CN102814047A - Autonomous return system and control method of dual-rotor remote-controlled model helicopter - Google Patents
Autonomous return system and control method of dual-rotor remote-controlled model helicopter Download PDFInfo
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- CN102814047A CN102814047A CN2012102499585A CN201210249958A CN102814047A CN 102814047 A CN102814047 A CN 102814047A CN 2012102499585 A CN2012102499585 A CN 2012102499585A CN 201210249958 A CN201210249958 A CN 201210249958A CN 102814047 A CN102814047 A CN 102814047A
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Abstract
The invention relates to an autonomous return system and a control method of a dual-rotor remote-controlled model helicopter, belonging to the technical field of autonomous return of a remote-controlled model (unmanned) helicopter. The system comprises an airborne part and a ground control station part; the airborne part comprises a main rotor motor, a tail rotor motor, a single-polarity PWM (pulse-width modulation) output drive circuit, an H-bridge direct current motor drive circuit, a micro controller, an MEMS (micro-electromechanical system) single-axis gyroscope, an MEMS dual-axis gyroscope, an MEMS tri-axis accelerometer, a signal conditioning circuit, a resetting circuit, a small voltage difference linear voltage stabilizer, a JTAG (joint test action group) interface, a wireless data transmission module and a power supply, and the ground control station part is formed by sequentially connecting a ground station computer and a ground wireless data transmission module. According to the autonomous return system and the control method, the model helicopter can autonomously return to the remote-controlled range after the model helicopter flies off the remote-controlled range, and the stability of flight of the helicopter can be improved.
Description
Technical field
The present invention relates to a kind of autonomous retrieval system and control method of bispin wing remote control model helicopter, belong to the autonomous return technique field of telecontrolled model (unmanned) helicopter.
Background technology
The operation principle of the remote control model helicopter on the market roughly is: after airborne circuit board just receives remote signal; Directly convert remote signal into the corresponding direct current tachometer motor of model copter or the control signal of steering wheel, thus the flight of control model copter.Just there are two problems in the time of such model copter work.
One, helicopter is compared with fixed wing aircraft; Aerodynamic characteristic is complicated more; Dynamic characteristic all is unsettled, and the strong between centers coupling of each interchannel existence, and the flight control system of model copter is an open cycle system; So the difficulty of pilot steering is very big, generally all be that the model plane human pilot of specialty is handled.
Two, when the remote control model helicopter remote-controlled scope that flown out, that just is in non-controllable state, causes air crash, causes economic loss.
Summary of the invention
The present invention proposes a kind of autonomous retrieval system and control method of bispin wing remote control model helicopter, after model copter flies out controlled range, can make it independently return remote-controlled scope.The present invention can improve the stability of helicopter flight, makes ground staff's manipulation become simple.
The present invention adopts following technical scheme for solving its technical problem:
A kind of autonomous retrieval system of bispin wing remote control model helicopter; Comprise airborne portion and ground control station part; Described airborne portion comprises main rotor motor, tail rotor motor, single-polarity PWM output driving circuit, H bridge direct current motor drive circuit, microcontroller, MEMS single axis gyroscope, MEMS dual spindle gyroscopes, MEMS three axis accelerometer, signal conditioning circuit, reset circuit, small voltage difference linear voltage regulator, jtag interface, wireless data transmission module and power supply; Described signal conditioning circuit comprises the yaw rate signal modulate circuit; Pitching, angular velocity in roll signal conditioning circuit and acceleration signal modulate circuit; Described ground control station part is linked in sequence by earth station's computer and terrestrial wireless digital transmission module and forms; The main rotor motor is connected with microcontroller through the single-polarity PWM output driving circuit; The tail rotor motor is connected with microcontroller through H bridge direct current motor drive circuit, and the MEMS single axis gyroscope is connected with microcontroller through the yaw rate signal modulate circuit, and the MEMS dual spindle gyroscopes is connected with microcontroller through pitching, angular velocity in roll signal conditioning circuit; The MEMS three axis accelerometer is connected with microcontroller through the acceleration signal modulate circuit; Wireless data transmission module is connected with the serial ports of microcontroller through the Transistor-Transistor Logic level interface, is connected with reset circuit, jtag interface and microcontroller respectively behind the power supply process small voltage difference linear voltage regulator, and the terrestrial wireless digital transmission module of ground control station part is connected with the wireless data transmission module communication of airborne portion.
