CN102426458A - Ground control system applicable to rotor-wing unmanned aerial vehicle - Google Patents
Ground control system applicable to rotor-wing unmanned aerial vehicle Download PDFInfo
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- CN102426458A CN102426458A CN201110385218XA CN201110385218A CN102426458A CN 102426458 A CN102426458 A CN 102426458A CN 201110385218X A CN201110385218X A CN 201110385218XA CN 201110385218 A CN201110385218 A CN 201110385218A CN 102426458 A CN102426458 A CN 102426458A
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Abstract
The invention discloses a ground control system applicable to a rotor-wing unmanned aerial vehicle. The ground control system comprises a personal computer (PC) (4), a real-time attitude controller (2), a serial peripheral interface (SPI) communication acquirer (3) and a driver (1), wherein the driver (1) receives a movement instruction Din which is output by the real-time attitude controller (2), and according to the movement instruction Din, the driver (1) outputs a motor control signal D2 to drive a motor (12) to move, outputs an A-th path of steering engine signal DA to drive an A steering engine (13) to move, outputs a B-th path of steering engine signal DB to drive a B steering engine (14) to move, outputs a C-th path of steering engine signal DC to drive a C steering engine (15) to move and outputs a D-th path of steering engine signal DD to drive a D steering engine (16) to move; the SPI communication acquirer (3) acquires parameter information D1 which is measured by an inertia measurement unit (11) on the rotor-wing unmanned aerial vehicle and outputs linear acceleration signals alpha and angular speed signals omega of three degrees of freedom of the rotor-wing unmanned aerial vehicle to the real-time attitude controller (2); and the PC (4) communicates with the real-time attitude controller (2) through a transmission control protocol (TCP) / internet protocol (IP) and provides a friendly human-computer interface for an operator.
Description
Technical field
The present invention relates to a kind of ground control system that is applicable to rotor wing unmanned aerial vehicle, this ground control system realizes being connected with sensor through the topworks on wired mode and the rotor wing unmanned aerial vehicle.
Background technology
Rotor wing unmanned aerial vehicle has characteristics such as use is flexible, cost is low, zero injures and deaths, and military and civilian two aspects have all obtained using widely in modern times.Rotor wing unmanned aerial vehicle has VTOL and the specific function of hovering, but than the fixed-wing unmanned plane its stability and wind resistance a little less than, Autonomous Control is more complicated.Current Ground Control mode to rotor wing unmanned aerial vehicle is mainly divided three kinds: the mode that remote manual control mode, autonomous/half Autonomous Control mode and ultra-viewing distance remote control combine with Autonomous Control.
Independently/half (long distance) carried out operation flight under ground flying control personnel's monitoring outside principal mode is used for the rotor wing unmanned aerial vehicle sighting distance; Require rotor wing unmanned aerial vehicle to have certain attitude Autonomous Control ability in the case, to the rotor wing unmanned aerial vehicle control system require high, difficulty is big.
For the conventional method of rotor wing unmanned aerial vehicle design of surface control system is: at first based on the kinetic model of the small-sized rotor wing unmanned aerial vehicle of Newtonian mechanics modelling; Based on this modelling rotor wing unmanned aerial vehicle flight attitude controller, introducing the control corresponding algorithm based on certain state of flight at last then.Yet, high because the architectural characteristic of rotor wing unmanned aerial vehicle self is little such as volume, non-linear strong etc. from coupling, make the kinetic model of small-sized rotor wing unmanned aerial vehicle be difficult to confirm, thereby cause the uncertainty of the controlled variable of rotor wing unmanned aerial vehicle.
Summary of the invention
The purpose of this invention is to provide a kind of ground control system that is used for the miniature rotor wing unmanned aerial vehicle of unconventional layout, this ground control system realizes the transmission of collection, control signal and the feedback signal of power supply, attitude data to rotor wing unmanned aerial vehicle through wired mode.The ground control system of the present invention's design has been saved the complex steps of setting up small-sized rotor wing unmanned aerial vehicle kinetic model; Under the situation of not setting up the unmanned plane model; Realize Data Receiving, attitude algorithm, filtering, PID control through real-time attitude controller; And can also obtain comparatively desirable pid control parameter by on-line debugging, successfully make rotor wing unmanned aerial vehicle realize the task of hovering.
