CN103744430A - Flight control method of small unmanned helicopter - Google Patents

Flight control method of small unmanned helicopter Download PDF

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Publication number
CN103744430A
CN103744430A CN201410011057.1A CN201410011057A CN103744430A CN 103744430 A CN103744430 A CN 103744430A CN 201410011057 A CN201410011057 A CN 201410011057A CN 103744430 A CN103744430 A CN 103744430A
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flight
control
depopulated helicopter
value
plate
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CN103744430B (en
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曾勇
童霏
冯霄军
龚军
汪学文
潘桂琴
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SHANDONG INTELLIGENT OPTICAL COMMUNICATION DEVELOPMENT Co Ltd
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SHANDONG INTELLIGENT OPTICAL COMMUNICATION DEVELOPMENT Co Ltd
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Abstract

The invention discloses a flight control method of a small unmanned helicopter. According to the method, a flight execution unit, a state sensor unit, a parachute unit, a flight control unit, a ground control terminal and a remote controller unit are adopted, so that the effects of obstacle-avoidance flight, water-surface-avoidance landing, self-adaptive flight attitude control, power monitoring, automatic parachute opening in case of engine stop, flight control through a flight control panel, flight path generation through a signal panel and the like can be achieved. The flight control method of the small unmanned helicopter has the advantages that the self-adaptive obstacle-avoidance flight capacity of the small unmanned helicopter can be improved; the small unmanned helicopter can operate in a beyond visual range according to a preset instruction, can slowly land by using a parachute in an emergency of the engine stop in the air, is protected from being damaged, and can automatically avoid a water surface during landing.

Description

A kind of small-sized depopulated helicopter flight control method
Technical field
The invention belongs to the control technology of aircraft, particularly a kind of small-sized depopulated helicopter flight control method.
Background technology
Along with the development of adaptive control technology, depopulated helicopter Self-adaptive flight has launched research widely all over the world, and depopulated helicopter has the not available a lot of advantages of unmanned fixed wing aircraft, has unique flying quality and use value.At military aspect, depopulated helicopter can be carried out various non-lethal tasks, can carry out again the lethal task of various soft or hards, comprises scouting, supervision, target acquisition, bait, attack, communication repeating etc.; Aspect civilian, depopulated helicopter taking photo by plane, the aspect such as atmospheric surveillance, traffic monitoring, resource exploration, electric inspection process, forest fire protection, agricultural is with a wide range of applications.
Depopulated helicopter flight control system is typical non-linear a, strong coupling, multivariate, multi-drive system, flight attitude, heading, flying height, the flying speed of each variable on depopulated helicopter all has impact, and the stability boundaris of depopulated helicopter flight control system is along with flying condition changes and generation change very greatly.Depopulated helicopter will be realized self-adaptation and keep away barrier flight, the state of flight of need to sampling information, the variable of depopulated helicopter sampling has: laser range sensor, CCD photographed images processing unit, ultrasonic sensor, orientation/pitching/rolling angle rate sensor, pitching/roll angular transducer, electronic compass, GPS, altitude gauge, fuel-quantity transducer, engine cylinder temperature sensor, tachogenerator.Due to the nonlinear effect (Flight Acceleration, gust disturbance, temperature variation, change of atmospheric pressure etc. all can make the output of sensor produce non-linear) of the sensor, depopulated helicopter flies to control software and wants the non-linear of processes sensor, obtain correct flight parameter value, complete self-adaptation and keep away barrier flight.
At present, large-scale depopulated helicopter adopts optical fibre gyro composition strapdown inertial navitation system (SINS), adopts the existing ripe scheme of microwave radar detecting obstacles thing, but it is high to realize cost, Heavy Weight, little in the upper application prospect of small-sized depopulated helicopter (load is at 40-50Kg, and the flight time is at 4-5 hour).At present, small-sized depopulated helicopter has obtained more and more widely application, and various independent flight control systems are occur also more, but realize the flight control system that self-adaptation keeps away barrier flight and independently keep away water landing, does not also occur.
Summary of the invention
The object of the present invention is to provide a kind of small-sized depopulated helicopter flight control method; can improve the self-adaptation of small-sized depopulated helicopter and keep away barrier flight performance; can be according to prepositioned instruction work within the scope of over the horizon; and can utilize parachute slowly to land prominent when flame-out in meeting engine air; protection depopulated helicopter is not damaged, can automatically avoid drop in water surface when landing simultaneously.
The technical solution that realizes the object of the invention is: a kind of small-sized depopulated helicopter flight control method, by small-sized depopulated helicopter flight control method, realize flight control procedure, comprise flight performance element, state sensor unit, parachute unit, flight control module, ground control terminal and remote control unit, flight performance element comprises lifting steering wheel, port aileron steering wheel, starboard aileron steering wheel, tail actuator, throttle steering wheel, offside tank, engine, steering wheel battery; State sensor unit comprises laser range sensor, CCD camera, graphics processing unit, ultrasonic distance-measuring sensor, position angle rate sensor, pitch rate sensor, rolling angle rate sensor, pitching/roll angular transducer, electronic compass, GPS, altitude gauge, tachogenerator, fuel-quantity transducer, cylinder temperature sensor; Parachute unit is comprised of parachute box; Flight control module comprise fly to control plate, fly to control plate bluetooth module, signal plate, data radio station, remote-control receiver and control battery;
After the control terminal power switch of the closed ground of depopulated helicopter operator, the flight path destination parameter of depopulated helicopter is set on the electronic chart display interface of ground control terminal; By ground data radio station, all flight path destination parameters are transferred to data radio station on depopulated helicopter; Data radio station is connected with signal plate, and the flight path destination parameter that signal plate sends ground control terminal is stored in flight parameter unit; Signal plate timing is counted as each destination longitude, latitude solution take the positive north of geography as 0 °, and------north, south---west---is the flight course angle H of 0 °～360 ° in east in north aand be stored in flight parameter unit, signal plate timing sampling GPS, altitude gauge, obtain depopulated helicopter longitude, latitude and obtain the destination sequence number of depopulated helicopter, according to the value of GPS, altitude gauge, obtains the height of depopulated helicopter and the difference △ H of destination height; Fly to control plate timing and obtain flight path destination parameter from signal plate; Fly to control plate timing sampling position angle rate sensor, pitch rate sensor, rolling angle rate sensor values and sampled value integration is added up and obtains flight azimuth S a, flight angle of pitch S e, flight roll angle S r, by flight azimuth S awhether relatively obtain depopulated helicopter with flight course angle HA and go off course, angle of pitch S will fly e, flight roll angle S rrelatively obtain whether trim, inclination of depopulated helicopter with state of flight, according to △ H determine depopulated helicopter climb right/or decline, fly to control plate control port aileron steering wheel, starboard aileron steering wheel, lifting steering wheel, tail actuator action, depopulated helicopter is flown by destination track, judge whether orientation/pitching/rolling angle rate sensor has output simultaneously, control lifting/left/right aileron/tail actuator and rotate a low-angle to the reverse direction of orientation/pitching/rolling angle rate sensor, make depopulated helicopter fuselage keep balance not rock, do not shake; Fly to control plate timing sampling pitching/roll angular transducer, when judging depopulated helicopter fuselage balance, the integrated value S of the value of utilizing pitching/roll angular transducer, electronic compass to azimuth rate sensor, pitch rate sensor, roll rate sensor a, S e, S rcarry out " zero clearing ", make S a=electronic compass output valve, S e/ S r=pitching/roll angle sensor output value; Make the integrated value of above-mentioned three angular rate sensors truly reflect flight azimuth, the flight angle of pitch, the flight roll angle of depopulated helicopter, depopulated helicopter is when forward flight, fly to control plate timing sampling laser range sensor, CCD camera, judge that whether flight front has barrier, keeps away barrier flight if flight front has barrier to carry out; Depopulated helicopter, when descending flight, flies to control plate timing sampling laser range sensor, ultrasonic distance-measuring sensor, judges whether depopulated helicopter below is the water surface, if depopulated helicopter below is the water surface, carries out and keeps away drop in water surface flight; Fly to control plate timing sampling tachogenerator, judge whether coaster does not turn engine, once detect, confirm to stall, interrupt request singal plate obtains the height value of depopulated helicopter, if depopulated helicopter is below setting value, control flies to control plate bluetooth module and sends parachute-opening instruction, in parachute box, umbrella bluetooth module is received parachute-opening instruction, controlling the electromagnetic lock lid plate that releases a parachute makes outside extractor parachute and main chute ejection parachute box, force depopulated helicopter slowly to decline, safety while guaranteeing that depopulated helicopter lands; Signal plate timing sampling fuel-quantity transducer, whether oil amount determination supports that depopulated helicopter makes a return voyage, if oil mass arrive critical value interrupt request fly to control plate and make the depopulated helicopter flight of making a return voyage; Signal plate timing sampling cylinder temperature sensor, judges that whether engine cylinder temperature is normal, if confirm, cylinder temperature exceedes critical value, and interrupt request flies to control plate and makes depopulated helicopter landing; Fly to control plate timing depopulated helicopter attitude parameter is transferred to signal plate by 232 serial ports; Plate transfers to the attitude parameter of depopulated helicopter and depopulated helicopter height, longitude, latitude, oil mass, cylinder temperature parameter transfers to ground control terminal by data radio station, ground data radio station, and show above-mentioned parameter on the electronic chart display interface of ground control terminal by flying to control for signal plate timing; Depopulated helicopter operator, modifies to the flight path destination parameter of depopulated helicopter by ground control terminal in the effective communication distance of data radio station, ground data radio station, and depopulated helicopter is flown by new flight path; Operator in the effective range of remote-control receiver, to the state of flight of depopulated helicopter automatically/remote control switches.
The present invention compared with prior art; its remarkable advantage: (1) fly to control multiple functional, safeguard measure is perfect, the functions such as the present invention collects that automatic flight, attitude control, automatic obstacle-avoiding, landing keep away that the water surface, oil mass calculate, operation in the control terminal electronic map interface of ground, parachute protection, the protection of cylinder temperature.(2) " inertial navigation " of the present invention combination adopts cheap GPS, reluctance type electronic compass, analog altimeter, MEMS orientation/pitching/rolling angle rate sensor and MEMS pitching/roll angular transducer composition, utilize the method for software correction to eliminate the error of angular speed integration, make angular speed integrated value equal Live Flying angle value, make it reach depopulated helicopter self-adaptation and fly the requirement of controlling.(3) the present invention flight keeps away and falls employing laser sensor+CCD processing of making a video recording, and reliability is high.(4) the present invention adopts orientation/pitching/roll tri-axis angular rate sensor to form negative feedback stable loop, and (20ms interval) controls lifting/left/right aileron/tail actuator in real time, makes depopulated helicopter fuselage keep balance, does not shake, and does not rock.(5) parachute safeguard measure of the present invention makes user to using the flight of depopulated helicopter self-adaptation over the horizon more self-confident.(6) practical, the present invention can be under-25 ℃～+ 55 ℃ environment temperatures, in 3500 meters of height above sea level, and with the difference of depopulated helicopter type, 40～50 kilograms of portability load (video camera, microwave relay station etc.), normally work long-time (4～5 hours).(7) simple to operate, when the present invention operates, only need in the control terminal display screen electronic map interface of ground, with mouse, click flight path and can automatically generate flight directive.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the scheme of installation of small-sized depopulated helicopter flight control system of the present invention.
