CN103057712B - Integration flight control system for miniature flying robot - Google Patents
Integration flight control system for miniature flying robot Download PDFInfo
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Abstract
The invention discloses an integration flight control system for a miniature flying robot. The integration flight control system comprises a miniature central processing module, a positioning module, an inertia measurement module, an intelligent early warning module, a driving module, a wireless communication module, a data storage module and a power management module, wherein the miniature central processing module is in charge of management of each module and running of a control algorithm; the positioning module is used for measuring position and speed information of the flying robot and transmitting the information to the miniature central processing module; the inertia measurement module is used for measuring gesture and angular speed information of the flying robot; the intelligent early warning module monitors a flight state of the flying robot so as to timely send out early warning; the driving module drives actuation of the flying robot according to instructions of the miniature central processing module; the wireless communication module is in charge of data communication between the flying robot and a ground station system; the data storage module is in charge of storage of data in the flight process; and the power management module is in charge of power supply to the whole system. The integration flight control system can integrate guidance and attitude control functions, has the advantages of being high in integration, light in weight, small in size and strong in functions and the like, and can effectively improve thrust-weight ratio and efficiency of the miniature flying robot.
Description
Technical field
The present invention relates to control technology, guidance technology, sensing technology and wireless communication field, particularly relate to the flight control system of a kind of microminiature flying robot.
Background technology
At present, many applications all require that aircraft can carry out the flight of low-altitude low-speed, carry out low idle job, and have good manoevreability and disguise.Microminiature flying robot is the good platform realizing above-mentioned functions.Microminiature flying robot have manoevreability, alerting ability good, can the advantage such as vertical takeoff and landing, good concealment, be the platform of a good observation and contact environment.Can expect, microminiature flying robot will have very wide application prospect.
The flight control system of microminiature flying robot should make flying robot fly along given track.Flight control system controls attitude and the position of flying robot, allows robot complete the instruction campaign of expectation.The flight control system of microminiature flying robot is the core of its practical function and performance, and the performance of flight control system will directly affect airworthiness and the quality of flying robot.Flight control system generally comprises guidance and gesture stability two parts, and control position and the attitude of flying robot respectively, guidance and gesture stability are generally divided into two modules by traditional flying robot's control system.Each module realizes a kind of function.This design can make guide module processed and gesture stability module adopt different hardware and software systems, be convenient to realize, but this mentality of designing adds the complexity of whole flight control system, the indexs such as the volume of overall system control, weight being increased, thus make its carrier---the load-carrying surplus of microminiature flying robot reduces.
For enabling microminiature flying robot adapt to outdoor complex environment better, the structure of flight control system composition should more simple and reliable, weight is lighter.For realizing this object, integrating guidance and the integrated flight control system of gesture stability is a kind of trend in flying robot's evolution.
Summary of the invention
For problems of the prior art, the present invention proposes a kind of integrated flight control system that can be applicable to microminiature flying robot, for the design of microminiature rotor flying robot, take into full account the feature of microminiature rotary wind type flying robot, make this integrated flight control system can realize the several functions such as guidance and gesture stability, traditional guidance and gesture stability two modules can be substituted, thus reduce the complexity being made up of system two modules, decrease the weight and volume of whole flight control system, for the thrust-weight ratio improving microminiature flying robot, efficiency etc. have certain effect, meet the development tendency that robot is integrated.
The integrated flight control system of microminiature flying robot that the present invention proposes, mainly comprise miniature central processing module, locating module, inertia measuring module, intelligent early-warning module, driver module, wireless communication module, data memory module, and power management module.
Described miniature central processing module is made up of central process unit and its peripheral circuit, and radical function is other module of management, sends order, obtaining information to other modules; Obtain position and attitude sensory information, comprise the location information of locating module transmission and the attitude information of inertia measuring module transmission; Management intelligent early-warning module and wireless communication module, judge whether give the alarm; The director data that the sensing data collected according to locating module and inertia measuring module and ground station transmit runs Flight Control Algorithm and sends the driving instruction of actuator to driver module; The data storing work of management data memory module.Central process unit in central processing module can adopt the various computer disposal chips with calculation function and data storage function such as common micro controller system, ARM embedded chip, dsp chip according to the size of realization of functions and memory data output.For managing multiple module, as required embedded OS can be installed in central process unit, as (SuSE) Linux OS.