Ground control system first aspect of the present invention receives the 3-axis acceleration information α of IMU (Inertial Measurement Unit) output in the rotor wing unmanned aerial vehicle
X, α
Y, α
ZWith angular velocity information ω
X, ω
Y, ω
ZSecond aspect is carried out power control through the motor 12 in 2 pairs of miniature rotor wing unmanned aerial vehicles of real-time attitude controller; The third aspect is controlled through a plurality of steering wheels in 2 pairs of miniature rotor wing unmanned aerial vehicles of real-time attitude controller (A steering wheel 13, B steering wheel 14, C steering wheel 15, D steering wheel 16); Thereby be implemented under the situation of not setting up the unmanned plane model, successfully make rotor wing unmanned aerial vehicle realize the task of hovering.A steering wheel 13 is cooperated with C steering wheel 15 and is realized the luffing of miniature rotor wing unmanned aerial vehicle; B steering wheel 14 is cooperated with D steering wheel 16 and is realized the rolling movement of miniature rotor wing unmanned aerial vehicle; A steering wheel 13, B steering wheel 14, C steering wheel 15 are cooperated with D steering wheel 16 and are realized the yawing rotation of miniature rotor wing unmanned aerial vehicle.
The advantage that the present invention is used for the ground control system of miniature rotor wing unmanned aerial vehicle is:
1. power supply excitation and reception control signal carry out having avoided the unreliability of wireless transmission alternately through wired mode.
2. the combination of PC and control chip and processor chips, the ground control system of miniature rotor wing unmanned aerial vehicle that can a unconventional layout of implemented with low cost.
3. eliminate dither through butterworth filter, reduced because motor rotates the strong shake that the causes interference to control system
4. the controlled variable of on-line debugging PID controller has shortened debugging cycle, has improved debugging efficiency.
Description of drawings
Fig. 1 is the signal controlling synoptic diagram that is applicable to the ground control system of the present invention of rotor wing unmanned aerial vehicle.
Fig. 2 is the structured flowchart of the real-time attitude controller part of the present invention.
Fig. 2 A is the signal flow graph of PID controller in the real-time attitude controller of the present invention.
Fig. 3 is the interface synoptic diagram of PC in the ground control system of the present invention.
Embodiment
To combine accompanying drawing that the present invention is done further detailed description below.
Referring to shown in Figure 1, a kind of ground control system that is applicable to rotor wing unmanned aerial vehicle of the present invention, this ground control system comprise PC 4, real-time attitude controller 2, SPI communication acquisition device 3 and driver 1.Driver 1 one side receives the movement instruction Din that real-time attitude controller 2 is exported, and output motor control signal D2 drive motor 12 moves respectively, A road steering wheel signal DA driving A steering wheel 13 moves, B road steering wheel signal DB drives 14 motions of B steering wheel, C road steering wheel signal DC driving C steering wheel 15 moves, 16 motions of D road steering wheel signal DD driving D steering wheel according to said movement instruction Din on the other hand; SPI communication acquisition device 3 is gathered the parameter information D1 that Inertial Measurement Unit on the rotor wing unmanned aerial vehicle (IMU) 11 measures on the one hand, exports the linear acceleration signal alpha (α of the three degree of freedom (three axles) of rotor wing unmanned aerial vehicle on the other hand
X, α
Y, α
Z) and angular velocity signal ω (ω
X, ω
Y, ω
Z) to real-time attitude controller 2; PC 4 communicates through ICP/IP protocol and real-time attitude controller 2, for the manipulator provides friendly man-machine interface.