The control method of the autonomous retrieval system of described bispin wing remote control model helicopter comprises the steps:
(1) helicopter through radio earthward control station send a frame request signal; Wait for the response of ground control station,, then from message queue to be sent, select remote information to be sent if ground control station receives request signal; Be sent to helicopter; Free of data is then sent the simple echo message of a frame to the wireless data transmission module of airborne portion in the formation, after the wireless data transmission module of airborne portion is received the simple echo message of this frame, then continues the remote control control of last time; If the wireless data transmission module of airborne portion can not receive remote signal, microcontroller is made judgement, carries out " independently returning control " and orders, and returns remote range in proper order according to the task queue of " hover--go off course 180 °----hovering----is preceding to fly ";
(2) receive the remote information of ground control station after; Body three axis angular rates and 3-axis acceleration signal that the MEMS single axis gyroscope of airborne portion, MEMS dual spindle gyroscopes and MEMS three axis accelerometer are gathered; Get into the interior ADC of sheet of microcontroller; Through the processing of microcontroller, be sent to the ground control station part;
(3) microcontroller is the signal that collects input attitude algorithm module, and the remote information after will handling and attitude algorithm get the result and be updated to and increase steady control module, passes through the calculating of control law, and the control signal of exporting each motor is to executing agency's functional module.
Beneficial effect of the present invention is following:
1. use the microcontroller chip, MEMS gyroscope, mems accelerometer, wireless data transmission module etc. have designed and the diverse hardware circuit of original system, cooperate corresponding software algorithm, have realized after model copter exceeds remote range, independently returning function.
2. " the increasing steady control module " in the software algorithm reduced the complexity of the manipulation of model copter.
3. components and parts cheap in the hardware designs, cost is reasonable.
Description of drawings
Fig. 1 is the whole hardware circuit diagram of native system.
Fig. 2 is the schematic diagram of native system directional gyroscope and peripheral interface circuit thereof.
Fig. 3 is the native system pitching, the schematic diagram of roll gyroscope and peripheral interface circuit thereof.
Fig. 4 is the schematic diagram of native system three axis accelerometer and peripheral interface circuit thereof.
Fig. 5 is the power-switching circuit schematic diagram of native system.
Fig. 6 is the jtag interface circuit theory diagrams of native system.
Fig. 7 is the crystal oscillating circuit schematic diagram of native system.
Fig. 8 is the reset circuit schematic diagram of circuit board.
Fig. 9 is a native system analog-digital converter reference voltage circuit schematic diagram.
Figure 10 is a native system main rotor motor-drive circuit schematic diagram.
Figure 11 is a native system tail rotor motor-drive circuit schematic diagram.
Figure 12 is the schematic diagram of the wireless data transmission module of airborne portion.
Figure 13 is the peripheral interface schematic diagram of native system microcontroller C8051F020.
Figure 14 be system realize independently returning overall flow figure.
Figure 15 is the overall flow figure that independently returns assignment algorithm in the airborne portion.
Figure 16 " independently returns task queue " among Figure 15.
Figure 17 is an attitude data acquisition module flow chart.
Figure 18 is the block diagram that native system increases steady control.
The specific embodiment
Below in conjunction with accompanying drawing the invention is explained further details.
The remote control model helicopter of coaxial double-rotary wing; Its all flare maneuvers are realized by the rotation of two main rotor motors and a tail rotor motor: two main rotor switched in opposite, control up-down and yawing rotation that two main rotor rotating speed of motor can realize aircraft; The tail rotor horizontal positioned, the rotating of control tail rotor motor can realize the elevating movement of aircraft.