Fig. 2 is laser range sensor and CCD camera carrier structure schematic diagram.
Fig. 3 is that flight keeps away barrier program flow diagram.
Fig. 4 is that landing keeps away water surface program flow diagram.
Fig. 5 is flight attitude adaptive control program flow diagram.
Fig. 6 is depopulated helicopter core shaft structure schematic diagram.
Fig. 7 is parachute box structural representation.
Fig. 8 is deployment schematic diagram.
Fig. 9 is fuel-quantity transducer scheme of installation.
Figure 10 flies to control plate electricity principle assumption diagram.
Figure 11 flies to control plate program flow diagram.
Figure 12 is signal plate electricity principle assumption diagram.
Figure 13 is signal plate program flow diagram.
Figure 14 is ground control terminal running program process flow diagram.
Embodiment
In conjunction with Fig. 1, small-sized depopulated helicopter flight control method of the present invention, by small-sized depopulated helicopter flight control system, realize, this small-sized depopulated helicopter flight control system comprises flight performance element, state sensor unit, parachute unit, flight control module, terrestrial contr, and flight performance element comprises lifting steering wheel 17-1, port aileron steering wheel 17-2, starboard aileron steering wheel 17-3, tail actuator 17-4, throttle steering wheel 17-5, offside tank 25, engine 26, steering wheel battery 18-2; State sensor unit comprises laser range sensor 1, CCD camera 2, graphics processing unit 2-1, ultrasonic distance-measuring sensor 3, position angle rate sensor 5-1, pitch rate sensor 5-2, rolling angle rate sensor 5-3, pitching/roll angular transducer 6, electronic compass 7, GPS8, altitude gauge 9, tachogenerator 14, fuel-quantity transducer 15, cylinder temperature sensor 16; Parachute unit is comprised of parachute box 4; Flight control module comprise fly to control plate 10, fly to control plate bluetooth module 10-1, signal plate 11, data radio station 12, remote-control receiver 13 and control battery 18-1; Bracket 21, data radio station 12 are arranged on the front portion of depopulated helicopter trunk skeleton 22, fly to control box 24, offside tank 25, engine 26 and be arranged on the middle part of trunk skeleton 22, ultrasonic distance-measuring sensor 3 is arranged on the postmedian of trunk skeleton 22, it is popped one's head in down, electronic compass 7, GPS8 are arranged on the rear portion of trunk skeleton 22, parachute box 4 is arranged on directly over one end of depopulated helicopter mandrel 23, and the other end of depopulated helicopter mandrel 23 is connected with trunk skeleton 22; Laser range sensor 1, CCD camera 2 are arranged on bracket 21; Position angle rate sensor 5-1, pitch rate sensor 5-2, rolling angle rate sensor 5-3, fly to control plate bluetooth module 10-1 and be welded on respectively and fly to control on plate 10, altitude gauge 9 is welded on signal plate 11; Graphics processing unit 2-1, remote-control receiver 13, fly to control plate 10, signal plate 11, pitching/roll angular transducer 6, control battery 18-1, steering wheel battery 18-2 and be arranged on and fly to control in box 24; Fuel-quantity transducer 15 is arranged on the side of offside tank 25; Cylinder temperature sensor 16 is arranged on engine 26 shells; Tachogenerator probe 14-1 is arranged on engine shaft 27, and tachogenerator 14 is arranged on engine 26 shells; The direction identical with helicopter head direction is left, port aileron steering wheel 17-2, starboard aileron steering wheel 17-3 are arranged on the both sides, front and back of depopulated helicopter main shaft 23-2, lifting steering wheel 17-1 is arranged on the left or right side of depopulated helicopter main shaft 23-2, tail actuator 17-4 is arranged on depopulated helicopter afterbody, and it is other that throttle steering wheel 17-5 is arranged on engine 26; Depopulated helicopter main shaft 23-2 is connected with wing 23-3, and depopulated helicopter mandrel 23 is connected with depopulated helicopter main shaft 23-2 by bearing 23-1, as shown in Figure 6.Terrestrial contr is comprised of ground control terminal 19 and telepilot 20.
It is as follows that small-sized depopulated helicopter flight control method of the present invention is realized flight control procedure: after control terminal 19 power switches of the closed ground of depopulated helicopter operator, utilize mouse that the flight path destination parameter (as longitude, latitude, flying height, the time of whether hovering/hover time, whether spiral/spiral, whether make a return voyage or land) of depopulated helicopter is set on the electronic chart display interface of ground control terminal 19, support altogether 100 destinations (can choose as required), by ground data radio station 19-1, all flight path destination parameters are transferred to data radio station 12 on depopulated helicopter, data radio station 12 is connected with signal plate 11, and the flight path destination parameter that signal plate 11 sends ground control terminal 19 is stored in flight parameter unit, signal plate 11 timings are counted as each destination longitude, latitude solution take the positive north of geography as 0 °, and------north, south---west---is the flight course angle H of 0 °～360 ° in east in north aand be stored in flight parameter unit, signal plate 11 timing sampling GPS8, altitude gauge 9, obtain depopulated helicopter longitude, latitude and obtain the destination sequence number of depopulated helicopter, according to the value of GPS8, altitude gauge 9, obtains the height of depopulated helicopter and the difference △ H of destination height, fly to control plate 10 timings and obtain flight path destination parameter (as course angle H from signal plate 11 a, height difference △ H, the time of whether hovering/hover time, whether spiral/spiral, whether make a return voyage, whether land), fly to control plate 10 timing (as 20-30ms) sampling side parallactic angle rate sensor 5-1, pitch rate sensor 5-2, rolling angle rate sensor 5-3 value and sampled value integration is added up and obtains flight azimuth S a, flight angle of pitch S e, flight roll angle S r, by flight azimuth S awhether relatively obtain depopulated helicopter with flight course angle HA and go off course, angle of pitch S will fly e, flight roll angle S rrelatively obtain whether trim of depopulated helicopter with state of flight, roll, according to △ H determine depopulated helicopter climb right/or decline, fly to control plate 10 and control port aileron steering wheel 17-2, starboard aileron steering wheel 17-3, lifting steering wheel 17-1, tail actuator 17-4 action, depopulated helicopter is flown by destination track, judge orientation/pitching/rolling angle rate sensor 5-1 simultaneously, 5-2, whether 5-3 has output, control lifting/left/right aileron/tail actuator 17-1, 17-2, 17-3, 17-4 is to orientation/pitching/rolling angle rate sensor 5-1, 5-2, the reverse direction of 5-3 is rotated a low-angle, make depopulated helicopter fuselage keep balance not rock, do not shake, fly to control plate 10 timing (as 2-5 second) sampling pitching/roll angular transducer 6, when judging depopulated helicopter fuselage balance, the integrated value S of the value of utilizing pitching/roll angular transducer 6, electronic compass 7 to azimuth rate sensor 5-1, pitch rate sensor 5-2, roll rate sensor 5-3 a, S e, S rcarry out " zero clearing " (even S a=electronic compass output valve, S e/ S r=pitching/roll angle sensor output value), make the integrated value of above-mentioned three angular rate sensors truly reflect flight azimuth, the flight angle of pitch, the flight roll angle of depopulated helicopter, depopulated helicopter is when forward flight, fly to control plate 10 timing sampling laser range sensors 1, CCD camera 2, judge that whether flight front has barrier, keeps away barrier flight if flight front has barrier to carry out, depopulated helicopter, when descending flight, flies to control plate 10 timing sampling laser range sensors 1, ultrasonic distance-measuring sensor 3, judges whether depopulated helicopter below is the water surface, if depopulated helicopter below is the water surface, carries out and keeps away drop in water surface flight, fly to control plate 10 timing sampling tachogenerators 14, judge whether coaster does not turn engine 26, once detect, confirm engine 26 stalls, interrupt request singal plate 11 obtains the height value of depopulated helicopter, if depopulated helicopter is below setting value (as 300 meters), control flies to control plate bluetooth module 10-1 and sends parachute-opening instruction, the interior umbrella bluetooth module of parachute box 4 4-2 receives parachute-opening instruction, controlling the electromagnetic lock 4-11 lid plate 4-9 that releases a parachute makes outside extractor parachute 4-7 and main chute 4-8 ejection parachute box, force depopulated helicopter slowly to decline, safety while guaranteeing that depopulated helicopter lands, signal plate 11 timing sampling fuel-quantity transducers, whether oil amount determination supports that depopulated helicopter makes a return voyage, if oil mass arrive critical value interrupt request fly to control plate 10 and make the depopulated helicopter flight of making a return voyage, signal plate 11 timing sampling cylinder temperature sensors 16, judge that whether engine cylinder temperature is normal, if confirm, cylinder temperature exceedes critical value, and interrupt request flies to control plate 10 and makes depopulated helicopter landing, fly to control plate 10 timing depopulated helicopter attitude parameter (as flight azimuth, the flight angle of pitch, flight roll angle, engine speed, whether keep away barrier flight, whether keep away water landing, whether parachute-opening) is transferred to signal plate 11 by 232 serial ports, by flying to control, plate 10 transfers to the attitude parameter of depopulated helicopter and depopulated helicopter height, longitude, latitude, oil mass, cylinder temperature parameter transfers to ground control terminal 19 by data radio station 12, ground data radio station 19-1, and show above-mentioned parameter on the electronic chart display interface of ground control terminal 19 in signal plate 11 timing, depopulated helicopter operator, can modify to the flight path destination parameter of depopulated helicopter by ground control terminal 19 in the effective communication distance of data radio station 12, ground data radio station 19-1, and depopulated helicopter is flown by new flight path, operator, in the effective range of remote-control receiver 13, can be switched in/remote control automatic to the state of flight of depopulated helicopter.
In conjunction with Fig. 2, in small-sized depopulated helicopter flight control method of the present invention, the direction identical with helicopter head direction is left, bracket 21 left surfaces are installed a bracket gear 21-1, bracket 21 right flanks are installed a plectane 21-2, the center of bracket gear 21-1 embeds clutch shaft bearing 21-31, the center of plectane 21-2 embeds the second bearing 21-32, first, two axle 21-41, 21-42 insert separately first, two bearing 21-31, in 21-32, two axle 21-41, 21-42 is separately fixed at the front portion of trunk skeleton 22, bracket steering wheel 21-5 is fixed on the front portion of trunk skeleton 22, the steering wheel gear 21-6 that a number of teeth is identical with the bracket gear 21-1 number of teeth is installed on bracket steering wheel 21-5 axle, bracket gear 21-1 and steering wheel gear 21-6 intermesh, bracket steering wheel 21-5 is flown to control plate 10 and is controlled, bracket 21 is consistent with heading 0 ° of position, directly over fuselage, be+90 °, under fuselage, be-90 °.