Described locating module collection comprises GPS locating module, accelerometer, barometric altimeter, and processor A.Locating module sends the flying robot's location information collected and velocity information to miniature central processing module.The latitude and longitude coordinates information that GPS locating module exports by the processor A in locating module, the acceleration information that accelerometer exports, the elevation information that barometric altimeter exports carries out data fusion, obtains position and velocity information more accurately, and to the miniature central processing module of sending.Multiple method can be adopted to carry out Multi-Sensor Data Fusion, as Kalman filtering algorithm.
Described inertia measuring module comprises gyroscope, magnetometer, and processor B.Inertia measuring module sends the attitude and angular velocity data that gather the flying robot calculated to miniature central processing module.Processor B operation information blending algorithm in inertia measuring module, the azimuth information that the angular velocity information export gyroscope and magnetometer export merges, and obtains attitude and angular velocity data information more accurately, for miniature central processing module.
Described intelligent early-warning module completes the automatic early-warning function of whole flying machine robot system, according to the running state of the data monitoring flying robot that miniature central processing module transmits, if there is error state, then remind the emergency that miniature central processing module is current, and send corresponding mis-information and flying robot current state by intelligent communication locating module directly to earth station system by miniature central processing module, thus be convenient to take manpower intervention mode process emergency.
Described intelligent early-warning module is made up of buzzer phone, reset circuit, error judging circuit etc.Intelligent early-warning module receives the position of miniature central processing module, speed, cireular frequency and attitude angle data, judges flying robot's mode of operation.
Described driver module will drive the actuator motion of microminiature flying robot, as rotor motor or steering wheel etc., make microminiature flying robot perform corresponding instruction.Driver module is made up of motor or servo driving circuit.The signal of driver module derives from the control algorithm operation result of miniature central processing module, exports the rotating speed of PWM ripple or Digital Signals motor or steering wheel according to the type of motor or steering wheel.
Described wireless communication module is made up of wireless communication data chain, is responsible for the communication between microminiature flying robot and other microminiature flying robot or ground station.Wireless communication module is managed by miniature central processing module, and the data sending and receive are determined by central processing module.Wireless communication data chain can provide data communication that is point-to-point or networking mode.
Described data memory module is responsible for storing the status data of flying robot in flight course, is made up of flash storage chip and peripheral circuit.Data memory module is by the status data of miniature central processing module managed storage flying robot, comprise receive position, attitude command data, and flying robot's actual position, speed, attitude angle, angular velocity data that locating module and inertia measuring module export.
Described power management module provides power supply for whole flight control system, and power management module provides different voltage to export for disparate modules.
The present invention has following beneficial effect:
1, the invention provides the microminiature flying robot flight control system of a Highgrade integration, can control by this integrated flight control system, monitor flying robot.Described integrated flight control system has the functions such as guidance and gesture stability simultaneously.
2, the present invention can realize intelligent early-warning and communication function, ensure that flying robot can notify ground staff in time under abnormal operating state, so that by manpower intervention.
3, by the present invention, in conjunction with network technology, flying robot's population system can be set up.
4, the present invention has the advantages such as integrated height, lightweight, function is strong, is convenient to the thrust-weight ratio and the efficiency that promote flying robot.
Accompanying drawing explanation
Fig. 1: the system architecture diagram of the integrated flight control system of a kind of microminiature of the present invention flying robot;
Fig. 2: locating module and inertia measuring module specific implementation figure in the integrated flight control system of a kind of microminiature flying robot of the present invention;
Fig. 3: the integrated guidance run in the miniature central processing module in the integrated flight control system of a kind of microminiature of the present invention flying robot and gesture stability algorithm schematic diagram;
Fig. 4: the workflow schematic diagram of the intelligent early-warning module in the integrated flight control system of a kind of microminiature of the present invention flying robot;
Fig. 5: the general work schematic flow sheet in the integrated flight control system of a kind of microminiature of the present invention flying robot.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The integrated flight control system of microminiature flying robot that the present invention proposes, as shown in Figure 1, mainly comprise miniature central processing module 1, locating module 2, inertia measuring module 4, intelligent early-warning module 3, driver module 5, wireless communication module 6, data memory module 7, and power management module 8.