Ground control system of the present invention adopt wired mode respectively with rotor wing unmanned aerial vehicle on IMU (Inertial Measurement Unit), motor 12, A steering wheel 13, B steering wheel 14, C steering wheel 15 and D steering wheel 16 be connected.For wired mode is also adopted in the power supply of rotor wing unmanned aerial vehicle.Ground control system is connected with wired mode of rotor wing unmanned aerial vehicle, can avoid the unreliability of wireless transmission, has improved reliability, the stability of ground control system.
In the present invention, the ground control system first aspect receives the 3-axis acceleration information α of IMU (Inertial Measurement Unit) output in the rotor wing unmanned aerial vehicle
X, α
Y, α
ZWith angular velocity information ω
X, ω
Y, x
ZSecond aspect is carried out power control through the motor 12 in 2 pairs of miniature rotor wing unmanned aerial vehicles of real-time attitude controller; The third aspect is controlled through a plurality of steering wheels in 2 pairs of miniature rotor wing unmanned aerial vehicles of real-time attitude controller (A steering wheel 13, B steering wheel 14, C steering wheel 15, D steering wheel 16); Thereby be implemented under the situation of not setting up the unmanned plane model, successfully make rotor wing unmanned aerial vehicle realize the task of hovering.α
XThe X axis acceleration information of expression Inertial Measurement Unit output, α
YThe Y axis acceleration information of expression Inertial Measurement Unit output, α
ZThe Z axis acceleration information of expression Inertial Measurement Unit output, ω
XThe X axis angular rate information of expression Inertial Measurement Unit output, ω
YThe Y axis angular rate information of expression Inertial Measurement Unit output, ω
ZThe Z axis angular rate information of expression Inertial Measurement Unit output.
In the present invention; Ground control system is through the control to motor 12, A steering wheel 13, B steering wheel 14, C steering wheel 15, D steering wheel 16; The attitude that makes miniature rotor wing unmanned aerial vehicle realize includes luffing, rolling movement and yawing rotation, and promptly A steering wheel 13 is cooperated with C steering wheel 15 and realized the luffing of miniature rotor wing unmanned aerial vehicle; B steering wheel 14 is cooperated with D steering wheel 16 and is realized the rolling movement of miniature rotor wing unmanned aerial vehicle; A steering wheel 13, B steering wheel 14, C steering wheel 15 are cooperated with D steering wheel 16 and are realized the yawing rotation of miniature rotor wing unmanned aerial vehicle.
The ground control system of the present invention's design is removed PC 4 with the outside, and it is the real-time control chip of MPC8270 that real-time controller 2 is selected the model of Freescale for use.Information acquisition to rotor wing unmanned aerial vehicle realizes that with driving the FPGA processor is selected the XC5VLX50T chip of Xilinx for use in a slice FPGA processor.
To specify the function that each module realizes in the ground control system of the present invention below:
(1) PC
In the present invention, PC 4 communicates through ICP/IP protocol and real-time attitude controller 2, for the manipulator provides friendly man-machine interface (referring to shown in Figure 3).The controlled variable of manipulator through said man-machine interface adjustment rotor wing unmanned aerial vehicle and the attitude etc. that shows rotor wing unmanned aerial vehicle flight in real time.
Interface description among Fig. 3: roll attitude (Td) is represented the pid control parameter of PID attitude ring roll angle part respectively; The pid control parameter of PID attitude ring angle of pitch part is represented in pitch attitude (Kp), pitch attitude (Ti), pitch attitude (Td) respectively; Lift-over speed (Kp), lift-over speed (Ti), lift-over speed (Td) are represented the pid control parameter of attitude speed ring angular velocity in roll part respectively; Luffing speed (Kp), luffing speed (Ti), luffing speed (Td) are represented the pid control parameter of attitude speed ring rate of pitch respectively; Driftage _ attitude speed (Kp), driftage _ attitude speed (Ti), driftage _ attitude speed (Td) are represented the pid control parameter of the yaw rate of attitude speed ring respectively.The controlled quentity controlled variable of Output (X) expression pitching loop pid control module output, the controlled quentity controlled variable of the controlled quentity controlled variable of Output (Y) expression lift-over loop pid control module output, the output of Output (Z) expression driftage loop pid control module.The PWM ripple dutycycle of δ p (X) expression control A steering wheel, C steering wheel (roll angle) deflection; The PWM ripple dutycycle of δ q (Y) expression control B steering wheel, D steering wheel (angle of pitch) deflection; The PWM ripple dutycycle of δ r (Z) control A steering wheel, B steering wheel, C steering wheel, D steering wheel (crab angle) deflection.Expression Gravity+Drag (gf) expression drives the PWM ripple dutycycle of unmanned plane motor.Boolean representes manual operation and the switching of operation automatically.Click the Stop button, program stops.