In conjunction with Fig. 7 and Fig. 8, the parachute box 4 of small-sized depopulated helicopter flight control method of the present invention be fixed on depopulated helicopter mandrel 23 directly over, umbrella battery 4-1, umbrella bluetooth module 4-2 is arranged on the bottom of parachute box 4, a spring backing plate 4-3 is installed above umbrella battery 4-1, umbrella spring 4-4 is fixed on spring backing plate 4-3 top, a umbrella backing plate 4-5 is fixed in umbrella spring top, umbrella power switch 4-6 is fixed on the outer wall below of parachute box 4, extractor parachute 4-7 is connected with nylon rope with main chute 4-8, main chute 4-8 is connected with parachute box 4 inwalls with nylon rope, extractor parachute 4-7, after main chute 4-8 is folding, be placed on the top of umbrella backing plate 4-5, parachute lid plate 4-9 is connected with parachute box 4 upper wall edges with lid spring 4-10, electromagnetic lock 4-11 is fixed on parachute lid plate 4-9 inwall, electromagnetic lock 4-11 is controlled by umbrella bluetooth module 4-2, electromagnetic lock snap close 4-12 is fixed on the upper wall edge of parachute box 4, the dead bolt 4-13 of electromagnetic lock 4-11 inserts in electromagnetic lock snap close 4-12, during electromagnetic lock 4-11 adhesive, dead bolt 4-13 extracts from snap close 4-12.
In conjunction with Fig. 9, the fuel-quantity transducer 15 of small-sized depopulated helicopter flight control method of the present invention is fixed on offside tank 25 outsides, and offside tank 25 bottom side are communicated with fuel-quantity transducer 15 with a flexible pipe, fuel-quantity transducer 15 with fly to control plate 10 and be connected.
In conjunction with Figure 10, the flying of small-sized depopulated helicopter flight control method of the present invention controlled plate 10 and comprised an ARM single-chip microcomputer, pulse shaping circuit, amplifying circuit of analog signal, hand/automatic switch-over circuit, serial communication modular, servo driving circuit and power management module.Flying to control plate bluetooth module 10-1, laser range sensor 1, CCD image pickup processing unit 2-1, electronic compass 7, signal plate 11 is connected with the corresponding serial ports of an ARM single-chip microcomputer by serial communication modular respectively; Ultrasonic distance-measuring sensor 3, pitching/roll angular transducer 6, position angle rate sensor 5-1, pitch rate sensor 5-2, rolling angle rate sensor 5-3 are connected with the corresponding A/D interface of an ARM single-chip microcomputer by amplifying circuit of analog signal respectively for simulating mouth; Remote-control receiver 13 is connected with pulse shaping circuit, hand/automatic switch-over circuit respectively, and tachogenerator 14 is connected with the pulse capture interface of an ARM single-chip microcomputer by this pulse shaping circuit; The PWM mouth of the one ARM single-chip microcomputer is connected with hand/automatic switch-over circuit; Lifting steering wheel 17-1, port aileron steering wheel 17-2, starboard aileron steering wheel 17-3, tail actuator 17-4, throttle steering wheel 17-5, bracket steering wheel 21-5 are connected with servo driving circuit respectively, and this servo driving circuit is connected with hand/automatic switch-over circuit; Control battery 18-1, steering wheel battery 18-2 and be connected with power management module, this power management module is given flight performance element, the power supply of state sensor unit.
In conjunction with Figure 12, the signal plate 11 of small-sized depopulated helicopter flight control method of the present invention comprises the 2nd ARM single-chip microcomputer, serial communication modular, amplifying circuit of analog signal.GPS8, fuel-quantity transducer 15, data radio station 12, fly to control plate 10 and by serial communication modular, be connected with the corresponding serial ports of the 2nd ARM single-chip microcomputer respectively, cylinder temperature sensor 16 is connected with the 2nd ARM Chip Microcomputer A/D mouth by amplifying circuit of analog signal, and altitude gauge 9 is connected with the 2nd ARM single-chip microcomputer I2C mouth.
The flight performance element control of small-sized depopulated helicopter flight control method of the present invention is climbed, decline, constant speed flight, hovering, coiling action, climb/down maneuver: fly to control plate 10 by PWM mouth output port aileron steering wheel 17-2, starboard aileron steering wheel 17-3, tail actuator 17-4, the lifting steering wheel 17-1 angle definite value pulse-width modulation waveform value of an ARM singlechip CPU, this waveform values acts on respectively port aileron steering wheel 17-2, starboard aileron steering wheel 17-3, tail actuator 17-4, lifting steering wheel 17-1 after overdrive circuit amplifies.Control port aileron steering wheel 17-2, starboard aileron steering wheel 17-3 and produce balanced thrust force up or down; Controlling tail actuator 17-4 does not swing depopulated helicopter; Control lifting steering wheel 17-1 and make 30 ° or 30 ° of depopulated helicopter heads upward down, produce rising thrust or decline thrust, depopulated helicopter is climbed or descending flight.
Constant speed flare maneuver: fly to control the same output angle definite value of plate 10 and act on port aileron steering wheel 17-2, starboard aileron steering wheel 17-3 and make it to produce balanced thrust force forward or backward; Act on tail actuator 17-4, control depopulated helicopter and do not swing; Act on lifting steering wheel 17-1 and make 10 ° or 10 ° of depopulated helicopter heads down upward, produce thrust forward or backward; Act on throttle steering wheel 17-5 and make control of engine speed at 8000 revs/min, depopulated helicopter constant speed is flown forward or backward.
Hovering action: fly to control that the same output angle definite value of plate 10 acts on port aileron steering wheel 17-2, starboard aileron steering wheel 17-3, lifting steering wheel 17-1 makes it to produce balance force control depopulated helicopter and keeps fuselage not rock; Act on tail actuator 17-4 control depopulated helicopter protection head and do not swing, depopulated helicopter is hovered motionless aloft.
The outstanding action of dish: fly to control the same output angle definite value of plate 10 and act on port aileron steering wheel 17-2, starboard aileron steering wheel 17-3 and make it to produce 10 ° of (spiraling clockwise) or left-leaning 10 ° (spiraling counterclockwise) balanced thrust forces forward or backward of Right deviation; Act on lifting steering wheel 17-1 and make 10 ° of depopulated helicopter heads down, produce thrust forward, act on tail actuator 17-4 and make head right avertence or left avertence (depopulated helicopter spiral diameter depend on the angle of head right avertence or left avertence); Act on throttle steering wheel 17-5 and make control of engine speed at 8000 revs/min, make depopulated helicopter clockwise or rotate counterclockwise clockwise aloft:---north, south---west---, east.
In conjunction with Fig. 3, the state sensor unit of small-sized depopulated helicopter flight control method of the present invention is realized self-adaptation and is kept away the process of barrier and be: laser range sensor 1 and CCD camera 2 are arranged on respectively on left and right of bracket 21.In flight course, bracket 21 is in 0 ° of position (identical with heading):
1. fly to control the signal of plate timing sampling laser range sensor 1 and CCD image pickup processing unit 2-1, once find that there is barrier in flight front in 70 meters, interrupt request singal plate 11CPU, there is barrier in notice flight front, controls depopulated helicopter hovering;
2. control bracket 21 to go to+85 ° of positions (at body upper), survey body upper (in 70 meters) and whether have barrier, if clear, control depopulated helicopter rising interrupt request singal plate 11CPU and obtain hovering after flying height (approximately 50 meters), then control bracket 21 and go to 0 ° of position, surveying head front has clear, if clear, interrupt request singal plate 11 notice flight front clears, depopulated helicopter continues flight forward, if there is barrier to repeat 2. process;
If 3. survey body upper, there is barrier, control bracket 21 and go to 0 ° of position, control 90 ° of depopulated helicopter hovering right-hand rotations (sampling electronic compass 7 obtains steering angle), survey head front and whether have barrier, if clear, control depopulated helicopter moves ahead, and safe distance (as 100 meters) is rear to hover 90 °, repeats 1. process;
4. in 3. process, if survey head front, there is barrier, control depopulated helicopter hovering and turn left 180 °, survey head front and whether have barrier, if clear, controls the depopulated helicopter hovering after safe distance (as 100 meters) that moves ahead and turn right 90 °, repeat 1. process;
5. in 4. process, if survey head front, have barrier, control depopulated helicopter hovering and turn right 90 °, then hovering after flight safety distance (as 50 meters) backward, repeats 2. process.
The principle that the state sensor unit realization landing of small-sized depopulated helicopter flight control method of the present invention keeps away the water surface is: laser beam is injected the water surface and can be refracted in water, its echo distance very weak or reflection echo is greater than its actual range from underwater reflection ultrasound wave, inject the water surface after most of energy reflect, its distance being reflected back equals actual distance substantially, utilize the reflection characteristics of these two distance measuring sensors to the water surface, just can judge the whether water surface of tested surface, landing keeps away the method that the water surface adopts laser range sensor value and ultrasonic distance-measuring sensor value to compare, unmanned plane below is the basis for estimation of the water surface: L super-L swash>K fall, L swash=laser ranging output valve, L super=ultrasonic ranging output valve, K fall=1 meter (selected in experimentation).
In conjunction with Fig. 4, the present invention's landing keeps away water surface process and is: depopulated helicopter is in decline process, laser range sensor 1 pop one's head in-85 ° of positions (probe downwards), fly to control the signal of plate 10 timing sampling ultrasonic distance-measuring sensors 3 and laser range sensor 1, if adopt the value less than ultrasonic range finder sensor 3, depopulated helicopter declines always, once sampling obtains the echoed signal L of ultrasonic distance-measuring sensor 3 super, at once with the signal L of the echo of laser range sensor 1 swashcontrast, if L super-L swash< K fall(K fall=1 meter), control depopulated helicopter landing, at L superduring <10cm, kill engine, depopulated helicopter landing; If L super-L swash>K fallthe hovering of control depopulated helicopter, make go to+85 ° of positions of bracket 21, survey body upper and have clear, if hover after reaching safe distance (as 30 meters) on clear control depopulated helicopter, make bracket 21 go to 0 ° of position, survey fuselage front and have clear, if clear control depopulated helicopter constant speed forward flight safety distance (as the distance of 100 meters, flying speed is definite value, flight time determine flying distance) after hovering make support 21 go to-85 ° of positions, control depopulated helicopter decline repeat said process.
The principle that attitude adjustment is realized in the state sensor unit of small-sized depopulated helicopter flight control method of the present invention is: the CPU+ lifting steering wheel 17-1/ port aileron steering wheel 17-2/ starboard aileron steering wheel 17-3/ tail actuator 17-4 composition depopulated helicopter attitude that electronic compass 7+ orientation/pitching/rolling angle rate sensor 5-1,5-2,5-3+ pitching/roll angular transducer 6+ fly to control on plate 10 is adjusted control loop.The present invention adopts lightweight, cheap reluctance type electronic compass, MEMS angular rate sensor, MEMS angular transducer, and does not adopt Heavy Weight, optical fibre gyro that price is high.But reluctance type electronic compass turns to flight or flying speed when fast at depopulated helicopter, can not export in real time and refer to north value, when speed stabilizing rectilinear flight slowly, its value is believable; MEMS angular transducer is affected by gravity when having fuselage shake in acceleration situation, wind-force interference, turning, speed change flight, and its angle value is inaccurate, and when slow speed stabilizing flight, its value is believable; MEMS angular rate sensor is because temperature influence exists zero drift, the cumulative angle value obtaining of its long-time integration is inaccurate, but MEMS angular rate sensor is when having acceleration or having interference, in its integral accumulation short time, be believable, if constantly with actual value to MEMS angular rate sensor integral accumulation " zero clearing " (making integral accumulation=actual value), at different operating temperature, to have MEMS angular rate sensor integral accumulation while flying under acceleration or noisy condition be believable.