Described miniature central processing module 1 is made up of central process unit and its peripheral circuit, radical function is management other locating module 2, inertia measuring module 4, intelligent early-warning module 3, driver module 5, wireless communication module 6, data memory module 7, and power management module 8, send order or obtaining information to these modules; Obtain position and attitude sensory information, comprise the location information of locating module 2 transmission and the attitude information of inertia measuring module 4 transmission; Management intelligent early-warning module 3 and wireless communication module 6, judge whether give the alarm; The director data that the sensing data collected according to locating module 2 and inertia measuring module 4 and ground station transmit runs Flight Control Algorithm and sends the driving instruction of actuator to driver module 5; The data storing work of management data memory module 7.Central process unit in miniature central processing module 1 can adopt the various computer disposal chips with calculation function and data storage function such as common micro controller system, ARM embedded chip, dsp chip according to the size of realization of functions and memory data output.For management modules, as required embedded OS can be installed in central process unit, as (SuSE) Linux OS.
Described locating module 2 comprises GPS locating module 202, accelerometer 204, barometric altimeter 203 and processor A 201.Locating module 2 is for sending the flying robot collected location information and velocity information to miniature central processing module 1.The elevation information that the acceleration information that the latitude and longitude coordinates information that GPS locating module 202 exports by the processor A 201 in locating module 2, accelerometer 204 export, barometric altimeter 203 export carries out data fusion, obtain position and velocity information more accurately, and it is sent to miniature central processing module 1.Multiple method can be adopted to carry out Multi-Sensor Data Fusion, as Kalman filtering algorithm.
Described inertia measuring module 4 comprises gyroscope 403, magnetometer 402, and processor B 401.Inertia measuring module 4 sends the attitude and angular velocity data that gather the flying robot calculated to miniature central processing module 1.Processor B 401 operation information blending algorithm in inertia measuring module 4, the azimuth information that the angular velocity information export gyroscope 403 and magnetometer 402 export merges, obtain attitude and angular velocity data information more accurately, for miniature central processing module 1.
Be illustrated in figure 2 locating module 2, the concrete schematic diagram of connection between inertia measuring module 4 and miniature central processing module 1.Processor A 201 in locating module 2, the processor B 401 in the moment of inertia module 4 to be connected with miniature central processing module 1 by SPI interface and to transmit data mutually.In inertia measuring module 4, gyroscope 403, magnetometer 402 are connected with processor B 401 by UART interface.In locating module 2, GPS locating module 202, accelerometer 204, barometric altimeter 203 are also connected with processor A 201 respectively by UART interface.
Figure 3 shows that the integrated guidance and gesture stability algorithm schematic diagram that run in miniature central processing module 1.Miniature central processing module 1 receives the position measurements, velocity measurement, attitude measurement value and the angular velocity measurement value that transmit from locating module 2 and inertia measuring module 4.Lead ring processed adopts guidance algorithm to expect Position And Velocity observed reading and position measurements by comparing, and exports and expects force vector, through Guidance and control allocation algorithm, exports and expects attitude.Gesture stability ring expects attitude and angular velocity measurement value and attitude measurement value by comparing, and exports the body control torque of expectation, and through gesture stability allocation algorithm, exports the instruction of each actuator such as motor or steering wheel to driver module 5.
Described intelligent early-warning module 3 completes the automatic early-warning function of whole flying machine robot system, according to the running state of the data monitoring flying robot that miniature central processing module 1 transmits, if there is error state, then remind the emergency that miniature central processing module 1 is current, and send corresponding mis-information and flying robot current state by wireless communication module 6 directly to earth station system by miniature central processing module 1, thus be convenient to take manpower intervention mode process emergency.
Described intelligent early-warning module 3 is made up of buzzer phone 301, reset circuit 302, error judging circuit 303 etc.As shown in Figure 4, intelligent early-warning module 3 receives position that miniature central processing module 1 transmits, speed, cireular frequency and attitude angle data, judges whether flying robot is in normal working, and works as follows:
(1) after intelligent early-warning module 3 receives the data of miniature central processing module 1 transmission, start to enter sense cycle, if now there is no reset signal, then turn (2), otherwise turn (5);
(2) error judging circuit 303 transmit according to miniature central processing module 1 position, speed, cireular frequency and attitude angle data etc., operation logic program judges whether flying robot is in normal working, if the normal working of being in, then turn (1), otherwise turn (3);
(3) mis-information is fed back to miniature central processing module 1 by intelligent early-warning module 3, and now, intelligent early-warning module 3 enters emergency response program, and whether have reset signal, if the reset signal of detecting, then turn (5) if now again detecting, otherwise turns (4);
(4) trigger buzzer phone 301 to give the alarm, start intelligent communication function simultaneously, mis-information is sent to miniature central processing module 1, miniature central processing module 1 notifies that wireless communication module 6 ground station system sends mis-information and current state of flight;
(5) if there is reset signal, namely within the regular hour, eliminate mistake after manpower intervention, then intelligent early-warning module 3 starts reset mode of operation automatically, reset circuit 302 resetting system.Otherwise buzzer phone 301 gives the alarm continuing, wireless communication module 6 also will continue to send mis-information.Reset circuit also can be used for manual operation, to reset intelligent early-warning module 3.