The hardware of
system is realized and structural principle
The realization of this system mainly is made up of airborne portion and ground control station two parts.In order to realize independently returning of helicopter.Described airborne portion comprises main rotor motor, tail rotor motor, single-polarity PWM output driving circuit, H bridge direct current motor drive circuit, microcontroller, MEMS single axis gyroscope, MEMS dual spindle gyroscopes, MEMS three axis accelerometer, signal conditioning circuit, reset circuit, small voltage difference linear voltage regulator, jtag interface, wireless data transmission module and power supply; Described signal conditioning circuit comprises the yaw rate signal modulate circuit; Pitching, angular velocity in roll signal conditioning circuit and acceleration signal modulate circuit; Described ground control station part is linked in sequence by earth station's computer and terrestrial wireless digital transmission module and forms; The main rotor motor is connected with microcontroller through the single-polarity PWM output driving circuit; The tail rotor motor is connected with microcontroller through H bridge direct current motor drive circuit; The MEMS single axis gyroscope is connected with microcontroller through the yaw rate signal modulate circuit; The MEMS dual spindle gyroscopes is connected with microcontroller through pitching, angular velocity in roll signal conditioning circuit; The MEMS three axis accelerometer is connected with microcontroller through the acceleration signal modulate circuit; Wireless data transmission module is connected with the serial ports of microcontroller through the Transistor-Transistor Logic level interface, is connected with reset circuit, jtag interface and microcontroller respectively behind the power supply process small voltage difference linear voltage regulator, and the terrestrial wireless digital transmission module of ground control station part is connected with the wireless data transmission module communication of airborne portion.
Fig. 1 is the whole hardware circuit diagram of native system; In Fig. 1, the centre of airborne portion is the hardware core of this system: microcontroller (MCU) is the C8051F020 single-chip microcomputer, as the main control chip of this system; Be responsible for the transmitting/receiving wireless signal of communication; Receive the attitude signal that gyroscope and accelerometer are gathered, carry out various data and computing, and export corresponding motor control signal.The collection of attitude signal is accomplished by MEMS gyroscope and mems accelerometer.
Among the figure; The left side of microcontroller; It is the hardware block diagram of this system's attitude data acquisition module; The main inertial navigation measurement amount that realizes body three axis angular rates and 3-axis acceleration, and, be transferred to the input of 12 analog-digital converters of analog-to-digital conversion in the C8051F020 sheet with the processing of data measured process.This system has adopted volume little, and precision is high, and MEMS gyroscope and mems accelerometer that cost is low are measured corresponding angular speed and acceleration.Because independently return the feedback that the realization of function depends on the driftage data; So select the yaw rate sensor of a high-precision MEMS gyroscope LY530ALH separately for use as helicopter; And select for use dual spindle gyroscopes IDG300 as pitching; The roll channel gyroscope is selected the three axis accelerometer of ADXL330 as helicopter for use.LY530ALH, this three signal of sensor of IDG300 and ADXL330 then sends to the ADC port of microcontroller through modulate circuit, and signal conditioning circuit is by voltage matches, and filter circuit and voltage follower order are in series.
The right of microcontroller is the power supply block diagram of native system, and general supply is selected 3.7V, 1000mAH, the power lithium battery of 15C.3.7V voltage through small voltage difference linear voltage regulator TLV70030 after, change the voltage of 3V into, be used for microcontroller, jtag interface, the power supply of reset circuit etc.3.7V voltage then be used for the power supply of main rotor motor and tail rotor motor.
The top of microcontroller is the drive circuit module of main rotor motor and tail rotor motor, and the main rotor motor adopts the single-polarity PWM wave drive circuit.The tail rotor motor adopts a kind of H bridge direct current motor drive circuit.
The below of microcontroller is the wireless data transmission module of native system, employing be integrated circuit modules KYL610, be connected with the serial ports of microcontroller through the Transistor-Transistor Logic level interface.Communicating by letter of realization and terrestrial wireless digital transmission module.
On the basis of above hardware platform; Can be in the flight of ground control station hand control model helicopter; After model copter exceeded remote range, the hardware platform of this system can turn back in the remote range it according to certain algorithm controls helicopter independent ground flight; Again set up with ground control station and get in touch, switch to manual control model.
The below of airborne portion is the ground control station part, is made up of terrestrial wireless digital transmission module KYL610 and ground-based computer.KYL610 is connected with computer by serial through the RS232 interface.
Fig. 2 is the schematic diagram of native system directional gyroscope and peripheral interface circuit thereof, and in Fig. 2, device U7 is the MEMS single axis gyroscope LY530ALH that native system is selected for use, and device U4 is low-voltage operational amplifier LMV324.The supply voltage of LY530ALH and LMV324 all is chosen as 3V.The measured body yaw-rate signal of LY530ALH is exported from the pin one 0 of chip with the form of voltage; Pin 8,9,10 and the R11 of LMV324 have constituted voltage follower circuit; Played the effect of Signal Spacing, reduced and prevented the distortion of measuring-signal when being transferred to the ADC port.Mixing high-frequency noises such as helicopter body vibration in the measured signal of sensor; Native system has used the low pass filter of being made up of capacitor C 32 and resistance R 16; Filtering bandwidth is 10Hz, and the voltage follower output end signal is linked into the AIN0.2 port through this wave filter.AIN0.2 is the input port of the third channel of 12 ADC of 8 passages in the microcontroller C8051F020 sheet.