In conjunction with Fig. 5, the process that attitude adjustment is realized in state sensor of the present invention unit is: after flying to control plate 10 and powering up, 1. the cycle that arranges is that 20-50ms(can choose and adjust according to actual conditions) integration timer and 3-6 timer second, timing 20-50ms sampling orientation/pitching/rolling angle rate sensor values, and the cumulative orientation/pitching/roll flight angle value that obtains of integration 20-50ms, if when monitoring orientation/pitching/rolling angle rate value changing 1.5 ° of < within a period of time (as 2-5 second), can think that now depopulated helicopter is in stable state, and electronic compass value 7, MEMS pitching/roll angular transducer 6 values are real, make orientation flight angle value S athe value P of=electronic compass 7 a, pitching/roll flight angle value S e/ S rthe value P of=MEMS pitching/roll angular transducer 6 e/ P r, realize integral accumulation " zero clearing ", so constantly " zero clearing " thus obtain the true bearing angle S of depopulated helicopter a, luffing angle S e, roll angle S r,
2. timing (as 3-6 second) interrupt request singal plate 11 obtains state of flight (as advance, retreat, hover, spiral), flight course angle H athe difference in height of (just flying as 0 ° take the earth, all directions clockwise angle increases) and flying height poor △ H(depopulated helicopter and destination track);
3. timing (20-50ms) is by Azimuth integration value S awith flight course angle H acompare, if △ is S=|S a-H a| >1 0control tail actuator 17-4 and make the reverse deflection △ of head S angle, make depopulated helicopter all the time along flight path H aflight; If △ is S<1, detection orientation angular rate sensor 5-1 has no-output, if position angle rate sensor 5-1 has output, control tail actuator 17-4 and the reverse low-angle of position angle rate sensor 5-1 value, so constantly sampling side parallactic angle rate sensor 5-1 value is controlled tail actuator 17-4, flight angle in orientation is equated, course balance while reaching flight with track course heading, eliminate head simultaneously and rock, realize on " lock tail ";
4. timing 20-50ms judges S according to state of flight rvalue (as the S that advances, retreats, hovers r=0, the S that spirals clockwise r=10 °, counterclockwise S r=-10 °), if S rbe not inconsistent with state of flight value, control left/right aileron steering wheel, make S rconform to state of flight value, if S rconform to state of flight, detecting rolling angle rate sensor 5-3 value has no-output, if there is output, controls left/right aileron steering wheel and makes fuselage and the reverse low-angle of rolling angle rate sensor 15-3;
5. timing (as 3-6 second) judges whether △ H is less than safe distance value, as 30 meters, if △ H>30 rice, control elevating rudder 17-1 make head raise 30 ° or reduce by 30 °, depopulated helicopter is climbed in the other direction by △ H or drop to course trajectory height (△ H=± 30 meter) if △ H<30 rice, regularly (20-50ms) judges S according to state of flight evalue (as the S that advances, spirals e=-10 °, retreat S e=10 °, hovering S e=0 °), if S ebe not inconsistent with state of flight, control lifting steering wheel 17-1 and make S evalue conforms to state of flight, if S econform to, detect pitch sensor 5-2 value and whether have output, if there is output, control lifting steering wheel and make head and the reverse low-angle of pitch rate sensor 5-2 value, so constantly sampling pitching/rolling angle rate sensor values 5-2,5-3 make unmanned helicopter flight height conform to flight path, control lifting/left and right aileron steering wheel 17-1,17-2,17-3 simultaneously, pitching/roll flight angle is equated with pitching/roll angle of state of flight, fuselage balance while simultaneously making unmanned helicopter flight, eliminates fuselage shake.
In conjunction with Fig. 9, the process that dynamic monitoring is realized in the state sensor unit of small-sized depopulated helicopter flight control method of the present invention is: fuel-quantity transducer 15+ cylinder temperature sensor 16 forms depopulated helicopter dynamic monitoring loop, after signal plate 11 powers up, regularly (as 3-6 second) sampling fuel-quantity transducer value 15 and cylinder temperature sensor 16 are worth and calculate return oil mass value, and formula is:
Figure BDA0000455090270000121
(V in formula oil=oil mass value at present, V at the beginning of oiloil mass value before=flight, V oil 0minimum oil volume value during=landing).If control terminal 19 initial setting up in ground require depopulated helicopters carrying out the landing of independently making a return voyage after sequence of events, signal plate 11CPU timing (as 3-6 second) calculates current oil mass in critical oil content if the fuel-quantity transducer 15 of sampling is worth by above-mentioned formula
Figure BDA0000455090270000122
rise, interrupt notification flies to control plate 10CPU immediately, flies to control plate 10CPU and ends ongoing flight operation control tail actuator 17-4 depopulated helicopter is maked a return voyage; If initial setting up does not require depopulated helicopter independent to make a return voyage, signal plate 11CPU timing (as 3-6 second) sampling fuel-quantity transducer 15 is worth, if detect V oil≤ V oil 0time, interrupt notification flies to control plate 10CPU immediately, flies to control plate 10CPU and ends ongoing flight operation control lifting steering wheel 17-1 and make depopulated helicopter landing; If signal plate 11CPU sampling cylinder temperature sensor 16 is worth V cylinder> cylinder temperature ultimate value V cylinder max, interrupt notification flies to control plate 10CPU immediately, flies to control plate 10CPU control lifting steering wheel 17-1 and makes depopulated helicopter landing, to protect engine to be unlikely cause thermal damage.
In conjunction with Figure 10 and Figure 12, the process that flight altitude control is realized in the state sensor unit of small-sized depopulated helicopter flight control method of the present invention is: signal plate 11CPU timing (as 3-6 second) sampling GP8S and height evaluation, be weighted (H=0.4H by GPS8 and altitude gauge 9 values g+ 0.6H highh=depopulated helicopter height in formula, H gthe height value of=GPS output, H highthe height value of=altitude gauge output) obtain flying height value H after processing, by flying height value and preset trajectory height value H 0compare, obtain flying height difference △ H(△ H=H-H 0), signal plate 11CPU waits for while flying to control plate 10CPU interrupt request flying height difference △ H is sent to and flies to control plate 10CPU, flies to control plate 10CPU and controls lifting steering wheel 17-1, and depopulated helicopter is flown in preset altitude range.
In conjunction with Figure 10 and Figure 11, the flying of small-sized depopulated helicopter flight control method of the present invention controlled the process that plate 10 controls flight and is:
1. timing (as 20-50ms) sampling orientation/pitching/rolling angle rate sensor 5-1,5-2,5-3 value the cumulative angle S that obtains flying of integration a, S e, S r, and timing (as 2-5 second) with the electronic compass 7 of stable state be worth, pitching/roll angle 6 is worth orientation/pitching/rolling angle rate sensor 5-1,5-2,5-3 integral accumulation S a, S e, S rcarry out " zero clearing ";
2. timing (as 3-6 second) interrupt request singal plate 11CPU obtains depopulated helicopter course angle H a, difference in height △ H, obtain state of flight (as advance, retreat, hover, spiral, lifting, make a return voyage) and control tail actuator 17-4, left/right aileron steering wheel 17-2,17-3, the lifting steering wheel 17-1 angle value S that makes to fly a, S e, S rwith course angle H a, state of flight pitching, roll angle value equate, control lifting steering wheel 17-1 and make flying height equate (△ H<30 rice) with flight path height;
3. timing (as 20-50ms) utilizes orientation/pitching/rolling angle rate sensor 5-1,5-2,5-3 value to form negative feedback loop/control lifting/left and right aileron/tail actuator 17-1,17-2,17-3,17-4, makes depopulated helicopter attitude protection balance and fuselage not rock and not shake;
4. timing (as 2-5 second) sampling laser range sensor 1 and CCD photographed images processing unit 2-1 value, judge whether flight front has barrier, if having barrier to keep away to hinder, flies;
Timing while 5. declining (as 1-3 second) sampling ultrasonic sensor 3 is worth, laser range sensor 1 is worth according to the difference of two distance measurement values and judges that whether level point is the water surface, if the water surface is selected level point else, keeps away drop in water surface;
6. timing (as 2-5 second) sampling tachogenerator 14, once find that engine speed is lower than its lower limit (as 6000 revs/min), confirm that engine extinguishes, and interrupt request singal plate 10CPU obtains depopulated helicopter height, when depopulated helicopter height sends parachute-opening instruction parachute-opening instruction between 100 meters～300 meters, by flying to control plate bluetooth module 10-1 notice parachute box bluetooth module 4-2, release a parachute and make depopulated helicopter slow decreasing;
7. timing (as 2-5 second) sampling tachogenerator 14, regulates throttle steering wheel 17-5 to make engine be controlled at 8000 revs/min of left and right at Self-adaptive flight process medium speed;
8. flying to control between plate 10 and signal plate 11 adopts interrupt request mode to contact, data are transmitted by serial mode, fly to control plate 10 timing (as 3-6 second) interrupt request and obtain preset flight parameter (as course value, height difference, flight/hovering, spiral, make a return voyage, land) from signal plate 11, fly to control plate 10 simultaneously and export orientation/pitching/roll angle value S that flies a, S e, S rand flight keeps away the situation of falling to signal plate 11;
9. under remote control mode, by distant receiver 13, by ground remote control device 20 instruction control lifting steering wheel 17-1, port aileron steering wheel 17-2, starboard aileron steering wheel 17-3, tail actuator 17-4, throttle steering wheel 17-5 work.
In conjunction with Figure 12 and Figure 13, the process that the signal plate 11 of small-sized depopulated helicopter flight control method of the present invention produces flight path is:
1. signal plate 11 adopts serial communication mode with data radio station 12, depopulated helicopter is before taking off, by data radio station 12 receive ground control terminal 19 flight parameter instruction (as destination through/latitude, flying height, the time of whether hovering/hover time, whether spiral/spiral, whether make a return voyage, level point warp/latitude), and flight parameter instruction is stored in signal plate 11CPU, (CPU can store the flight parameter of 100 destinations), CPU calculates the flight course value H of depopulated helicopter according to the each destination of flight path through/latitude value a;
2. depopulated helicopter is in self-adaptation or remote state flight course, and in data radio station 12 reach, signal plate 11CPU receives the new flight parameter instruction of ground control terminal 19 and revises the flight parameter having prestored;
3. signal plate 11CPU timing (as 3-6 second) by depopulated helicopter status information (as warp/latitude, course, highly, whether hover, whether spiral, whether land, whether oil mass, engine cylinder temperature, pitching/roll flying angle, the front of flying have obstacle, engine speed) by data radio station 12, send ground control terminal 19 to;
4. signal plate 11CPU timing (as 3-6 second) sampling fuel-quantity transducer value 15 according to preset flight directive, calculating oil mass (formula is: ) whether support to make a return voyage, if oil mass alarm flies to control plate 10CPU with interrupt mode notice immediately, fly to control plate 10CPU control lifting steering wheel 17-1 or tail actuator 17-4 and make depopulated helicopter landing or make a return voyage;
5. signal plate 11CPU timing (as 3-6 second) sampling cylinder temperature sensor 16, the alarm if cylinder temperature sensor 16 values transfinite, flies to control plate 10CPU with interrupt mode notice immediately, flies to control plate 10CPU and controls lifting steering wheel 17-1, makes depopulated helicopter decline;
6. signal plate 11CPU timing (as 3-6 second) sampling GPS8 lat/longitude/height value, height of sampling meter 9 is worth, GPS8 height value 40%+ altitude gauge 9 is worth to 60% to be obtained unmanned helicopter flight height value and calculates with the default flight path height value that is stored in signal plate 11CPU, obtain depopulated helicopter height difference △ H, receiving while flying to control plate 10 interrupt request, by course angle H a, height difference △ H, whether hover, whether spiral, whether make a return voyage, whether landing information sends to and flies to control plate 10CPU;
7. signal plate 11CPU timing (as 3-6 second) interrupt request flies to control plate 10CPU, obtains orientation/pitching/roll flight angle S a, S e, S rengine speed V turnand whether meet barrier information.
