling from the angle of pitch and rolling angle measurement circuit, the analog and digital signal of gyroplane rotate speed metering circuit and measurement of azimuth circuit, by being converted to current flight attitude of four rotor crafts and gyroplane rotate speed after the processing such as A/D conversion, in conjunction with embedded Control Software and algorithm new controlled quentity controlled variable is sent to pwm control circuit and regulate gyroplane rotate speed controlling the particular pose of four rotor crafts, and flight attitude and gyroplane rotate speed information are sent to supervising device by wireless communication unit with this.
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