CN102426458B - 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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- CN102426458B CN102426458B CN 201110385218 CN201110385218A CN102426458B CN 102426458 B CN102426458 B CN 102426458B CN 201110385218 CN201110385218 CN 201110385218 CN 201110385218 A CN201110385218 A CN 201110385218A CN 102426458 B CN102426458 B CN 102426458B
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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 is connected being connected with sensor with topworks on rotor wing unmanned aerial vehicle by wired mode.
Background technology
Rotor wing unmanned aerial vehicle has the characteristics such as use is flexible, cost is low, zero injures and deaths, all is being widely used aspect modern military and civilian two.Rotor wing unmanned aerial vehicle has vertical takeoff and landing and the specific function of hovering, but than its stability of fixed-wing unmanned plane and wind resistance a little less than, more complicated from main control.Current ground control mode to rotor wing unmanned aerial vehicle is mainly divided three kinds: remote manual control mode, the autonomous control mode of autonomous/half and ultra-viewing distance remote control and the mode that combines from main control.
Independently/semi-autonoumous is used for rotor wing unmanned aerial vehicle sighting distance outer (long distance) and carries out operation flight under ground flying control personnel's monitoring, require in the case rotor wing unmanned aerial vehicle to have the autonomous control ability of certain attitude, to the rotor wing unmanned aerial vehicle control system require high, difficulty is large.
The conventional method that designs ground control system for rotor wing unmanned aerial vehicle is: the kinetic model of at first setting up small-sized rotor wing unmanned aerial vehicle based on the Newtonian mechanics model, then based on this modelling rotor wing unmanned aerial vehicle Attitude Controller, introducing corresponding control algolithm based on certain state of flight at last.Yet, high from coupling such as volume is little due to the architectural characteristic of rotor wing unmanned aerial vehicle self, non-linear strong etc., make the kinetic model of small-sized rotor wing unmanned aerial vehicle be difficult to determine, thereby cause the uncertainty of the control parameter of rotor wing unmanned aerial vehicle.
Summary of the invention
The ground control system that the purpose of this invention is to provide a kind of miniature rotor wing unmanned aerial vehicle for unconventional layout, this ground control system realize the transmission of collection, control signal and the feedback signal of power supply, attitude data to rotor wing unmanned aerial vehicle by 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, in the situation that do not set up the unmanned plane model, realize that by real-time attitude controller data receiver, attitude algorithm, filtering, PID control, 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 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 by the motor 12 in 2 pairs of miniature rotor wing unmanned aerial vehicles of real-time attitude controller; The third aspect is controlled by 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 realize successfully making rotor wing unmanned aerial vehicle realize the task of hovering in the situation that do not set up the unmanned plane model.A steering wheel 13 cooperates with C steering wheel 15 and realizes the luffing of miniature rotor wing unmanned aerial vehicle; B steering wheel 14 cooperates with D steering wheel 16 and realizes the rolling movement of miniature rotor wing unmanned aerial vehicle; A steering wheel 13, B steering wheel 14, C steering wheel 15 cooperate with D steering wheel 16 and realize 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 are undertaken having avoided the unreliability of wireless transmission alternately by wired mode.
2. the combination of PC and control chip and processor chips can low-cost realize the ground control system of the miniature rotor wing unmanned aerial vehicle of a unconventional layout.
3. eliminate dither by butterworth filter, reduced the strong shake that causes due to electric machine rotation to the interference of control system
4. the control parameter of on-line debugging PID controller, shortened debugging cycle, improved debugging efficiency.
Description of drawings
Fig. 1 is the signal controlling schematic 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 schematic diagram of PC in ground control system of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
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 described movement instruction Din on the other hand; SPI communication acquisition device 3 gathers the parameter information D1 that Inertial Measurement Unit on rotor wing unmanned aerial vehicle (IMU) 11 measures on the one hand, exports on the other hand the linear acceleration signal alpha (α of the three degree of freedom (three axles) of rotor wing unmanned aerial vehicle
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 by 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 are connected with the D steering wheel and are connected.For wired mode is also adopted in the power supply of rotor wing unmanned aerial vehicle.Ground control system is connected with the 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 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 by the motor 12 in 2 pairs of miniature rotor wing unmanned aerial vehicles of real-time attitude controller; The third aspect is controlled by 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 realize successfully making rotor wing unmanned aerial vehicle realize the task of hovering in the situation that do not set up the unmanned plane model.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 velocity information of expression Inertial Measurement Unit output, ω
YThe Y-axis angular velocity information of expression Inertial Measurement Unit output, ω
ZThe Z axis angular velocity information of expression Inertial Measurement Unit output.