In conjunction with Figure 14, ground control terminal 19 and the telepilot 20 of small-sized depopulated helicopter flight control method of the present invention form terrestrial contr, its course of work is: the built-in ground of ground control terminal 19 data radio station 19-1, (terminal software is on PC windows platform for terminal software, based on developing under Visual C++6.0 environment) embed electronic chart software, the terminal display of ground control terminal 19 shows electronic map interface:
1. operator clicks the flight path of depopulated helicopter in electronic map interface with mouse, what terminal software generated track destination automatically (controls 100 destination coordinates of software support through/latitude, can determine as required), flight parameter (as flying height, the time of whether hovering/hover time, whether spiral/spiral, whether make a return voyage, whether land) is set at each destination place, and these flight parameters are sent to data radio station 12 on depopulated helicopter by ground data radio station 19-1, data radio station 12 is transferred to signal plate 11CPU;
2. in self-adaptation or remote state flight course, in the data radio station 19-1 reach of ground, whether whether whether ground control terminal 19 can be revised flight path and new trajectory parameters is sent to signal plate 11CPU by ground data radio station 19-1, simultaneously by ground data radio station 19-1 receives and display plate 11CPU transmits unmanned helicopter flight status information (as warp/latitude, highly, hover, spiral, land, oil mass, whether meet barrier, flight orientation/pitching/roll angle, engine speed, cylinder temperature);
3. telepilot adopts conventional model airplane remote controller at present, when ground control terminal 19 is arranged to remote control distributor state, the flight of depopulated helicopter is by the control of operator's remote controller, but ground control terminal 19 is the state of flight information of time display depopulated helicopter still, fly to control still timing of plate 10CPU (as 2-5 second) sampling tachogenerator 14, once find that engine 26 rotating speeds are lower than its lower limit, show that engine 26 is flame-out in the air, fly to control plate 10CPU and send parachute-opening instruction, parachute still can be opened automatically, help operator that depopulated helicopter is slowly landed, make loss reduction.
Embodiment
Referring to Fig. 1, small-sized depopulated helicopter flight control method of the present invention can be realized and keep away barrier flight; Landing keeps away the water surface; Flight attitude adaptive control; Dynamic monitoring; Engine kill automatic deployment; Fly to control plate control flight; Signal plate produces flight path; In the terminal display screen electronic map interface of terrestrial contr, arrange, show the functions such as flight parameter.Particular content is as follows.
1, keep away barrier flight
CCD camera 2 of the present invention and graphics processing unit 2-1 adopt mature technology.Laser range sensor 1 of the present invention is selected: measuring accuracy 1cm, 70 meters of measuring distances, working temperature-25 ℃～+ 55 ℃, dynamically (movement velocity <10 meter per second) continuous coverage response time <1.2 second, serial ports code check 19200b/ second, power supply DC9-30v, 130 grams of weight.With reference to Fig. 2 by laser range sensor 1 and CCD camera 2 be fixed on can ± bracket 21 of 90 ° of rotations on, when bracket 21 is consistent with heading, be 0 °, body upper is+90 °, fuselage below is-90 °, the direction identical with helicopter head direction is right, at bracket 21 right flanks, a bracket gear 21-1 is installed, left surface correspondence position is installed a plectane 21-2, by 2 bearing 21-31, 20-32 embeds respectively bracket gear 21-1, intracardiac in plectane 21-2, in depopulated helicopter trunk skeleton 22 front portions, fix 2 axle 21-41, 21-42 and make 2 axle 21-41, 21-42 inserts respectively bearing 21-31, in 21-32, bracket steering wheel 21-5 is fixed on trunk skeleton 22, on bracket steering wheel 21-5 axle, steering wheel gear 21-6 is installed, and steering wheel gear 21-6 is identical with the bracket gear 21-1 number of teeth and intermesh, and bracket steering wheel 21-5 is flown to control plate control.While keeping away barrier flight, laser range sensor 1 is arranged to the continuous coverage way of output, laser probe is consistent with heading, fly to control plate 10CPU timing (2 seconds) and read the value of laser range sensor 1 and the value of CCD image pickup processing unit 2-1 from serial ports, if measure 30～70 meters, head front, there is barrier, the hovering of control depopulated helicopter, carry out flight and keep away barrier program, its flight keeps away barrier program circuit and sees Fig. 3, flight keeps away barrier strategy: first go up → rear right → left side again → retreat most, by this, keep away barrier strategy, carry out flight and keep away barrier program, just can control depopulated helicopter and get around barrier, realization keeps away barrier flight.
2, landing keeps away the water surface
Ultrasonic distance-measuring sensor 3 of the present invention is selected: measuring accuracy 1cm, 15 meters of measuring distances, working temperature-25 ℃～+ 55 ℃, dynamically (movement velocity <3 meter per second) continuous coverage response time <1 second, serial ports code check 19200b/ second, power supply DC9-30v, 160 grams of weight.Ultrasonic distance-measuring sensor 3 is arranged on the below, middle part of depopulated helicopter trunk skeleton 22, and it is popped one's head in down, and ultrasonic distance-measuring sensor 3 is selected continuous wave output mode.During depopulated helicopter landing, fly to control plate 10CPU timing (1 second) and from serial ports, read the value of ultrasonic sensor 3, if measure fuselage below, have echoed signal value L supertime, then from serial ports, read the value of laser range sensor 1, if without Echo Rating or Echo Rating L super-L swash> K fall(L super=1 left and right, test determines) show that depopulated helicopter below is the water surface, control depopulated helicopter hovering, to carry out landing and keeps away water surface program, its landing keeps away water surface program circuit and sees Fig. 4, carries out landing and keeps away and when water program just can make depopulated helicopter land, avoid drop in water surface.
3, flight attitude adaptive control
The present invention adopts cheap GPS(model RISE-GPS-MOH), analog altimeter (model MPL3115A2), reluctance type electronic compass (model DCM250), MEMS pitching/roll angular transducer (model SCA320), MEMS orientation/pitching/rolling angle rate sensor (model MEV50C) be as flight attitude sensitive element.See Fig. 5, flight attitude adaptive control program circuit is: after flying to control plate 10 and powering up, CPU arranges 20ms timer, in flight course, the 1. cumulative orientation/pitching/roll flight angle value S that obtains of the value of timing (20ms) timing sampling orientation/pitching/rolling angle rate sensor 5-1,5-2,5-3 integration a, S e, S rwithin 2 second time, if orientation/pitching/rolling angle rate sensor 5-1 of sampling, the value of 5-2,5-3 change <1.5 °, from serial ports, reading electronic compass 7 is worth, orientation flight angle value=electronic compass 7 is worth, sampling pitching/roll angular transducer 6 is worth, and pitching/roll flight angle value=pitching/roll angular transducer 6 is worth; 2. timing 20ms is by flight orientation angle value S awith flight course angle H acompare, control tail actuator 17-4 and make △ S a=︱ S a-H acontrol depopulated helicopter for ︱ <1 ° and fly along flight path, if △ is S a<1 °, detection orientation angular rate sensor 5-1 value V gAthere is no-output, position angle rate sensor 5-1 value V gA(V gA>0, depopulated helicopter turns clockwise by east → south → west → north, V gA< 0 is rotated counterclockwise) ， Ruo ∣ V gA∣ >V gA0(V gA0=0.5 °/sec), control tail actuator 17-4 to V gAcontrary direction is rotated a low-angle, makes depopulated helicopter by V gAreverse direction rotation, so constantly sampling V gA, control when tail actuator 17-4 makes unmanned helicopter flight and reach course balance, eliminate head simultaneously and rock, realize on " lock tail "; 3. timing 20ms, according to state of flight, judges S r(S advances, retreats, hovers r=0 °, the S that spirals clockwise r=+10 °, S counterclockwise spirals r=-10 °), if S rvalue and state of flight roll value are not inconsistent, and control left/right aileron steering wheel 17-2,17-3 and make S r=state of flight roll value, if △ is S r=︱ S r<1 ° of-state of flight roll value ︱ detects rolling angle rate sensor 5-3 value V gRthere is no-output; (V gR>0, fuselage is tilted to the right, V gR<0, fuselage is tilted to the left), if ︱ is V gR︱ >V gR0(V gR0=0.5 °/sec) control left/right aileron steering wheel 17-2,17-3 by V gRreverse direction rotates a low-angle, makes depopulated helicopter fuselage by V gRreverse direction rotation; 4. timing (3 seconds) is inputted according to △ H(flying height difference, signal plate 11), control lifting steering wheel 17-1 and press an angle of △ H reverse direction rotation, make 30 ° of depopulated helicopter nose-highs (rising) or downward 30 ° (declines), control depopulated helicopter and make △ H<30 rice.If △ H<30 rice (timing 20ms), according to state of flight, judges flight luffing angle value S e(S advances, spirals e=-10 °, retreat S e=+10 °, hovering S e=0 °) if S ebe not inconsistent with state of flight pitching value, control lifting steering wheel 17-1 and make △ S e=︱ S e-state of flight roll value ︱ <1 °, if △ is S e<1 °, detects pitch rate sensor 5-2 value V gE, (V gE> 0, depopulated helicopter nose-high campaign, V gE<0, head moves downward), if ︱ is V gE︱ >V gE0(V gE0=0.5 °/sec), control lifting steering wheel 17-1 by V gEreverse direction turns a low-angle, makes depopulated helicopter head by V gEreverse direction rotation, so constantly sampling V gE/ V gRcontrol lifting/left/right aileron steering wheel 17-1,17-2,17-3, posture balancing while reaching flight, eliminates fuselage shake.
4, dynamic monitoring
4.1 oil mass monitorings
The present invention selects pressure type fuel-quantity transducer (model: PTH-708C-0.5Mh 2o), 120 grams of weight, fuel-quantity transducer serial ports output, code check 19200b/ second.With reference to Fig. 9, fuel-quantity transducer 15 is fixed on to the side of depopulated helicopter offside tank 25, offside tank 25 bottoms are connected with tank sensor 15 bottoms with a flexible pipe, fuel-quantity transducer 15 is the surplus oil condition of reflection offside tank 25 in real time, and fuel-quantity transducer 15 is exported with signal plate 11 and is connected.Depopulated helicopter is in Self-adaptive flight process, and the value of fuel-quantity transducer 15 is read in signal plate 11CPU timing for 3 seconds, according to Self-adaptive flight trajectory parameters, requires to resolve depopulated helicopter return oil mass, and return oil mass will meet:
Figure BDA0000455090270000181
(V in formula oil=oil mass value at present, V at the beginning of oiloil mass value before=flight, V oil 0minimum oil volume value during=landing), if ground control terminal arranges the depopulated helicopter landing of need to making a return voyage, once signal plate 11CPU monitors current oil mass and has crossed critical value, interrupt notification flies to control plate 10CPU immediately, no matter whether depopulated helicopter completes predetermined task, immediately by the former Cheng Jing landing of making a return voyage.