PC is a kind ofly can carry out the modernized intelligent electronic device of massive values computation and various information processings automatically, at high speed according to prior program stored.Minimalist configuration is CPU 2GHz, internal memory 2GB, hard disk 20GB; Installing operating system is windows 2000/2003/XP; Labview 2010 softwares are installed.
(2) real-time attitude controller
Referring to shown in Figure 2, attitude controller 2 is divided into demarcating module 21, butterworth filter module 22, attitude algorithm module 25, PID controller 23 and data capture engine module 24 according to the function that realizes in real time.
(1) demarcating module 21
In the present invention, demarcating module 21 is through gathering, recombinate, adjust the data message of FPGA end, and the information that the IMU on the rotor wing unmanned aerial vehicle is collected is converted into readable, accessible acceleration information and angular velocity information.
Read out because the information that from rotor wing unmanned aerial vehicle, collects among the IMU (Inertial Measurement Unit) 11 is the situation with packet D1, include acceleration information and angular velocity information among the packet D1.
In the present invention, the acceleration information of the X axle of IMU, Y axle and the output of Z axle is designated as α respectively
X, α
Y, α
ZThe angular velocity information of the X axle of IMU, Y axle and the output of Z axle is designated as ω respectively
X, ω
Y, ω
ZInitial acceleration information and angular velocity information that IMU produces are to represent with the form of 14 two's complement; So demarcating module will be the decimal system with the data conversion of two's complement at first; Multiply by calibration coefficient then, obtaining actual acceleration information and angular velocity information.For example: if accelerometer is output as 00 0,000 0,000 0001; Being converted into the decimal system so is 1; Then acceleration is 1 * 2.522mg (calibration coefficient)=0.002522g; If accelerometer is output as 11 11,111,111 1111, being converted into the decimal system so is-1, and then acceleration is (1) * 2.522mg=0.002522g; If gyrostaticly be output as 00 0,000 0,000 0001; Being converted into the decimal system so is 1; Then gyrostatic 1 * 0.07306 °/s=0.07306 °/s that is output as; If gyrostaticly be output as 11 1,111 1,111 1111, being converted into the decimal system so is-1, then gyrostaticly is output as (1) * 0.07306 °/s (calibration coefficient)=-0.07306 °/s.
(2) the butterworth filter module 22
In the present invention, butterworth filter module 22 is through the butterworth filter in the Labview signal Processing kit, and the burr and the high dither of the data that collect filtered.
In the present invention, can produce violent trembling when rotating, cause the noise of data very big,, eliminate high frequency noise so need to add a wave filter owing to motor in the rotor wing unmanned aerial vehicle 12.Ready-made butterworth filter is arranged in the Labview software development kit, only need to gather calibrated acceleration and angular velocity information, just can eliminate unnecessary high frequency noise through higher cutoff frequency is set through this wave filter.
