CN102442424A - System and method for controlling fixed-height flight of fixed-wing unmanned aerial vehicle - Google Patents
System and method for controlling fixed-height flight of fixed-wing unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a system and a method for controlling fixed-height flight of a fixed-wing unmanned aerial vehicle, relating to the field of unmanned aerial vehicle control. By using the system and the method, a barometric height sensor is used as a height measuring element, an external lithium battery is used for supplying power to the whole system, and the sensor is protected by using a wind filtering device to reduce the influence, caused by wind pressure at a high altitude, on the sensor so that errors are reduced. After related information is measured by the barometric height sensor, an I2C bus (internal integrated circuit bus) transmits data to a single-chip microcomputer system, a series of data calculations are performed in a single-chip microcomputer to obtain corresponding height information; and finally, an elevating rudder and a gasoline throttle on the plane are linked together for PD (proportional plus derivative) control so as to control angle changes of a steering engine and the size of the gasoline throttle, and a height over-ascending and over-descending protection program is added in the programs to further improve the safety and realize autonomous height fixing of the unmanned aerial vehicle. The system has the advantages of low cost, small error, stable structure, small interference from external environment, easy implementation and the like.
Description
Technical field
The present invention relates to the UAV control field, it is technical specifically to be applied in the unmanned plane height-lock control.
Background technology
The unmanned plane technology has got into all-round developing period; Aspect navigation, reach its maturity, but aspect flying height, all be measured altitude; And cost free is low and the fixed-wing unmanned plane height-lock control method of technology maturation; And height-lock control is very important for flight new hand, can effectively avoid the generation of accident such as aircraft bombing, in camera is taken photo by plane process, also can strengthen the stability of image taking greatly.
Present fixed high method has the GPS measured altitude, and radio altimeter is measured, and also has working pressure sensor measurement height.Because GPS receives the fugitiveness of data, receives external interference bigger, for example the surrounding buildings height; Orographic factor etc., the satellite number that receives often changes, and it is violent to cause highly measuring saltus step; Need the process lot of data to handle and to reduce error as far as possible, and stability is still unsatisfactory, and its cost is higher; Volume is bigger, and is not suitable for being applied to the SUAV height-lock control.Number of patent application is 200810102821.0 and is called to disclose a kind of method of using the radio altimeter measured altitude and controlling in the patent application of " a kind of unmanned aerial vehicle radio height indicator height and rising or falling speed automatic correcting method "; The radio altitude meter accuracy can satisfy the flight demand; But use relative complex; Need in unmanned plane and ground station, all add antenna, and its cost is too high relatively, is inappropriate for SUAV.Pressure sensor has overcome a lot of shortcomings of GPS, and aspects such as precision, cost and volume are all optimized to some extent, also have wieldy advantage simultaneously, but is subject to the Changes in weather influence.
Summary of the invention
In order to make unmanned plane can access more accurate elevation information, promote fixed high precision, the invention provides that a kind of cost is low, error is little, Stability Analysis of Structures, receive the little unmanned plane height-lock control System and method for of external environmental interference.
The present invention adopts following technical scheme:
The height-lock control control system of fixed-wing unmanned plane fixed-wing unmanned plane, sensor assembly, the control circuit of comprising as shown in Figure 3.The fixed-wing unmanned plane is as the physical support of whole system; Sensor assembly is measured the current pose of unmanned plane, elevation information in real time; And send to control circuit, carry out data computation via the micro controller system in the control circuit again, the result who calculates send to motor, steering wheel is controlled.
The fixed-wing unmanned plane: as shown in Figure 1, comprise power supply 1, electronic governor 2, motor 3, elevating rudder 5, receiver 6, remote controller 7.Power supply 1 joins with electronic governor 2, and the power lead that electronic governor 2 is drawn, signal wire (SW), ground wire link to each other with motor 3, for motor 3 is supplied power and control signal is provided.The power lead that electronic governor 2 is drawn, ground wire and 4 corresponding linking to each other of micro controller system are to micro controller system 4 power supplies.The pulse position modulation delivery port PPMout of micro controller system 4 is connected with elevating rudder 5, and the pulse position modulation input port PPMin of micro controller system 4 links to each other with receiver 6, and receiver 6 receives the control signal of remote controller 7, carries out telecommunication with remote controller 7.