4.2. cylinder temperature monitoring
Engine cylinder temperature sensor 16 of the present invention adopts thermistor; depopulated helicopter is in Self-adaptive flight process; the value of signal plate 11CPU timing (3 seconds) sampling cylinder temperature sensor 16; once find the value > cylinder temperature ultimate value of sampling; interrupt notification flies to control plate 10CPU and makes depopulated helicopter landing immediately, protection engine.
5, engine kill parachute-opening
The present invention selects the Hall switch 14-1 that pops one's head in magnetic links as tachogenerator as tachogenerator 14 to be fixed on depopulated helicopter engine shaft 27, Hall switch is fixed on engine 26 shells, when magnet steel is close with Hall switch, Hall switch is " 1 ", otherwise be " 0 ", parachute box 4 is fixed on directly over the mandrel 23 of depopulated helicopter, see Fig. 7, if depopulated helicopter spindle-less mechanism, to transform depopulated helicopter main axle structure, install mandrel additional to parachute box is installed.With reference to Fig. 6: the bottom that umbrella battery 4-1, umbrella bluetooth module 4-2 is arranged on to parachute box 4; Umbrella spring 4-4 two ends are separately fixed to spring backing plate 4-3, umbrella backing plate 4-5 upper, spring backing plate 4-3 is placed on to umbrella battery 4-1 top; Extractor parachute 4-7 is connected with a nylon rope with umbrella 4-8, and main chute 4-8 is fixed on parachute box 4 inwalls with two nylon ropes, after extractor parachute 4-7, main chute 4-8 are folded, is placed on umbrella backing plate 4-5 top; Umbrella power switch 4-6 is arranged on to parachute box 4 outer wall belows; Parachute lid plate 4-9 is connected with parachute box 4 upper wall edges with lid spring 4-10; Electromagnetic lock snap close 4-12 is fixed on to parachute box upper wall edge, electromagnetic lock 4-11 is fixed on to parachute lid plate 4-9 inner face, after parachute lid plate 4-9 and parachute box 4 close, the dead bolt 4-13 of electromagnetic lock 4-11 inserts in electromagnetic lock snap close 4-12, electromagnetic lock 4-11 adhesive is controlled by umbrella bluetooth module 4-2, after electromagnetic lock 4-11 adhesive, dead bolt 4-13 extracts in snap close 4-12.Closed umbrella power switch 4-6 before depopulated helicopter takes off, umbrella bluetooth module 4-2 powers up, depopulated helicopter at self-adaptation or remote state in-flight, flying to control plate 10CPU adopts interrupt mode by tachogenerator 14, add up " 1 " of Hall element, " 1 " cumulative number of 2 seconds inspection tachogenerators of timing, if the cumulative number <50 of " 1 " detected, show that engine 25 is flame-out in the air, interrupt request singal plate 11CPU immediately, judge that depopulated helicopter height is whether between 100 meters～300 meters, if send parachute-opening instruction by flying to control parachute-opening bluetooth module 10-1 on plate 10 immediately, the interior umbrella bluetooth module of parachute box 4 4-2 receives parachute-opening order, make immediately electromagnetic lock 4-11 adhesive, dead bolt 4-13 extracts in snap close 4-12, parachute lid plate 4-9 automatically opens under the elastic force of lid spring 4-10, extractor parachute 4-7, main chute 4-8 dishes out automatically due to the elastic force of umbrella spring 4-4, under atmospheric pressure effect, extractor parachute 4-7 drives main chute 4-8 to launch, see Fig. 8, under the traction of main chute 4-8, depopulated helicopter slowly lands, safety while having guaranteed that depopulated helicopter lands.
6, flying to control plate realizes
The present invention flies to control plate 10CPU employing RAM single-chip microcomputer, and (model is: LPC1768, work dominant frequency 80M, in-chip FLASH 512K, ram in slice 64K, 4 serial ports, 8 12, tunnel A/D conversion, 6 road PWM outputs, 32 I/O mouths), fly to control and on plate 10, be integrated with 232 expansion mouths, pulse shaping circuit, amplifying circuit of analog signal, hand/automatic switch-over circuit, serial communication modular, servo driving circuit and power management module.With reference to Figure 10 by laser range sensor 1232 serial ports, CCD image pickup processing unit 2-1(232 serial ports), ultrasonic distance-measuring sensor 3(232 serial ports), pitching/roll angular transducer 6(simulates mouth), electronic compass 7(232 serial ports), remote-control receiver (model: R6008HS) 13(I/O mouth), Hall switch tachogenerator 14(I/O mouth), lithium/Nickel hydrogen battery (8v-4000mAh/8v-45000mAh) 18-1, 18-2, lifting/port aileron/starboard aileron/tail/throttle/bracket steering wheel (model S9157) 17-1, 17-2, 17-3, 17-4, 17-5, 21-5(PWM mouth), signal plate 11(232 serial ports) with fly to control plate 10 and be connected, by orientation/pitching/rolling angle rate sensor 5-1, 5-2, 5-3(simulates mouthful) and bluetooth module 10-1 be welded on and fly to control on plate 10, wherein lithium battery 18-1 gives and flies to control plate 10 and sensor power supply, Nickel hydrogen battery 18-2 powers to steering wheel.See Figure 11, fly to control plate program circuit and be: after flying to control plate CPU and powering up, it is 19200bit/ second that 232 serial ports code checks are set, 1. start 20ms timer, sampling orientation/pitching/rolling angle rate sensor 5-1,5-2,5-3 the integration that adds up obtain orientation/pitching/roll flight angle value S a, S e, S rand by electronic compass 7 be worth, pitching/roll angular transducer 6 is worth S a, S e, S rcarry out zero clearing " calibration ", see the 3rd part; 2. timing (20ms) the angle value S that will fly a, S e, S rwith flight course angle H a, state of flight luffing angle value, state of flight roll angle value compare, control lifting/left/right aileron/tail actuator 17-1,17-2,17-3,17-4 and make △ S a, △ S e, △ S r<1 °; 3. timing (20ms) judges orientation/pitching/rolling angle rate sensor 5-1,5-2,5-3 value V gA, B gE, V gRwhether there is output, if its output valve ︱ is V gA︱, ︱ V gE︱, ︱ V gR︱ >V gA0, V gE0v gR0(V gA0, V gE0v gR0=0.5 °/sec) control lifting/left/right aileron/tail actuator 17-1,17-2,17-3,17-4 and make depopulated helicopter head or the anti-V of fuselage gA, V gE, V gRrotate a low-angle, depopulated helicopter is not rocked, do not shake, see the 3rd part; 4. timing (3 seconds) judges whether <30 rice of △ H, if △ H>30 rice is controlled lifting steering wheel 17-1, makes depopulated helicopter depopulated helicopter be climbed or decline by 30 ° of △ H counter-rotation.Fly to control plate 10CPU by 1., 2., 3., 4. flow process is carried out adaptive control to flight attitude; 5. the value of laser range sensor 1 and CCD image pickup processing unit 2-1 is read in timing (2 seconds) from serial ports, controls depopulated helicopter and keeps away barrier flight, sees part 1; 6. adopt interrupt mode tachogenerator (as Hall switch) 14 " 1 " numbers that add up, regularly (2 seconds) detect " 1 " accumulated value, judges whether engine stops working, and realizes engine kill automatic deployment, sees the 5th part; 7. timing (2 seconds) detects tachogenerator 14 " 1 " accumulated values, judges that whether engine speed is at 7500～8000 revs/min, controls throttle steering wheel 17-5 engine constant speed is rotated; When 8. depopulated helicopter lands, timing (as 1 second) is read ultrasonic distance-measuring sensor 3 from serial ports, and the value of laser range sensor 1 is controlled depopulated helicopter landing and kept away the water surface, sees part 2; 9. 3 seconds interrupt request singal plate 11CPU of timing obtain flight path parameter (whether remote state flight, course angle H a, difference in height △ H, whether hover, whether spiral, whether make a return voyage, whether land) and by flight status parameter (orientation/pitching/roll flight angle S a, S e, S r, engine speed V turn, whether keep away barrier) send signal plate 11CPU to; 10. depopulated helicopter flies under remote state, fly to control plate do not carry out above-mentioned 1., 2., 3., 4., 5., 7., 8. program, unmanned helicopter flight is controlled by remote-control receiver 13 by terrestrial operation personnel.
7, signal plate is realized
Signal plate 11CPU of the present invention adopts RAM single-chip microcomputer (model: LPC1768, work dominant frequency 80M, in-chip FLASH 512K, ram in slice 64K, 4 serial ports, 8 12, tunnel A/D conversion, 6 road PWM outputs, 100 I/O mouths), on signal plate 11, be integrated with serial communication modular, amplifying circuit of analog signal and power management module.With reference to Figure 12, by GPS8(232 serial ports), analog altimeter 9(I 2c bus), fuel-quantity transducer 15(485 serial ports), data radio station 12(model MaxStream, 232 serial ports), cylinder temperature sensor (thermistor) 16(simulates mouthful), lithium battery 18-1, fly to control plate 10(232 serial ports) be connected with signal plate 11.See Figure 13, signal plate program circuit is: after signal plate 11CPU powers up, it is 19200bit/ second that serial ports code check is set, the unmanned helicopter flight trajectory parameters that 1. by data radio station 12, ground control terminal 19 sent (whether remote state, destination warp/latitude, highly, the time of whether hovering/hover time, whether spiral/spiral, whether make a return voyage, level point warp/latitude) be stored in signal plate 11CPU ram in slice; 2. adjacent two destinations are linked to be to straight line and resolve the course angle value H that obtains this destination a; 3. timing (3 seconds) is by depopulated helicopter status information (warp/latitude, flight orientation/pitching/roll angle value S a, S e, S r, whether hover, whether spiral, oil mass V oil, cylinder temperature V cylinder, flight front whether have barrier, engine speed V turn) by data radio station 12, send ground control terminal 19 to; 4. by data radio station 12, receive in real time the flight path change order of ground control terminal 19; 5. the value V of fuel-quantity transducer 15 is read in timing (3 seconds) from serial ports oil, resolve oil mass and whether support return, see the 4th part; 6. 3 seconds sampling cylinder temperature sensors 16 of timing are worth V cylinderonce, find V cylindervalue > cylinder temperature ultimate value, interrupt notification flies to control plate 10CPU and makes depopulated helicopter landing immediately, checks fault, protection engine; 7. timing is read GPS7 warp/latitude/height value from serial ports in 3 seconds, from I 2c mouth reads analog altimeter 9 and is worth, and is added and obtains unmanned helicopter flight height value H, by the destination height H of H and preset track by 60% of 40% and analog altimeter 9 height values of GPS8 height value 0value is compared, and obtains unmanned helicopter flight height difference △ H △ H=H-H 0; 8. real-time response flies to control the interrupt request of plate 10, by course angle H a, height difference △ H, the information exchange that whether hovers, whether spirals, whether makes a return voyage, whether lands cross serial ports and send to and fly to control plate 10; 9. 3 seconds interrupt request of timing fly to control plate 10CPU, obtain flight orientation/pitching/roll angle S a, S e, S r, engine speed V turnand whether meet barrier information.