The voltage output range of LY530ALH is 0.234-2.226V; The ADC of C8051F020 single-chip microcomputer uses internal voltage reference; Input voltage range is 0-2.4V, so both voltage matches coefficients are 1, realizes through the PGA in the software adjustment microcontroller (programmable gain amplifier).
Fig. 3 is the native system pitching, the schematic diagram of roll gyroscope and peripheral interface circuit thereof, and in Fig. 3, device U3 is the MEMS dual spindle gyroscopes IDG300 that native system is selected for use, device U4 is low-voltage operational amplifier LMV324.The supply voltage of IDG300 and LMV324 all is chosen as 3V.The body rate of pitch that IDG300 records is exported from the pin two 8 of chip with the form of voltage signal; Measured body angular velocity in roll is then exported from the pin 3 of chip.Equally, after two-way output signal had passed through the RC low-pass filter circuit of voltage follower that LMV324 constitutes and 10Hz bandwidth, the rate of pitch signal inserted first passage AIN0.0 of the interior ADC of microcontroller; The angular velocity in roll signal has inserted second access port AIN0.1 of ADC.
IDG300 output signal voltage scope is the AD input range coupling of 0.5V-2.5V and single-chip microcomputer, and matching factor is 1.
Fig. 4 is the schematic diagram of native system three axis accelerometer and peripheral interface circuit thereof, and in Fig. 4, device U6 is the MEMS three axis accelerometer ADXL330 that native system is selected for use, and device U5 is low-voltage operational amplifier LMV324.The supply voltage of ADXL330 and LMV324 is chosen as 3V.The measured 3-axis acceleration of ADXL330 with the form of voltage signal respectively from the pin one 2 of chip, pin one 0, pin 8 outputs.The inner integrated resistance R=32K that is used for external filter circuit of ADXL330, thus external capacitor C24, C25; C26 constitutes the filter circuit of 10Hz bandwidth, and filtered 3-axis acceleration signal inserts 4 of the interior ADC0 of microcontroller respectively through behind the voltage follower; 5; 6 passage AIN0.3, AIN0.4, AIN0.5.
ADXL330 output signal voltage scope is the AD input range coupling of 0.6V-2.4V and single-chip microcomputer, and matching factor is 1.
Fig. 5 is the power-switching circuit schematic diagram of native system, and in Fig. 5, device U2 is low pressure difference linear voltage regulator TLV70030, with the supply voltage that the voltage 3.7-4.2V of lithium battery converts 3V into, exports through pin 5.In the native system, the not enough 100mA of summation of the maximum current that 3V power supply components and parts need, and the maximum output current of TLV70030 is 200mA.Wherein, C2 selects ceramic condenser for use, in pcb board near the TLV70030 layout.
Fig. 6 is the jtag interface circuit theory diagrams of native system, in Fig. 6, the pin 5,4,7,6 of JTAG slot respectively with the jtag test pin one of single-chip microcomputer, 2,3,4 are connected.
Fig. 7 is the crystal oscillating circuit schematic diagram of native system, and in Fig. 7, crystal oscillator frequency is chosen as 22.1184MHz, and XTAL1 and XTAL2 are respectively the pin twos 6 and pin two 7 of single-chip microcomputer.
Fig. 8 is the reset circuit schematic diagram of circuit board, in Fig. 8, REST corresponding the pin 5 of single-chip microcomputer.
Fig. 9 is a native system ADC reference voltage circuit schematic diagram, in Fig. 9, and the pin one 2 (VREF) of single-chip microcomputer and pin one 6 (VREF0) short circuit, the voltage reference of the ADC of expression single-chip microcomputer is internal reference 2.4V.Capacitor C 7 plays filter action with C8, in pcb board near pin VREF and VREF0 layout.