Sensor assembly: as measuring cell, be welded on the singlechip control panel 4 with pressure-altitude sensor 8.
Control circuit: it adopts micro controller system 4.Described control circuit is divided into the high computational module, and the steering wheel computing module limits module three parts; The high computational module goes out the corresponding height data through the standard temperature and pressure (STP) calculation of parameter of measuring; The steering wheel computing module calculates current steering wheel controlling quantity and brings the qualification module into through altitude information, limits module the steering wheel controlling quantity that calculates is carried out after angle limits and correspondence calculate the throttle amount control signal being sent to elevating rudder 5, motor 3.
Described power supply 1 is a lithium cell.
Pressure-altitude sensor 8 adopts the piezo-resistive silicon microsensor, and its external packets is wrapped with the windproof plastics of one deck high density, and hollows out the hole that about diameter is 0.5cm at sensor 8 peripheries, makes sensor 8 and surrounding air circulation.
The windproof plastics thickness of described high density is 2cm, can effectively reduce the influence of high-altitude high wind to sensor element through this windproof mode of test.
Adopt stm32f103 model micro controller system in the micro controller system 4.
During height-lock control Control work of the present invention, control method is following:
A) startup self-detection and pressure-altitude sensor, PPM port initialization.
B) send to the signal of receiver 5 through remote controller 7, detect current master mode, then get into step c if decide height mode.
C) data acquisition phase: pressure-altitude sensor 8 standard temperature and pressure (STP) supplemental characteristics; Again sensing data is sent to micro controller system 4; Through the temperature and pressure data, calculating when the fore pressure size, again via pressure--the height corresponding relation is changed out current unmanned plane height.In 2000 meters of height above sea level, can think 12 meters of the every risings of unmanned plane approx; Atmospheric pressure reduces by 1 mm Hg, promptly reduces 133Pa, and standard atmosphere is 101.3KPa on the sea level; Calculate current atmospheric pressure, can draw current height according to above-mentioned relation formula ratio.
D) through contrasting, calculate diff-H, and get into PD (ratio-differential control) program calculating elevating rudder angle changing with lock height.
E) judge the up-down angle changes whether exceed setting range, if exceed, then gets into step f, if do not exceed, then gets into step g.The up-down angle variation range of setting is-15 ° to+25 °.
F) the elevating rudder angle changing that step 5 is calculated is brought limiting program into, in addition-15 ° to+25 ° limit value.
G) throttle amount and elevating rudder are carried out to proportional linkage control, when rising, increase throttle according to the angle of elevation direct ratio, when descending, reduce throttle according to decline angle direct ratio.
H) the PPM value (pulse position modulation) that calculates of micro controller system 4 sends to elevating rudder 5 and throttle via serial ports, the up-down of control unmanned plane and throttle size.
The PPM value (pulse position modulation) of elevating rudder 5 is set in-100 to+100 scopes and changes; Corresponding up-down steering wheel in direct ratio institute gyration; Up-down steering wheel angular range is-30 ° to+30 °; But because scope is limited, actual up-down angular range is-15 ° to+25 ° during height-lock control.Throttle PPM value (pulse position modulation) is set in 0 to+100 scopes and changes, and the PPM value is motor stall in 0 o'clock, and corresponding motor PPM value was 55 when the elevating rudder angle was 0 °, and the PPM value was+100 when the elevating rudder angle was+25 °.