(3) the attitude algorithm module 25
In the present invention, the roll angle θ that acceleration information that attitude algorithm module 25 produces according to IMU and angular velocity information calculate unmanned plane, angle of pitch φ, lift-over speed omega
X, rate of pitch ω
Y, yaw rate ω
Z
The prerequisite of ground control system design of the present invention is that all quantity of states are read with sufficiently high frequency accurately, becomes the feedback signal of said ground control system.Utilizing the accelerometer of IMU to provide rotor wing unmanned aerial vehicle is f=a-g with the specific force on certain under the body axis system, and a representes actual acceleration, and g representes the acceleration of gravity on the X axle; If the rotor wing unmanned aerial vehicle under the floating state can not had disturbance on the body axis system X-direction, rotor wing unmanned aerial vehicle is in equilibrium state basically, the actual acceleration a on the X axle then
xValue can ignore: then have
In like manner can get
(4) pid control module 23
Shown in Fig. 2 A, in the present invention, pid control module 23 is according to the roll angle θ of the rotor wing unmanned aerial vehicle that resolves, angle of pitch φ, angular velocity in roll ω
X, rate of pitch ω
Y, yaw rate ω
Z, control information the hovering of output steering wheel with the control unmanned plane.
For the miniature rotor wing unmanned aerial vehicle of single rotor+pneumatic structure, both domestic and external because it belongs to the course of new aircraft of unconventional layout to this new controlled device, often adopt practicability and effectiveness ground PID in the initial stage of scientific research.Therefore, in order to design the controller of a simple, intuitive, convenient debugging, the present invention has selected the PID controller based on error equally.PID is a kind of linear controller, and according to deviation error (t) the formation deviation control of set-point and real output value, its control law is:
Wherein, the controlled quentity controlled variable of u (t) expression pid control module output, k
pThe proportional gain of expression pid control module, the deviation of error (t) expression set-point and real output value, T
IThe expression integration time constant, T
DThe expression derivative time constant, t representes the sampling time.
The speed of rotary wind type aircraft is mainly caused by the variation of attitude, so designed a classical loop control system, interior ring is the attitude angle rate control loop, and outer shroud is the attitude angle control loop.
When information acquisition, IMU measures angular velocity and the acceleration of rotor wing unmanned aerial vehicle under body axis system, produces the control system feedback signal; Controller 2 is accepted to obtain corresponding steering wheel, Electric Machine Control amount from feedback signal and the computing of IMU; The output of the controlled quentity controlled variable that the driver 1 of a plurality of steering wheels and a motor provides is used for the flight attitude of stable rotor unmanned plane.
Among Fig. 2 A, φ
cThe expression setting angle of pitch (under the floating state, φ
c=0); θ
cExpression setting roll angle (under the floating state, θ
c=0); δ
rExpression setting yaw rate (under the floating state, δ
r=0); δ
pAngular velocity in roll is set in expression; δ
qRate of pitch is set in expression.
(5) the data capture engine module 24
Data capture engine module 24 reads out all the sensors of the IMU that gathers through First Input First Output FIFO.
In the present invention, to select the model of Freescale for use be the real-time control chip of MPC8270 to real-time controller 2.
(3) SPI communication acquisition device
In the present invention, SPI communication acquisition device 3 carries out data and command interaction through the Inertial Measurement Unit on SPI interface and the rotor wing unmanned aerial vehicle (IMU), is used to gather the linear acceleration signal and the angular velocity signal of three degree of freedom on the rotor wing unmanned aerial vehicle of IMU induction.
The SPI interface that the read-write operation of SPI interface: ADIS16350 (IMU) uses is 4 line systems: chip select line (CS), clock line (SCLK), Data In-Line (DIN), DOL Data Output Line (DOUT).Chip select line is used for enabling the SPI interface so that its normal communication, and when being high, output signal line does not receive the influence of clock line and Data In-Line and is always high-impedance state.Transmit a complete Frame and needed 16 clock period.Because the SPI interface is a kind of full-duplex mode, so in the process that frame data transmit, not only can receive but also can send.The read operation of next frame data both can be set in these frame data so again, can receive the register that the previous frame read operation is read simultaneously again.
16 data layout is following during the read register content: first is 0 (be used for write register distinguish); Second is 0, the three to nine is target register address, last eight to the not influence of these frame data; Since 16 of each register by two independently 8 form; And each address of 8 is also inequality, and when reading the content of register, the address of the 3rd to nine destination register can be the most-significant byte address like this; Also can be the least-significant byte address, the effect of two kinds of operations be duplicate.Can obtain in the following frame data after these frame data transmission is accomplished this to read 16 contents of destination register.Like this, after each read operation is accomplished, could obtain this in the time of arrive next Frame operation and want content, so an independent read procedure needs two Frames, but if continuous read operation, then need an extra Frame.For example read n data, then only need n+1 read operation to get final product.