Figure 10 is the main rotor motor-drive circuit schematic diagram of native system, and in Figure 10, device Q1 and Q2 are N channel power FET IRFU120, and D1 and D2 are diode IN4007.Main motor adopts the lithium battery power supply of 3.7V, and motor speed is by 8 PWM ripple speed regulating control.The PWM ripple is produced by the inner programmable logic array PCA of single-chip microcomputer, and its I/O line CEX0 and CEX1 are assigned to the P0.2 and the P0.3 mouth of single-chip microcomputer through cross bar switch.Entire circuit is irreversible single-polarity PWM drive circuit.
Figure 11 is a native system tail rotor motor-drive circuit schematic diagram, and in Figure 11, the tail motor is by the lithium battery power supply of 3.7V, PNP triode Q3, and Q4 and NPN triode Q7, Q8 form H bridge drive circuit, realize the rotating of tail rotor motor.NPN triode Q5; The b of Q6 end links to each other with the P3.3 mouth with the P3.2 of single-chip microcomputer respectively, and other two ends link to each other with two symmetrical arms of H bridge respectively, like this by the logic level of P3.2 and P3.3 mouth as control signal; The break-make of triode realizes the driving of tail rotor motor in the control drive circuit.Regulate resistance R 20, the resistance of R21 can be controlled the supply voltage and the electric current of motor, thereby changes rotating speed of motor.
Figure 12 is the schematic diagram of the wireless data transmission module of airborne portion, and in Figure 12, device U10 is the micropower wireless data transmission module KYL610 of airborne portion, is TTL serial ports level, adopts the 3.7V lithium battery power supply.Use the cross bar switch of single-chip microcomputer that serial ports UART0 in the sheet is assigned to pin P0.0 and P0.1, link to each other with TXD with the RXD of KYL610 respectively.
Figure 13 is the peripheral interface schematic diagram of native system microcontroller C8051F020, and in Figure 13, device U1 is microcontroller C8051F020, and aanalogvoltage and digital voltage all adopt the 3V power voltage supply in its sheet.Among the figure each electric source filter circuit in pcb board all near the power input mouth layout of correspondence.
The software algorithm flow process and the operation principle of
system
Figure 14 is the overall flow figure that system's realization is independently returned.The software of airborne portion realizes mainly comprising 5 functional modules: (1) wireless data transmission module; (2) attitude data acquisition module; (3) attitude algorithm module; (4) increase steady control module; (5) executing agency's functional module.The software section of ground control station mainly comprises 3 functional modules: (1) terrestrial wireless digital transmission module; (2) remote information acquisition module; (3) attitude algorithm and display module.
In Figure 14, in the square frame of right half part the control of software flow process of airborne portion, use the timer 4 of microcontroller, it is 20ms that its timing cycle is set, and accomplishes once control flow among the figure in the disconnected therein afterwards service routine.
After getting into interrupt service routine, helicopter through radio earthward control station send a frame request signal, and wait for the response of ground control station.After if ground control station receives request signal; To from message queue to be sent, select remote information to be sent; Be sent to helicopter; Free of data is then sent the simple echo message of a frame to the wireless data transmission module of airborne portion in the formation, after the wireless data transmission module of airborne portion is received the simple echo message of this frame, then continues the remote control control of last time; If the wireless data transmission module of airborne portion can not receive remote signal, microcontroller is made judgement, lets the circulation of mode toggle count device add 3, until greater than a setting value, selects to carry out " independently returning control " order.After receiving the remote information of ground control station, body three axis angular rates and the 3-axis acceleration signal of airborne portion sensor acquisition, ADC in the sheet of entering microcontroller through the processing of microcontroller, is sent to the ground control station part.Microcontroller is according to LY530ALH then; The signal of this three sensor of IDG300 and ADXL330 carries out " attitude algorithm "; And the remote information after will handling and attitude algorithm get the result and are updated to " increasing steady control module "; Through the calculating of control law, the control signal of exporting each motor is to executing agency's functional module.
What Figure 14 control flow was realized is manual control, and the steady computing module that increases wherein is to be used for making the helicopter dynamic property to improve, control more easily, and wherein " independently returning " is specific task, it has specific task formation and algorithm flow.