1.1.8 ground control terminal is realized
Ground of the present invention control terminal 19 adopts current universal notebook computer, ground data radio station (model: MaxStream) 19-1 and telepilot (model: 10CAP/10CHP/10CP) 20, telepilot is the general equipment of current model plane, data radio station 12 same composition wireless communication on ground data radio station 19-1 and depopulated helicopter, on telepilot 20 and depopulated helicopter, remote-control receiver 13 forms remote command communication port, notebook computer is connected with serial ports with ground data radio station 19-1, ground control terminal software embeds electronic chart software, terminal software on PC windows platform based on developing under visual c++ 6.0 environment.Control terminal 19 running program flow processs in ground are shown in Figure 14, after ground control terminal 19 powers up, show electronic map interface, and 1. operator selects the flight of automatic flight/telepilot, if select telepilot flight, remote controller 20 is controlled depopulated helicopter, if 2. select flight automatically, operator clicks flight path destination position in electronic map interface with mouse, ground control terminal software generates destination warp/latitude coordinate automatically, 100 destinations of ground control terminal software support, track flight parameter (highly, the speed of whether hovering/hover time, whether spiral/spiral, whether make a return voyage, whether land) is set on the destination of track, by data radio station 12 on ground data radio station 19-1 and machine by above-mentioned each destination, through/latitude coordinate and track flight parameter, sends signal plate 11CPU to, 3. depopulated helicopter (flight or remote control distributor automatically) in flight course, in data radio station 12/19-1 effective range, ground control terminal 19 is every the depopulated helicopter status information (warp/latitude point of receiving that data radio station 12 sends on depopulated helicopter signal plate 11CPU is by machine for 3 seconds, highly, whether hover, whether spiral, whether chance hinders, whether land, flight orientation/pitching/roll angle, engine speed, cylinder temperature, oil mass) and these information are presented in electronic map interface, wherein with a flivver pattern, represent depopulated helicopter, according to the depopulated helicopter warp/latitude parameter receiving electronic chart corresponding on/Position Latitude, show flivver pattern, 4. depopulated helicopter (flight or telepilot flight automatically) in flight course, in data radio station 12/19-1 effective range, operator can be switched offline mode (flight/remote control distributor automatically) on ground control terminal 19, 5. depopulated helicopter is in automatic flight course, and in data radio station 12/19-1 effective range, operator can revise flight path parameter and pass to signal plate 11CPU by data radio station 12/19-1 on ground control terminal 19.

Claims (9)

1. a small-sized depopulated helicopter flight control method, it is characterized in that realizing flight control procedure by small-sized depopulated helicopter flight control system, this small-sized depopulated helicopter flight control method comprises flight performance element, state sensor unit, parachute unit, flight control module, ground control terminal and remote control unit, flight performance element comprises lifting steering wheel (17-1), port aileron steering wheel (17-2), starboard aileron steering wheel (17-3), tail actuator (17-4), throttle steering wheel (17-5), offside tank (25), engine (26), steering wheel battery (18-2), state sensor unit comprises laser range sensor (1), CCD camera (2), graphics processing unit (2-1), ultrasonic distance-measuring sensor (3), position angle rate sensor (5-1), pitch rate sensor (5-2), rolling angle rate sensor (5-3), pitching/roll angular transducer (6), electronic compass (7), GPS(8), altitude gauge (9), tachogenerator (14), fuel-quantity transducer (15), cylinder temperature sensor (16), parachute unit is comprised of parachute box (4), flight control module comprise fly to control plate (10), fly to control plate bluetooth module (10-1), signal plate (11), data radio station (12), remote-control receiver (13) and control battery (18-1),
After closed ground control terminal (19) power switch of depopulated helicopter operator, the flight path destination parameter of depopulated helicopter is set on the electronic chart display interface of ground control terminal (19), by ground data radio station (19-1), all flight path destination parameters are transferred to data radio station on depopulated helicopter (12), data radio station (12) is connected with signal plate (11), and the flight path destination parameter that signal plate (11) sends ground control terminal (19) is stored in flight parameter unit, signal plate (11) timing is counted as each destination longitude, latitude solution take the positive north of geography as 0 °, and------north, south---west---is the flight course angle H of 0 °～360 ° in east in north aand be stored in flight parameter unit, signal plate (11) timing sampling GPS(8), altitude gauge (9), obtain the destination sequence number that depopulated helicopter longitude, latitude obtain depopulated helicopter, according to GPS(8), the value of altitude gauge (9) obtains the height of depopulated helicopter and the difference △ H of destination height, fly to control plate (10) timing and obtain flight path destination parameter from signal plate (11), fly to control plate (10) timing sampling position angle rate sensor (5-1), pitch rate sensor (5-2), rolling angle rate sensor (5-3) value and sampled value integration is added up and obtains flight azimuth S a, flight angle of pitch S e, flight roll angle S r, by flight azimuth S awhether relatively obtain depopulated helicopter with flight course angle HA and go off course, angle of pitch S will fly e, flight roll angle S rrelatively obtain whether trim of depopulated helicopter with state of flight, roll, according to △ H determine depopulated helicopter climb right/or decline, fly to control plate (10) and control port aileron steering wheel (17-2), starboard aileron steering wheel (17-3), lifting steering wheel (17-1), tail actuator (17-4) action, depopulated helicopter is flown by destination track, judge orientation/pitching/rolling angle rate sensor (5-1 simultaneously, 5-2, 5-3) whether there is output, control lifting/left/right aileron/tail actuator (17-1, 17-2, 17-3, 17-4) to orientation/pitching/rolling angle rate sensor (5-1, 5-2, 5-3) reverse direction is rotated a low-angle, make depopulated helicopter fuselage keep balance not rock, do not shake, fly to control plate (10) timing sampling pitching/roll angular transducer (6), when judging depopulated helicopter fuselage balance, the integrated value S of the value of utilizing pitching/roll angular transducer (6), electronic compass (7) to azimuth rate sensor (5-1), pitch rate sensor (5-2), roll rate sensor (5-3) a, S e, S rcarry out " zero clearing ", make S a=electronic compass output valve, S e/ S r=pitching/roll angle sensor output value, make the integrated value of above-mentioned three angular rate sensors truly reflect flight azimuth, the flight angle of pitch, the flight roll angle of depopulated helicopter, depopulated helicopter is when forward flight, fly to control plate (10) timing sampling laser range sensor (1), CCD camera (2), judge that whether flight front has barrier, keeps away barrier flight if flight front has barrier to carry out, depopulated helicopter, when descending flight, flies to control plate (10) timing sampling laser range sensor (1), ultrasonic distance-measuring sensor (3), judges whether depopulated helicopter below is the water surface, if depopulated helicopter below is the water surface, carries out and keeps away drop in water surface flight, fly to control plate (10) timing sampling tachogenerator (14), judge whether coaster does not turn engine (26), once detect, confirm engine (26) stall, interrupt request singal plate (11) obtains the height value of depopulated helicopter, if depopulated helicopter is below setting value, control flies to control plate bluetooth module (10-1) and sends parachute-opening instruction, the interior umbrella bluetooth module of parachute box (4) (4-2) is received parachute-opening instruction, controlling electromagnetic lock (4-11) lid plate (4-9) that releases a parachute ejects outside parachute box extractor parachute (4-7) and main chute (4-8), force depopulated helicopter slowly to decline, safety while guaranteeing that depopulated helicopter lands, signal plate (11) timing sampling fuel-quantity transducer, whether oil amount determination supports that depopulated helicopter makes a return voyage, if oil mass arrive critical value interrupt request fly to control plate (10) and make the depopulated helicopter flight of making a return voyage, signal plate (11) timing sampling cylinder temperature sensor (16), judges that whether engine cylinder temperature is normal, if confirm, cylinder temperature exceedes critical value, and interrupt request flies to control plate (10) and makes depopulated helicopter landing, fly to control plate (10) timing depopulated helicopter attitude parameter is transferred to signal plate (11) by 232 serial ports, plate (10) transfers to the attitude parameter of depopulated helicopter and depopulated helicopter height, longitude, latitude, oil mass, cylinder temperature parameter transfers to ground control terminal (19) by data radio station (12), ground data radio station (19-1), and show above-mentioned parameter on the electronic chart display interface of ground control terminal (19) by flying to control for signal plate (11) timing, depopulated helicopter operator passes through ground control terminal (19) in the effective communication distance of data radio station (12), ground data radio station (19-1), flight path destination parameter to depopulated helicopter is modified, and depopulated helicopter is flown by new flight path, operator in the effective range of remote-control receiver (13), to the state of flight of depopulated helicopter automatically/remote control switches.
2. small-sized depopulated helicopter flight control method according to claim 1, the performance element control that it is characterized in that flying is climbed, decline, constant speed flight, hovering, coiling action, climb/down maneuver: fly to control plate (10) by the PWM mouth output port aileron steering wheel (17-2) of an ARM singlechip CPU, starboard aileron steering wheel (17-3), tail actuator (17-4), lifting steering wheel (17-1) angle definite value pulse-width modulation waveform value, this waveform values acts on respectively port aileron steering wheel (17-2) after overdrive circuit amplifies, starboard aileron steering wheel (17-3), tail actuator (17-4), lifting steering wheel (17-1), control port aileron steering wheel (17-2), starboard aileron steering wheel (17-3) produces balanced thrust force up or down, controlling tail actuator (17-4) does not swing depopulated helicopter, control lifting steering wheel (17-1) and make 30 ° or 30 ° of depopulated helicopter heads upward down, produce rising thrust or decline thrust, depopulated helicopter is climbed or descending flight,
Constant speed flare maneuver: fly to control that the same output angle definite value of plate (10) acts on port aileron steering wheel (17-2), starboard aileron steering wheel (17-3) makes it to produce balanced thrust force forward or backward; Act on tail actuator (17-4), control depopulated helicopter and do not swing; Act on lifting steering wheel (17-1) and make 10 ° or 10 ° of depopulated helicopter heads down upward, produce thrust forward or backward; Act on throttle steering wheel (17-5) and make control of engine speed at 8000 revs/min, depopulated helicopter constant speed is flown forward or backward;
Hovering action: fly to control the same output angle definite value of plate (10) and act on port aileron steering wheel (17-2), starboard aileron steering wheel (17-3), lifting steering wheel (17-1) and make it to produce balance force control depopulated helicopter and keep fuselage not rock; Act on tail actuator (17-4) control depopulated helicopter protection head and do not swing, depopulated helicopter is hovered motionless aloft;
The outstanding action of dish: fly to control the same output angle definite value of plate (10) and act on port aileron steering wheel (17-2), starboard aileron steering wheel (17-3) and make it to produce 10 ° of Right deviations or left-leaning 10 ° of balanced thrust forces forward or backward; Act on lifting steering wheel (17-1) and make 10 ° of depopulated helicopter heads down, produce thrust forward, act on tail actuator (17-4) and make head right avertence or left avertence; Act on throttle steering wheel (17-5) and make control of engine speed at 8000 revs/min, make depopulated helicopter clockwise or rotate counterclockwise clockwise aloft:---north, south---west---, east.