When needs carry out rising rudder control; Motor PPM value computing formula is motor PPM=55+ (100-55) * (angle of elevation/25 °), and when rudder control fell in needs, motor PPM value computing formula was motor PPM=55-(55-5) * decline angle/15 °; Can know by above-mentioned formula; Range of motor speeds is between 5-100, according to up-down angle size, proportional routine linear change.
The whole beneficial effect of this unmanned plane height-lock control system is:
One, a kind of total solution is provided for the height-lock control of unmanned plane.
Two, height-lock control has added elevating rudder--and the throttle linkage mode, the manual control of having removed throttle makes unmanned plane accomplish that really nobody controls flight fully.
Three, the pressure sensor survey precision theoretical value used of this device is 20cm, add the control of elevating rudder and throttle linkage after, be applied in this small stationary wing UAS, height error is 2m, can satisfy the height-lock control of unmanned plane low latitude fully.
Four, deciding height mode only needs remote controller 7 to carry out the switch switching, conveniently controls.
Can find out from above-mentioned height-lock control method; Through this system,, decide height mode and just can significantly reduce and fall machine danger as long as switch to even flight new hand controls; And when strengthening unmanned plane during flying stability; For expanding function such as take photo by plane bigger help is arranged also, help more stable, the image data clearly of record, the overall performance of enhancing unmanned plane.
Description of drawings
Fig. 1 is a system architecture scheme drawing of the present invention.
Fig. 2 is a control flow chart of the present invention.
Fig. 3 is a control circuit structural representation of the present invention.
Among the figure: 1, power supply, 2, electronic governor, 3, motor, 5, elevating rudder, 6, receiver, 7, remote controller, 8, pressure-altitude sensor,
The specific embodiment
Be further described for the present invention below in conjunction with the accompanying drawing and the specific embodiment:
Flight system comprises fixed-wing unmanned plane, sensor assembly, control circuit.The fixed-wing unmanned plane is as the physical support of whole system; Sensor assembly is measured the current pose of unmanned plane, elevation information in real time; And send to control circuit, carry out data computation via the micro controller system in the control circuit again, the result who calculates send to motor, steering wheel is controlled.
The fixed-wing unmanned plane: as shown in Figure 1, comprise power supply 1, electronic governor 2, motor 3, elevating rudder 5, receiver 6, remote controller 7.Power supply 1 joins with electronic governor 2, and the power lead that electronic governor 2 is drawn, signal wire (SW), ground wire link to each other with motor 3, for motor 3 is supplied power and control signal is provided.The power lead that electronic governor 2 is drawn, ground wire and 4 corresponding linking to each other of micro controller system are to micro controller system 4 power supplies.The pulse position modulation delivery port PPMout of micro controller system 4 is connected with elevating rudder 5, and the pulse position modulation input port PPMin of micro controller system 4 links to each other with receiver 6, and receiver 6 receives the control signal of remote controller 7, carries out telecommunication with remote controller 7.
Sensor assembly: as measuring cell, be welded on the singlechip control panel 4 with pressure-altitude sensor 8.
Control circuit: it adopts micro controller system 4.Described control circuit is divided into the high computational module, and the steering wheel computing module limits module three parts; The high computational module goes out the corresponding height data through the standard temperature and pressure (STP) calculation of parameter of measuring; The steering wheel computing module calculates current steering wheel controlling quantity and brings the qualification module into through altitude information, limits module the steering wheel controlling quantity that calculates is carried out after angle limits and correspondence calculate the throttle amount control signal being sent to elevating rudder 5, motor 3.
Described power supply 1 is a lithium cell.
Pressure-altitude sensor 8 adopts the piezo-resistive silicon microsensor, and its external packets is wrapped with the windproof plastics of one deck high density, and hollows out the hole that about diameter is 0.5cm at sensor 8 peripheries, makes sensor 8 and surrounding air circulation.
The windproof plastics thickness of described high density is 2cm, can effectively reduce the influence of high-altitude high wind to sensor element through this windproof mode of test.
Adopt stm32f103 model micro controller system in the micro controller system 4.