Figure 15 is the overall flow figure that independently returns assignment algorithm in the airborne portion, and in Figure 15, the algorithm flow that independently returns module also is to accomplish in interrupt cycle at a timer of microcontroller, and what select for use is timer 3, and priority is greater than timer 4.Because this part realization is the autonomous flight of helicopter, in algorithm flow, just need the task queue of control automatically of pre-set this type of completion, the task queue of independently returning flight is shown in figure 16; Form by 4 parts; At first need control model copter and hover,, make 180 ° of the course deflections of helicopter then in the yawing rotation of current location control helicopter in current position; And after accomplishing 180 ° turn to; Make helicopter in hover in current position once more, fly before making helicopter with constant speed at last, until turning back to remote range.
For the realization of each task among Figure 16, be exactly the corresponding attitude to model copter, the control of position quantity, through setting a rational setting value, as the input that increases steady control module among Figure 15 to the control corresponding amount.Setting value and helicopter current states amount are through increasing the calculating of steady control rate, and the motion of control helicopter makes the corresponding state amount of helicopter finally follow the tracks of above-mentioned " setting value ", accomplishes the task of regulation.The corresponding relation of each task and model copter quantity of state setting value is as shown in table 1; In the table;
is the yaw angle of helicopter; Az is the axial acceleration of helicopter z; U is the forward flight speed of helicopter;
is the axial speed of helicopter z, and
is the high variable quantity of helicopter.
Table 1
" completion current task " part is to carry out the standard that task is switched automatically among Figure 15, and judge that the method whether current task is accomplished is: each attitude amount to stipulating in the task is repeatedly gathered, and resolves and ask it average, judges with mean value at last.
In sum, when the helicopter remote range that flies out, get into the interrupt service routine of autonomous return command after; Hardware circuit is gathered body attitude information and attitude algorithm, judges current which task that will accomplish " in the task queue ", and whether this task has been accomplished; If accomplished; Carry out next task,, then accomplish current task if do not accomplish.After last task of entering " preceding flying ", need open communication module again, attempting and ground communication; Successfully set up if communicate by letter, close current Timer3, the Timer4 that uses when opening manual flight; Send to the ground information, switch to manual control.
Analysis by Figure 14 and Figure 15 can be known, no matter is manual control or autonomous flight, all need use wireless data sending, the attitude data collection, and attitude algorithm increases steady control and executing agency's functional module module.The implementation algorithm of each module will be described below.
For wireless data transmission module, software only need be operated corresponding serial equipment when realizing and get final product, and the establishment of Frame, the selection of baud rate are just important.When setting up Frame, with the data fractionation of shaping, send with the form of byte, the union of association in the c language can realize splitting data easily.During assembled data frame, if the byte that fractionation is come out just adds a byte ESC in beginning ending repetition between two bytes.Check bit in the frame is used CHECKSUM, and get and low byte; Because native system is accomplished algorithm flow one time in 20ms,, be set at 115200bps so need higher baud rate to guarantee communication fast.
In Figure 17, the algorithm flow of attitude data acquisition module has been described.Helicopter System can produce very strong vibrations awing, the analog signal of vibrations meeting disturb sensor output, and except above-mentioned hardware filtering, native system has used repeatedly measurement to add up in algorithm and has asked the accuracy of its average method raising measured value.
All need gather attitude information in the every bat control flow of native system, this data acquisition modes is more frequent and regular, so use the mode of inquiry.When carrying out data acquisition module, judge current which passage to be gathered, ADC interrupt flag bit AD0INT then resets; Write 1 to start ADC to the AD0BUSY position; In data acquisition, inquiry also waits for that AD0INT is change 1, after the AD0INT set; This secondary data collection is accomplished, with the data accumulation of this time to named variable.
For the attitude algorithm module, what the native system sensor was measured is three axis angular rates and the 3-axis acceleration in axis system, is expressed as p respectively, q, r; Ax, ay, az.The actual controlled quentity controlled variable of using is the pitching angle theta in the earth axes in the native system, yaw angle ψ and height h.The core of attitude algorithm is how to use the p that measures, q, and r, ax, ay, az calculate required controlled quentity controlled variable.In body axis system and the earth axes there be the transformational relation of respective amount:
Need use a lot of floating-point operations in the above attitude algorithm, microcontroller is not specifically designed to the coprocessor of floating-point operation, but can directly define float type variable among the Keil C, and can directly use mathematical function library.Though the compiled code amount correspondingly improves, arithmetic speed correspondingly reduces, and can satisfy native system to the demand of computing.