Described driver module 5 will drive the actuator motion of microminiature flying robot, as rotor motor or steering wheel etc., make microminiature flying robot perform corresponding instruction.Driver module 5 is made up of motor or servo driving circuit.The signal of driver module 5 derives from the control algorithm operation result of miniature central processing module 1, exports the rotating speed of PWM ripple or Digital Signals motor or steering wheel according to the type of motor or steering wheel.
Described wireless communication module 6 is made up of wireless communication data chain, is responsible for the communication between microminiature flying robot and other microminiature flying robot or ground station.Wireless communication module 6 is managed by miniature central processing module 1, and the data sending and receive are determined by miniature central processing module 1.Wireless communication data chain can provide data communication that is point-to-point or networking mode.
Described data memory module 7 is responsible for storing the status data of flying robot in flight course, is made up of flash storage chip and peripheral circuit.Data memory module 7 is by the status data of miniature central processing module 1 managed storage flying robot, comprise receive position, attitude command data, and locating module 2 and inertia measuring module 4 measure, and the flying robot's actual position, speed, attitude angle, the angular velocity data that are transmitted by miniature central processing module 1.
Based on the above-mentioned integrated flight control system of microminiature flying robot, be periodic duty control algorithm and auxiliary routine at a certain time interval, time gap depends on the response characteristic etc. of microminiature flying robot, generally in units of millisecond.Its general workflow is as shown in Figure 5, specific as follows:
(1) in each execution cycle, miniature central processing module 1 receives the information that intelligent early-warning module 3 transmits, and judges that whether the work of system is normal according to the information received;
(2) if the information that intelligent early-warning module 3 transmits shows that system is not in normal condition, miniature central processing module 1 sends mis-information and flying quality to data memory module 7, makes data memory can record corresponding error source and flying quality;
(3) if the information that intelligent early-warning module 3 transmits shows that system is in normal working, then miniature central processing module 1 runs integrated guidance as shown in Figure 3 and gesture stability algorithm (six degree of freedom Flight Control Law), and computing draws the instruction that should send driver module 5 to;
(4) instruction that should send driver module 5 to that computing obtains by miniature central processing module 1 sends driver module 5 to, driver module 5, according to corresponding in the order-driven microminiature flying robot received motor and steering wheel etc., controls the running of microminiature flying robot;
(5) miniature central processing module 1 sends the corresponding integrated guidance in this process and the data in control algorithm and director data to data memory module 7, is stored by the flying quality of correspondence.
Claims (10)
1. the integrated flight control system of microminiature flying robot, it is characterized in that: comprise miniature central processing module, locating module, inertia measuring module, intelligent early-warning module, driver module, wireless communication module, data memory module, and power management module; Miniature central processing module is in charge of the modules of flight control system and is run integrated guidance and gesture stability algorithm; Locating module is for measuring the position of flying robot and velocity information and sending miniature central processing module to; Inertia measuring module is for measuring attitude and the angular velocity information of flying robot; The state of flight of intelligent early-warning module monitors flying robot is to send early warning in time; Driver module is according to the actuator of the order-driven flying robot of miniature central processing module; Wireless communication module is responsible for the data communication of flying robot and ground station; Data memory module is responsible for storing the data in flight course; Power management module is responsible for powering to whole system.
2. the integrated flight control system of microminiature flying robot according to claim 1, is characterized in that: described integrated guidance and gesture stability algorithm, be specially:
Miniature central processing module receives the position measurements, velocity measurement, attitude measurement value and the angular velocity measurement value that transmit from locating module and inertia measuring module; Lead ring processed, by comparing desired locations, exports the force vector expected, through Guidance and control allocation algorithm, exports and expects attitude; Gesture stability ring, by comparing expectation attitude, exports the body control torque expected, and through gesture stability allocation algorithm, exports the instruction of each corresponding module to driver module.
3. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described intelligent early-warning module, complete the automatic early-warning function of whole flying robot's integrated control system, according to the running state of the data monitoring flying robot that miniature central processing module transmits, if there is error state, then remind the emergency that miniature central processing module is current, and send corresponding mis-information and flying robot current state by intelligent communication locating module directly to ground station by miniature central processing module, thus be convenient to take manpower intervention mode process emergency.
4. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described miniature central processing module is made up of central process unit and peripheral circuit thereof, central process unit adopts common micro controller system, ARM embedded chip or dsp chip according to the size of realization of functions and memory data output.
5. the integrated flight control system of microminiature flying robot according to claim 1, is characterized in that: described data memory module is responsible for storing the status data of flying robot in flight course, is made up of flash storage chip and peripheral circuit; Data memory module is by the status data of miniature central processing module managed storage flying robot, comprise receive position, attitude command data, and flying robot's actual position, speed, attitude angle, angular velocity data that locating module and inertia measuring module export.
6. the integrated flight control system of microminiature flying robot according to claim 1, is characterized in that: described locating module collection comprises GPS locating module, accelerometer, barometric altimeter, and processor A; Locating module sends the flying robot's location information collected and velocity information to miniature central processing module, the latitude and longitude coordinates information that GPS locating module exports by the processor A in locating module, the acceleration information that accelerometer exports, the elevation information that barometric altimeter exports carries out data fusion, obtain position and velocity information more accurately, and to the miniature central processing module of sending.
7. the integrated flight control system of microminiature flying robot according to claim 1, is characterized in that: described inertia measuring module comprises gyroscope, magnetometer, and processor B; Inertia measuring module sends the attitude and angular velocity data that gather the flying robot calculated to miniature central processing module; Processor B operation information blending algorithm, the azimuth information that the angular velocity information export gyroscope and magnetometer export merges, and obtains attitude and angular velocity data information more accurately, for miniature central processing module.
8. the integrated flight control system of microminiature flying robot according to claim 1, is characterized in that: described intelligent early-warning module completes the automatic early-warning function of whole flying machine robot system; Described intelligent early-warning module is made up of buzzer phone, reset circuit and error judging circuit, and intelligent early-warning module receives the position of miniature central processing module, speed, cireular frequency and attitude angle data, judges flying robot's mode of operation.
9. the integrated flight control system of microminiature flying robot according to claim 8, is characterized in that: described judges flying robot's mode of operation, is specially:
(1) after intelligent early-warning module receives the data of miniature central processing module transmission, start to enter sense cycle, if now there is no reset signal, then turn (2), otherwise turn (5);
(2) error judging circuit transmit according to miniature central processing module position, speed, cireular frequency and attitude angle data, operation logic program judges whether flying robot is in normal working, if the normal working of being in, then turn (1), otherwise turn (3);
(3) mis-information is fed back to miniature central processing module by intelligent early-warning module, and now, intelligent early-warning module enters emergency response program, now again detect and whether have reset signal, if the reset signal of detecting, then turn (5), otherwise turn (4);
(4) trigger buzzer phone to give the alarm, start intelligent communication function simultaneously, send mis-information to miniature central processing module, miniature central processing module notice wireless communication module ground station system sends mis-information and current state of flight;
(5) if there is reset signal, namely within the regular hour, eliminate mistake after manpower intervention, then intelligent early-warning module starts reset mode of operation automatically, reset circuit resetting system; Otherwise buzzer phone gives the alarm continuing, wireless communication module also will continue to send mis-information.
10. the integrated flight control system of microminiature flying robot according to claim 1, is characterized in that: the workflow of the described integrated flight control system of microminiature flying robot, specific as follows:
(1) in each execution cycle, miniature central processing module receives the information that intelligent early-warning module transmits, and judges that whether the work of system is normal according to the information received;
(2) if the information that intelligent early-warning module transmits shows that system is not in normal condition, miniature central processing module sends mis-information and flying quality to data memory module, makes data memory can record corresponding error source and flying quality;
(3) if the information that intelligent early-warning module transmits shows that system is in normal working, then miniature central processing module runs integrated guidance and gesture stability algorithm, draws the instruction that should send driver module to;
(4) instruction that should send driver module to that computing obtains by miniature central processing module sends driver module to, driver module, according to motor corresponding in the order-driven microminiature flying robot received and steering wheel, controls the running of microminiature flying robot;
(5) miniature central processing module sends the data in integrated guidance and control algorithm and director data to data memory module, is stored by the flying quality of correspondence.
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