Wherein, as shown in Figure 2, control circuit of the present invention includes high computational module, steering wheel computing module, limits module.
(1) high computational module: othermohygrometer sensor 8 is measured the standard temperature and pressure (STP) parameter, converts pressure into by standard temperature, pressure again, and pressure is finally corresponding with corresponding pressure one height relationships, converts elevation information into.Data are via I
2The C bus is imported micro controller system 4 laggard line height computings into.Wherein the gatherer process of standard temperature and pressure (STP) parameter applies to the gliding smoothing filtering algorithm, and pressure-altitude sensor 8 built-in sampling frequencys can reach 20MHZ, during image data; Because sensor 8 is an analog measurement, data are continuous, and when choosing data, setting sampling frequency is 50HZ; Be that per second is gathered 50 secondary data and sent to micro controller system 4, adopt the Pyatyi parameter to carry out weighted average calculation again, it all is five results after the neighbouring sample point weighted mean that the Pyatyi parameter means each data; Being equivalent to sampling frequency is 10HZ; Per second is gathered 10 secondary data, handles through the method, and the altitude information that micro controller system 4 is obtained changes more stable.
(2) steering wheel computing module: after trying to achieve current height, compare with lock height, calculate current height and lock height difference, and bring this difference into PD (ratio-differential control) program as input, output is a up-down steering wheel angle-data.It is by current unmanned plane characteristic decision that P, D parameter are set; P value (proportional control) size decision unmanned plane height change speed of response, the fixed high convergence rate of D value (differential control) size decision unmanned plane is through experiment measuring; Software set P value is 0.85, and the D value is 1.Throttle and elevating rudder link simultaneously, when rising, increase the throttle amount according to the angle of elevation direct ratio, when descending, reduce the throttle amount according to decline angle direct ratio.When the object height of wherein setting can pass through the flight scene, switch to and decide the highly decision of height mode moment unmanned plane place, as if thinking on-the-spot target setting height, the assignment statement that comments out height variable target_attitude in the program gets final product.Can then the height variable target_attitude that sets in the program be made as the value of wanting and get final product by parameter preset height decision object height if want via the decision of pre-programmed parameter height again.
(3) limit module: based on the consideration of sensing data surge conditions and unmanned plane during flying stability, we limit module through one and limit the maxim of elevating rudder and throttle, thereby prevent the stall that the too fast up-down of aircraft causes.The elevating rudder maximum angle scope of setting is-15 ° to+25 °, and maximum angle was big 10 ° when maximum angle was than decline during rising, goes up in limited time when elevating rudder overrun; With+25 ° of replacements; Prescribe a time limit when elevating rudder overrun down, with-15 ° of replacements, low-latitude flying situation like this will reduce the air crash risk.
Claims (6)
1. the height-lock control control system of fixed-wing unmanned plane, it is characterized in that: it comprises fixed-wing unmanned plane, sensor assembly, control circuit; The fixed-wing unmanned plane is as the physical support of whole system; Sensor assembly is measured the current pose of unmanned plane, elevation information in real time; And send to control circuit, carry out data computation via the micro controller system in the control circuit again, the result who calculates send to motor, steering wheel is controlled;
Fixed-wing unmanned plane: comprise power supply (1), electronic governor (2), motor (3), elevating rudder (5), receiver (6), remote controller (7); Power supply (1) and electronic governor (2) join, and the power lead that electronic governor (2) is drawn, signal wire (SW), ground wire link to each other with motor (3), for motor (3) is supplied power and control signal is provided; The power lead that electronic governor (2) is drawn, ground wire are corresponding with micro controller system (4) to link to each other, and supplies power to micro controller system (4); The pulse position modulation delivery port PPMout of micro controller system (4) is connected with elevating rudder (5), and the pulse position modulation input port PPMin of micro controller system (4) links to each other with receiver (6), and receiver (6) receives the control signal of remote controller (7), carries out telecommunication with remote controller (7);
Sensor assembly: as measuring cell, be welded on the singlechip control panel (4) with pressure-altitude sensor (8);
Control circuit: it adopts micro controller system (4); Described control circuit is divided into the high computational module, and the steering wheel computing module limits module three parts; The high computational module goes out the corresponding height data through the standard temperature and pressure (STP) calculation of parameter of measuring; The steering wheel computing module calculates current steering wheel controlling quantity and brings the qualification module into through altitude information, limits module the steering wheel controlling quantity that calculates is carried out after angle limits and correspondence calculate the throttle amount control signal being sent to elevating rudder (5), motor (3);
2. the height-lock control control system of fixed-wing unmanned plane according to claim 1 is characterized in that: the link PD control of elevating rudder and throttle.