Figure 18 is that native system increases steady control block diagram, respectively to pitch channel, jaw channel, always implement to increase steady control apart from passage.Among the figure; △
, △
, △
be respectively pitch channel, jaw channel, always apart from the command value of channel controller, S is the default parameters of control system.△ θ, q are respectively the angle of pitch and angle of pitch speed; △ Ψ, r are respectively yaw angle and yawrate, and △
and
are respectively the speed and the acceleration of vertical ground direction.
;
;
;
;
;
;
;
;
;
;
is respectively and increases steady control law parameter.Native system has adopted position and speed feedback, is example with the pitch channel, has fed back rate of pitch to strengthen the damping of pitch channel, has fed back angle of pitch signal, and angle of pitch error signal has been adopted PI control.Driftage with always adopt same control structure apart from passage, what the vertical fast error of yaw angle sum of errors helicopter was adopted is that PID controls.Choose rational control parameter, make the command signal of each channels track controller, improve its stability.
With the digitlization of PID controller the time, employing be increment type pid digitlization algorithm, in this algorithm, only need to preserve the deviate that three times are measured before and after the controlled volume in the microcontroller, can solve controlled quentity controlled variable.
The left-half of Figure 14 is the overall flow of ground control station control.A message response module is set in the software, waits for message event constantly, and it is stored in the queue chain from keyboard, mouse, serial ports.Select to use the MSCOMM control for the manipulation of serial ports of computers, guaranteed that earth station receives the real-time of data.Earth station's software collection need be converted into the targeted attitude amount of model copter, as the input that " increases steady control module " in the airborne portion after distant bar information.For example; The rocking bar left avertence; During the left drift of control model copter, control information corresponding just can be made as: yaw rate
is a setting value; Forward speed u, z axle speed
zero setting.The user can be according to liking the corresponding targeted attitude amount that is provided with separately.
Claims (2)
1. the autonomous retrieval system of a bispin wing remote control model helicopter; Comprise airborne portion and ground control station part; It is characterized in that described airborne portion comprises main rotor motor, tail rotor motor, single-polarity PWM output driving circuit, H bridge direct current motor drive circuit, microcontroller, MEMS single axis gyroscope, MEMS dual spindle gyroscopes, MEMS three axis accelerometer, signal conditioning circuit, reset circuit, small voltage difference linear voltage regulator, jtag interface, wireless data transmission module and power supply; Described signal conditioning circuit comprises the yaw rate signal modulate circuit; Pitching, angular velocity in roll signal conditioning circuit and acceleration signal modulate circuit; Described ground control station part is linked in sequence by earth station's computer and terrestrial wireless digital transmission module and forms; The main rotor motor is connected with microcontroller through the single-polarity PWM output driving circuit; The tail rotor motor is connected with microcontroller through H bridge direct current motor drive circuit; The MEMS single axis gyroscope is connected with microcontroller through the yaw rate signal modulate circuit; The MEMS dual spindle gyroscopes is connected with microcontroller through pitching, angular velocity in roll signal conditioning circuit, and the MEMS three axis accelerometer is connected with microcontroller through the acceleration signal modulate circuit, and wireless data transmission module is connected with the serial ports of microcontroller through the Transistor-Transistor Logic level interface; Be connected with reset circuit, jtag interface and microcontroller respectively behind the power supply process small voltage difference linear voltage regulator, the terrestrial wireless digital transmission module of ground control station part is connected with the wireless data transmission module communication of airborne portion.