In the present invention, ground control system is by 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 namely A steering wheel 13 cooperates with C steering wheel 15 and realizes the luffing of miniature rotor wing unmanned aerial vehicle; B steering wheel 14 cooperates with D steering wheel 16 and realizes the rolling movement of miniature rotor wing unmanned aerial vehicle; A steering wheel 13, B steering wheel 14, C steering wheel 15 cooperate with D steering wheel 16 and realize the yawing rotation of miniature rotor wing unmanned aerial vehicle.
With the outside, it is the real-time control chip of MPC8270 that real-time controller 2 is selected the model of Freescale to the ground control system of the present invention's design except PC 4.To the information acquisition of rotor wing unmanned aerial vehicle with drive and realize in a slice FPGA processor, the FPGA processor is selected the XC5VLX50T chip of Xilinx.
The below will describe the function that in ground control system of the present invention, modules is realized in detail:
(1) PC
In the present invention, PC 4 communicates by ICP/IP protocol and real-time attitude controller 2, for the manipulator provides friendly man-machine interface (shown in Figure 3).The attitude etc. that the manipulator adjusts the control parameter of rotor wing unmanned aerial vehicle by described man-machine interface and shows in real time rotor wing unmanned aerial vehicle flight.
Interface description in Fig. 3: roll attitude (Td) represents respectively the pid control parameter of PID attitude ring roll angle part; Pitch attitude (Kp), pitch attitude (Ti), pitch attitude (Td) represent respectively the pid control parameter of PID attitude ring angle of pitch part; Lift-over speed (Kp), lift-over speed (Ti), lift-over speed (Td) represent respectively the pid control parameter of attitude speed ring angular velocity in roll part; Luffing speed (Kp), luffing speed (Ti), luffing speed (Td) represent respectively the pid control parameter of attitude speed ring rate of pitch; Driftage _ attitude speed (Kp), driftage _ attitude speed (Ti), driftage _ attitude speed (Td) represent respectively the pid control parameter of the yaw rate of attitude speed ring.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 A steering wheel, C steering wheel (roll angle) deflection is controlled in δ p (X) expression; The PWM ripple dutycycle of B steering wheel, D steering wheel (angle of pitch) deflection is controlled in δ q (Y) expression; δ r (Z) controls the PWM ripple dutycycle of 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 represents the switching of manual operation and automatic operation.Click the Stop button, program stopped.
PC be a kind of can be according to the program of prior storage, automatically, the modernization intelligent electronic device that carries out at high speed massive values computation and various information processings.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
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 by gathering, recombinate, adjust the data message of FPGA end, and the information that the IMU on rotor wing unmanned aerial vehicle is collected is converted into readable, accessible acceleration information and angular velocity information.
Because the information that collects in IMU from rotor wing unmanned aerial vehicle (Inertial Measurement Unit) 11 is that situation with packet D1 reads out, include acceleration information and angular velocity information in packet D1.
In the present invention, the acceleration information of the X-axis of IMU, Y-axis and Z axis output is designated as respectively α
X, α
Y, α
ZThe angular velocity information of the X-axis of IMU, Y-axis and Z axis output is designated as respectively ω
X, ω
Y, ω
ZThe initial acceleration information that IMU produces and angular velocity information are that the form with 14 two's complement represents, so at first demarcating module will be converted into the decimal system with the data of two's complement, then multiply by calibration coefficient, obtaining actual acceleration information and angular velocity information.For example: if accelerometer is output as 00 0,000 0,000 0001, being converted into so the decimal system is 1, acceleration is 1 * 2.522mg (calibration coefficient)=0.002522g, if accelerometer is output as 11 11,111,111 1111, being converted into so the decimal system is-1, and acceleration is (1) * 2.522mg=0.002522g; If gyrostaticly be output as 00 0,000 0,000 0001, being converted into so the decimal system is 1, 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 so the decimal system is-1, gyrostatic being 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 processed butterworth filter in kit by the Labview signal, and burr and the high dither of the data that collect filtered.
In the present invention, can produce violent trembling when rotating due to motor in rotor wing unmanned aerial vehicle 12, cause the noise of data very large, so need to add a wave filter, eliminate high frequency noise.Ready-made butterworth filter is arranged in the Labview software development kit, only need the calibrated acceleration of collection and angular velocity information are passed through this wave filter, just can eliminate unnecessary high frequency noise by higher cutoff frequency is set.