3. the height-lock control control system of fixed-wing unmanned plane according to claim 1; It is characterized in that: pressure-altitude sensor (8) adopts the piezo-resistive silicon microsensor; Its external packets is wrapped with the windproof plastics of one deck high density; And hollow out the hole that about diameter is 0.5cm at sensor (8) periphery, make sensor (8) and surrounding air circulation.
4. the height-lock control control system of fixed-wing unmanned plane according to claim 3 is characterized in that: the windproof plastics thickness of described high density is 2cm.
5. the height-lock control control system of fixed-wing unmanned plane according to claim 1 is characterized in that: adopt stm32f103 model micro controller system in the micro controller system (4).
6. the control method of the height-lock control control system of the described fixed-wing unmanned plane of claim 1, it is characterized in that: it comprises the steps:
A) startup self-detection and pressure-altitude sensor, PPM port initialization;
B) send to the signal of receiver (5) through remote controller (7), detect current master mode, then get into step c) if decide height mode;
C) data acquisition phase: pressure-altitude sensor (8) standard temperature and pressure (STP) supplemental characteristic; Again sensing data is sent to micro controller system (4); Through the temperature and pressure data, calculating when the fore pressure size, again via pressure--the height corresponding relation is changed out current unmanned plane height;
D) through contrasting, calculate diff-H, and get into PD program calculating elevating rudder angle changing with lock height;
E) judge the up-down angle changes whether exceed setting range, if exceed, then gets into step (f), if do not exceed, then gets into step (g); The up-down angle variation range of setting is-15 ° to+25 °;
F) the elevating rudder angle changing that step 5 is calculated is brought limiting program into, in addition-15 ° to+25 ° limit value;
G) throttle amount and elevating rudder are carried out to proportional linkage control, when rising, increase throttle according to the angle of elevation direct ratio, when descending, reduce throttle according to decline angle direct ratio;
H) the PPM value that calculates of micro controller system 4 sends to elevating rudder 5 and throttle via serial ports, the up-down of control unmanned plane and throttle size;
The PPM value of elevating rudder 5 is set in-100 to+100 scopes and changes; Corresponding up-down steering wheel in direct ratio institute gyration; Up-down steering wheel angular range is-30 ° to+30 °, but because scope is limited, actual up-down angular range is-15 ° to+25 ° during height-lock control; Throttle PPM value is set in 0 to+100 scopes and changes, and the PPM value is motor stall in 0 o'clock, and corresponding motor PPM value was 55 when the elevating rudder angle was 0 °, and the PPM value was+100 when the elevating rudder angle was+25 °;
When needs carry out rising rudder control; Motor PPM value computing formula is motor PPM=55+ (100-55) * (angle of elevation/25 °), and when rudder control fell in needs, motor PPM value computing formula was motor PPM=55-55-5) * decline angle/15 °; Can know by above-mentioned formula; Range of motor speeds is between 5-100, according to up-down angle size, proportional routine linear change.
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| WO2019129085A1 (en) * | 2017-12-27 | 2019-07-04 | 深圳常锋信息技术有限公司 | Flight control system, unmanned aerial vehicle, and unmanned aerial vehicle system |
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