2. the control method based on the autonomous retrieval system of the described bispin wing of claim 1 remote control model helicopter is characterized in that, comprises the steps:
(1) helicopter through radio earthward control station send a frame request signal; Wait for the response of ground control station,, then from message queue to be sent, select remote information to be sent if ground control station receives request signal; Be sent to helicopter; Free of data is then sent the simple echo message of a frame to the wireless data transmission module of airborne portion in the formation, after the wireless data transmission module of airborne portion is received the simple echo message of this frame, then continues the remote control control of last time; If the wireless data transmission module of airborne portion can not receive remote signal, microcontroller is made judgement, carries out " independently returning control " and orders, and returns remote range in proper order according to the task queue of " hover--180 °--hovering---preceding the flying of going off course ";
(2) receive the remote information of ground control station after; Body three axis angular rates and 3-axis acceleration signal that the MEMS single axis gyroscope of airborne portion, MEMS dual spindle gyroscopes and MEMS three axis accelerometer are gathered; Get into the interior ADC of sheet of microcontroller; Through the processing of microcontroller, be sent to the ground control station part;
(3) microcontroller is the signal that collects input attitude algorithm module, and the remote information after will handling and attitude algorithm get the result and be updated to and increase steady control module, passes through the calculating of control law, and the control signal of exporting each motor is to executing agency's functional module.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103611324A (en) * | 2013-11-14 | 2014-03-05 | 南京航空航天大学 | Unmanned helicopter flight control system and control method thereof |
| WO2014187027A1 (en) * | 2013-05-22 | 2014-11-27 | 上海九鹰电子科技有限公司 | Transmission device and method, and reception device and method of remote control signal |
| CN104656664A (en) * | 2015-02-16 | 2015-05-27 | 南京航空航天大学 | Vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and guidance control method |
| CN105824324A (en) * | 2015-01-04 | 2016-08-03 | 中国移动通信集团公司 | Method and device for automatically adjusting aircraft under condition of losing contact, and aircraft |
| CN106081068A (en) * | 2016-08-05 | 2016-11-09 | 江苏艾锐泰克无人飞行器科技有限公司 | Helicopter self-balance control system and control method |
| CN106125754A (en) * | 2016-08-30 | 2016-11-16 | 青岛大学 | A kind of many rotor wing unmanned aerial vehicles remote controller |
| CN106943753A (en) * | 2016-06-25 | 2017-07-14 | 王丽芸 | Automatically the Multi-axis aircraft toy and its control method recalled |
| CN107422748A (en) * | 2017-06-29 | 2017-12-01 | 南京航空航天大学 | A kind of fixed-wing unmanned plane formation guidance device and collaboration homing guidance method |
| CN109262584A (en) * | 2018-11-20 | 2019-01-25 | 钟祥博谦信息科技有限公司 | A kind of intelligent miniature robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014187027A1 (en) * | 2013-05-22 | 2014-11-27 | 上海九鹰电子科技有限公司 | Transmission device and method, and reception device and method of remote control signal |
| CN103611324B (en) * | 2013-11-14 | 2016-08-17 | 南京航空航天大学 | A kind of unmanned helicopter flight control system and control method thereof |
| CN103611324A (en) * | 2013-11-14 | 2014-03-05 | 南京航空航天大学 | Unmanned helicopter flight control system and control method thereof |
| CN105824324B (en) * | 2015-01-04 | 2020-03-31 | 中国移动通信集团公司 | Method and device for automatically adjusting aircraft under condition of loss of communication and aircraft |
| CN105824324A (en) * | 2015-01-04 | 2016-08-03 | 中国移动通信集团公司 | Method and device for automatically adjusting aircraft under condition of losing contact, and aircraft |
| CN104656664A (en) * | 2015-02-16 | 2015-05-27 | 南京航空航天大学 | Vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and guidance control method |
| CN104656664B (en) * | 2015-02-16 | 2017-07-11 | 南京航空航天大学 | Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method |
| CN106943753A (en) * | 2016-06-25 | 2017-07-14 | 王丽芸 | Automatically the Multi-axis aircraft toy and its control method recalled |
| CN106081068A (en) * | 2016-08-05 | 2016-11-09 | 江苏艾锐泰克无人飞行器科技有限公司 | Helicopter self-balance control system and control method |
| CN106125754A (en) * | 2016-08-30 | 2016-11-16 | 青岛大学 | A kind of many rotor wing unmanned aerial vehicles remote controller |
| CN106125754B (en) * | 2016-08-30 | 2019-01-04 | 青岛大学 | A kind of multi-rotor unmanned aerial vehicle remote controler |
| CN107422748B (en) * | 2017-06-29 | 2019-08-13 | 南京航空航天大学 | A kind of fixed-wing unmanned plane formation guidance device and collaboration homing guidance method |
| CN107422748A (en) * | 2017-06-29 | 2017-12-01 | 南京航空航天大学 | A kind of fixed-wing unmanned plane formation guidance device and collaboration homing guidance method |
| CN109262584A (en) * | 2018-11-20 | 2019-01-25 | 钟祥博谦信息科技有限公司 | A kind of intelligent miniature robot |
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