(3) the attitude algorithm module 25
In the present invention, the roll angle θ that the 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 accurately with sufficiently high frequency, becomes the feedback signal of described ground control system.The specific force on certain axle is as f=a-g under the body axis system to utilize the accelerometer of IMU to provide rotor wing unmanned aerial vehicle, and a represents actual acceleration, and g represents the acceleration of gravity on X-axis; If the rotor wing unmanned aerial vehicle under floating state can not had disturbance on the body axis system X-direction, rotor wing unmanned aerial vehicle is in equilibrium state substantially, the actual acceleration a on X-axis
xValue can ignore: 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, the control information of output steering wheel is to control hovering of unmanned plane.
For the miniature rotor wing unmanned aerial vehicle of single rotor+pneumatic structure, both domestic and external for this new controlled device because it belongs to the course of new aircraft of unconventional layout, 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 represents the sampling time.
The speed of rotary wind type aircraft is mainly caused by the variation of attitude, therefore 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.
In Fig. 2 A, φ
cThe expression setting angle of pitch (under floating state, φ
c=0); θ
cExpression setting roll angle (under floating state, θ
c=0); δ
rExpression setting yaw rate (under 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 of collection by First Input First Output FIFO.
In the present invention, to select the model of Freescale 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 by the Inertial Measurement Unit on SPI interface and rotor wing unmanned aerial vehicle (IMU), for linear acceleration signal and the angular velocity signal of three degree of freedom on the rotor wing unmanned aerial vehicle that gathers the 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 is not subjected to the impact of clock line and Data In-Line and is always high-impedance state.Transfer a complete Frame and need 16 clock period.Because the SPI interface is a kind of full-duplex mode, so not only can receive but also can send in the process that frame data transmit.The read operation of next frame data both can be set in these frame data so again, can receive simultaneously the register that the previous frame read operation is read again.
During the read register content, the data layout of 16 is as follows: first was 0 (be used for and write the register differentiation), second is 0, the the 3rd to nine is target register address, last eight do not affect these frame data, due to 16 of each register by two independently 8 form, and each address of 8 is not identical, like this when reading the content of register, the address of the 3rd to nine destination register can be the most-significant byte address, can be also the least-significant byte address, the effect of two kinds of operations be duplicate.Can obtain 16 contents that this will read destination register in lower frame data after these frame data are transmitted.Like this, after each read operation is completed, could obtain this in the time of arriving next Frame operation and want content, so an independent read procedure needs two Frames, but if read operation continuously only needs an extra Frame.For example read n data, only need n+1 read operation to get final product.
Visit data output register: ADIS16350 (IMU) output register is listed as follows:
In the present invention, at first the program of SPI communication acquisition device 3 adopts Labview 2010 programmings to obtain, and then the process compiler is converted into the data streaming file programming in fpga chip.
(4) driver 1
In the present invention, the mode that driver 1 adopts software programming 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 on fpga chip.
In the present invention, SPI communication acquisition device 3 and driver 1 are selected and are adopted Labview 2010 programmings to obtain in same fpga chip.Fpga chip is selected the XC5VLX50T chip of Xilinx.
Claims (1)
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; The mode that described driver (1) adopts software programming 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 on fpga chip; In described SPI communication acquisition device (3), the read-write operation of SPI interface is take the SPI interface of ADIS16350 use as 4 line systems: chip select line CS, clock line SCLK, Data In-Line DIN, DOL Data Output Line DOUT;
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 described movement instruction Din on the other hand;
SPI communication acquisition device (3) on the one hand gathers the parameter information D1 that Inertial Measurement Unit on rotor wing unmanned aerial vehicle (11) measures, and exports on the other hand the linear acceleration signal alpha of three degree of freedom of rotor wing unmanned aerial vehicle and angular velocity signal ω to real-time attitude controller (2);
PC (4) communicates by ICP/IP protocol and real-time attitude controller (2), for the manipulator provides friendly man-machine interface;
Described 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 by 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 processed butterworth filter in kit by the Labview signal, and burr and the high dither of the data that collect filtered;
The roll angle θ that the acceleration information that attitude algorithm module (25) produces according to IMU and angular velocity information calculate unmanned plane, angle of pitch φ, angular velocity in roll ω
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, the control information of output steering wheel is to control hovering of unmanned plane;
Data capture engine module (24) reads out all the sensors of the IMU of collection by First Input First Output FIFO.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3662337A4 (en) * | 2017-08-04 | 2021-04-14 | Ideaforge Technology Pvt. Ltd. | Split control system configuration for uav autopilot architecture |
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