Visit data output register: ADIS16350 (IMU) output register is tabulated as follows:
In the present invention, the program of SPI communication acquisition device 3 at first adopts Labview 2010 programmings to obtain, and the process compiler is converted into the data streaming file programming in fpga chip then.
(4) driver 1
In the present invention, driver 1 adopts the mode of software programming, on fpga chip, realizes the generation of any dutycycle PWM ripple, and then drives the deflection of motor of miniature rotor wing unmanned aerial vehicle and four steering wheels.
In the present invention, SPI communication acquisition device 3 is selected for use with driver 1 and in same fpga chip, is adopted Labview 2010 programmings to obtain.Fpga chip is selected the XC5VLX50T chip of Xilinx for use.
Claims (4)
1. ground control system that is applicable to rotor wing unmanned aerial vehicle is characterized in that: this ground control system comprises PC (4), attitude controller (2), SPI communication acquisition device (3) and driver (1) in real time;
Driver (1) one side receives the movement instruction Din that real-time attitude controller (2) is exported, and output motor control signal D2 drive motor (12) moves respectively, A road steering wheel signal DA driving A steering wheel (13) moves, B road steering wheel signal DB drives B steering wheel (14) motion, C road steering wheel signal DC driving C steering wheel (15) moves, D road steering wheel signal DD driving D steering wheel (16) motion according to said movement instruction Din on the other hand;
SPI communication acquisition device (3) is gathered the parameter information D1 that Inertial Measurement Unit on the rotor wing unmanned aerial vehicle (11) measures on the one hand, and the linear acceleration signal alpha and the angular velocity signal ω that export the three degree of freedom of rotor wing unmanned aerial vehicle on the other hand give real-time attitude controller (2);
PC (4) communicates through ICP/IP protocol and real-time attitude controller (2), for the manipulator provides friendly man-machine interface.
2. the ground control system that is applicable to rotor wing unmanned aerial vehicle according to claim 1 is characterized in that: said real-time attitude controller (2) includes demarcating module (21), butterworth filter module (22), attitude algorithm module (25), PID controller (23) and data capture engine module (24);
Demarcating module (21) is through gathering, recombinate, adjust the data message of FPGA end, the IMU information that collects is converted into readable, accessible acceleration information and angular velocity information.
Butterworth filter module (22) is through the butterworth filter in the Labview signal Processing kit, and the burr and the high dither of the data that collect filtered.
The roll angle θ that acceleration information that attitude algorithm module (25) produces according to IMU and angular velocity information calculate unmanned plane, angle of pitch φ, lift-over speed omega
X, rate of pitch ω
Y, yaw rate ω
Z
Pid control module (23) is according to the roll angle θ of the rotor wing unmanned aerial vehicle that resolves, angle of pitch φ, angular velocity in roll ω
X, rate of pitch ω
Y, yaw rate ω
Z, control information the hovering of output steering wheel with the control unmanned plane.
Data capture engine module (24) reads out all the sensors of the IMU that gathers through First Input First Output FIFO.
3. the ground control system that is applicable to rotor wing unmanned aerial vehicle according to claim 1; It is characterized in that: the read-write operation of SPI interface is 4 line systems with the SPI interface that ADIS16350 uses in the said SPI communication acquisition device (3): chip select line (CS); Clock line (SCLK); Data In-Line (DIN), DOL Data Output Line (DOUT).
4. the ground control system that is applicable to rotor wing unmanned aerial vehicle according to claim 1; It is characterized in that: said driver (1) adopts the mode of software programming; On fpga chip, realize the generation of any dutycycle PWM ripple, and then drive the deflection of motor of miniature rotor wing unmanned aerial vehicle and four steering wheels.
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