3. small-sized depopulated helicopter flight control method according to claim 1, is characterized in that state sensor unit realizes self-adaptation and keep away the process of barrier and be: bracket in flight course (21) is in 0 ° of position, identical with heading:
1. fly to control the signal of plate (10) timing sampling laser range sensor (1) and CCD image pickup processing unit (2-1), once find that there is barrier in flight front, the CPU of interrupt request singal plate (11), there is barrier in notice flight front, controls depopulated helicopter hovering;
2. the go to+85 ° of positions of controlling bracket (21), survey body upper and whether have barrier, if clear, control depopulated helicopter rising interrupt request singal plate 11CPU and obtain hovering after flying height, then control bracket (21) and go to 0 ° of position, surveying head front has clear, if clear, interrupt request singal plate (11) notice flight front clear, depopulated helicopter continues flight forward, if there is 2. process of repeating step of barrier;
If 3. survey body upper, there is barrier, control bracket (21) and go to 0 ° of position, control depopulated helicopter hovering and turn right 90 °, survey head front and whether have barrier, if clear, controls the depopulated helicopter hovering after safe distance that moves ahead and turn left 90 °, repeating step is process 1.;
4. in step, 3. in process, if survey head front, there is barrier, control depopulated helicopter hovering and turn left 180 °, survey head front and whether have barrier, if clear, controls the depopulated helicopter hovering after safe distance that moves ahead and turn right 90 °, repeating step is process 1.;
5. in step, 4. in process, if survey head front, have barrier, control depopulated helicopter hovering and turn right 90 °, then the rear hovering of flight safety distance backward, repeats 2. process.
4. small-sized depopulated helicopter flight control method according to claim 1, it is characterized in that state sensor unit realizes the process that landing keeps away the water surface and be: depopulated helicopter is in decline process, laser range sensor (1) is popped one's head in-85 ° of positions, fly to control the signal of plate (10) timing sampling ultrasonic distance-measuring sensor (3) and laser range sensor (1), if adopt the value less than ultrasonic range finder sensor (3), depopulated helicopter declines always, once sampling obtains the echoed signal L of ultrasonic distance-measuring sensor (3) super, at once with the signal L of the echo of laser range sensor (1) swashcontrast, if L super-L swash< K fall, control depopulated helicopter landing, at L superduring <10cm, kill engine, depopulated helicopter landing; If L super-L swash>K fallthe hovering of control depopulated helicopter, make go to+85 ° of positions of bracket (21), survey body upper and have clear, if hover after reaching safe distance on clear control depopulated helicopter, make bracket (21) go to 0 ° of position, surveying fuselage front has clear, if clear control depopulated helicopter constant speed forward the rear hovering of flight safety distance make support (21) go to-85 ° of positions, control depopulated helicopter and decline and repeat said process.
5. small-sized depopulated helicopter flight control method according to claim 1, it is characterized in that state sensor unit realizes the process of attitude adjustment and be: after flying to control plate (10) and powering up, 1. the cycle that arranges is integration timer and 3-6 timer second of 20-50ms, timing 20-50ms sampling orientation/pitching/rolling angle rate sensor (5-1, 5-2, 5-3) value, and the cumulative orientation/pitching/roll flight angle value that obtains of integration 20-50ms, if when monitoring orientation/pitching/rolling angle rate value changing 1.5 ° of < within a period of time, think that now depopulated helicopter is in stable state, and electronic compass value (7), MEMS pitching/roll angular transducer (6) value is real, make orientation flight angle value S athe value P of=electronic compass (7) a, pitching/roll flight angle value S e/ S rthe value P of=MEMS pitching/roll angular transducer (6) e/ P r, realize integral accumulation " zero clearing ", so constantly " zero clearing " thus obtain the true bearing angle S of depopulated helicopter a, luffing angle S e, roll angle S r,
2. Interruption request signal plate (11) obtains state of flight, flight course angle H aand the poor △ H of flying height;
3. timing 20-50ms is by Azimuth integration value S awith flight course angle H acompare, if △ is S=|S a-H a| >1 0control tail actuator (17-4) and make the reverse deflection △ of head S angle, make depopulated helicopter all the time along flight path H aflight; If △ is S<1, detection orientation angular rate sensor (5-1) has no-output, if position angle rate sensor (5-1) has output, control tail actuator (17-4) and be worth a reverse low-angle with position angle rate sensor (5-1), so constantly sampling side parallactic angle rate sensor (5-1) value is controlled tail actuator (17-4), flight angle in orientation is equated, course balance while reaching flight with track course heading, eliminate head simultaneously and rock, realize on " lock tail ";
4. timing 20-50ms judges S according to state of flight rvalue, if S rbe not inconsistent with state of flight value, control left/right aileron steering wheel, make S rconform to state of flight value, if S rconform to state of flight, detecting rolling angle rate sensor (5-3) value has no-output, if there is output, controls left/right aileron steering wheel and makes fuselage and the reverse low-angle of rolling angle rate sensor (15-3);
5. timing judges whether △ H is less than safe distance value, if △ H> safe distance value, control elevating rudder (17-1) make head raise 30 ° or reduce by 30 °, make depopulated helicopter climb or drop to course trajectory height by △ H in the other direction, if △ H< safe distance value, timing 20-50ms judges S according to state of flight evalue, if S ebe not inconsistent with state of flight, control lifting steering wheel (17-1) and make S evalue conforms to state of flight, if S econform to, detect pitch sensor (5-2) value and whether have output, if there is output, controlling lifting steering wheel makes head and pitch rate sensor (5-2) be worth a reverse low-angle, so constantly sampling pitching/rolling angle rate sensor values (5-2,5-3) makes unmanned helicopter flight height conform to flight path, control lifting/left and right aileron steering wheel (17-1,17-2,17-3) simultaneously, pitching/roll flight angle is equated with pitching/roll angle of state of flight, fuselage balance while simultaneously making unmanned helicopter flight, eliminates fuselage shake.
6. small-sized depopulated helicopter flight control method according to claim 1, it is characterized in that state sensor unit realizes the process of dynamic monitoring and be: fuel-quantity transducer (15)+cylinder temperature sensor (16) composition depopulated helicopter dynamic monitoring loop, after signal plate (11) powers up, timing sampling fuel-quantity transducer value (15) and cylinder temperature sensor (16) are worth and calculate return oil mass value, and formula is:
Figure FDA0000455090260000061
v in formula oil=oil mass value at present, V at the beginning of oiloil mass value before=flight, V oil 0minimum oil volume value during=landing; The landing if ground control terminal (19) initial setting up requirement depopulated helicopter independently makes a return voyage after execution sequence of events, the CPU timing sampling fuel-quantity transducer (15) of signal plate (11) is if value calculates current oil mass in critical oil content by above-mentioned formula
Figure FDA0000455090260000062
rise, interrupt notification flies to control the CPU of plate (10) immediately, and the CPU that flies to control plate (10) ends ongoing flight operation control tail actuator (17-4) makes a return voyage depopulated helicopter; If initial setting up does not require depopulated helicopter independent to make a return voyage, the CPU timing sampling fuel-quantity transducer (15) of signal plate (11) value, if detect V oil≤ V oil 0time, interrupt notification flies to control the CPU of plate (10) immediately, and the CPU that flies to control plate (10) ends ongoing flight operation control lifting steering wheel (17-1) makes depopulated helicopter landing; Signal plate (11) if CPU sampling cylinder temperature sensor (16) value V cylinder> cylinder temperature ultimate value V cylinder max, interrupt notification flies to control the CPU of plate (10) immediately, and the CPU that flies to control plate (10) controls lifting steering wheel (17-1) makes depopulated helicopter landing, to protect engine to be unlikely cause thermal damage.
7. small-sized depopulated helicopter flight control method according to claim 1, signal plate 11CPU timing sampling GPS(8) and altitude gauge (9) value it is characterized in that state sensor unit realizes the process of flight altitude control and be:, by GPS(8) and altitude gauge (9) value obtain flying height value H, wherein H=0.4H after being weighted processing g+ 0.6H high, H=depopulated helicopter height in formula, H gthe height value of=GPS output, H highthe height value of=altitude gauge output; By flying height value and preset trajectory height value H 0compare, obtain flying height difference △ H, △ H=H-H 0the CPU of signal plate (11) sends flying height difference △ H to fly to control plate (10) CPU while waiting for the CPU interrupt request that flies to control plate (10), the CPU control lifting steering wheel (17-1) that flies to control plate (10) flies depopulated helicopter in preset altitude range.
8. small-sized depopulated helicopter flight control method according to claim 1, is characterized in that flying controlling plate (10) and controls the process of flight and be:
1. the cumulative angle S that obtains flying of timing sampling orientation/pitching/rolling angle rate sensor (5-1,5-2,5-3) value integration a, S e, S r, and timing is worth orientation/pitching/rolling angle rate sensor (5-1,5-2,5-3) integral accumulation S by electronic compass (7) value, pitching/roll angle (6) of stable state a, S e, S rcarry out " zero clearing ";
2. the CPU of Interruption request signal plate (11) obtains depopulated helicopter course angle H a, difference in height △ H, obtain state of flight control tail actuator (17-4), left/right aileron steering wheel (17-2,17-3), lifting steering wheel (17-1) the angle value S that makes to fly a, S e, S rwith course angle H a, state of flight pitching, roll angle value equate, control lifting steering wheel (17-1) flying height is equated with flight path height;
3. timing utilizes orientation/pitching/rolling angle rate sensor (5-1,5-2,5-3) value to form negative feedback loop/control lifting/left and right aileron/tail actuator (17-1,17-2,17-3,17-4), makes depopulated helicopter attitude protection balance and fuselage not rock and not shake;
4. the value of timing sampling laser range sensor (1) and CCD photographed images processing unit (2-1), judges whether flight front has barrier, if there is barrier to keep away barrier flight;
While 5. declining, the value of the value of timing sampling ultrasonic sensor (3), laser range sensor (1) judges that according to the difference of two distance measurement values whether level point is the water surface, if the water surface is selected level point else, keeps away drop in water surface;
6. timing sampling tachogenerator (14), once find that engine speed is lower than its lower limit, confirm that engine extinguishes, and the CPU of interrupt request singal plate (10) obtains depopulated helicopter height, when depopulated helicopter height sends parachute-opening instruction parachute-opening instruction between 100 meters～300 meters, by flying to control plate bluetooth module (10-1) notice parachute box bluetooth module (4-2), release a parachute and make depopulated helicopter slow decreasing;
7. timing sampling tachogenerator (14), regulates throttle steering wheel (17-5) to make engine be controlled at 8000 revs/min of left and right at Self-adaptive flight process medium speed;
8. flying to control between plate (10) and signal plate (11) adopts interrupt request mode to contact, data are transmitted by serial mode, fly to control plate (10) Interruption request and obtain preset flight parameter from signal plate (11), fly to control plate (10) output orientation/pitching/roll flight angle value S simultaneously a, S e, S rand flight keeps away the situation of falling to signal plate (11);
9. under remote control mode, by distant receiver (13), by ground remote control device (20) instruction control lifting steering wheel (17-1), port aileron steering wheel (17-2), starboard aileron steering wheel (17-3), tail actuator (17-4), throttle steering wheel (17-5) work.
9. small-sized depopulated helicopter flight control method according to claim 1, is characterized in that the process of signal plate (11) generation flight path is:
1. signal plate (11) adopts serial communication mode with data radio station (12), depopulated helicopter is before taking off, by data radio station (12), receive the flight parameter instruction of ground control terminal (19), and flight parameter instruction is stored in the CPU of signal plate (11), CPU calculates the flight course value H of depopulated helicopter according to the each destination of flight path through/latitude value a;
2. depopulated helicopter is in self-adaptation or remote state flight course, and in data radio station (12) reach, the CPU of signal plate (11) receives the new flight parameter instruction of ground control terminal (19) and revises the flight parameter having prestored;
3. the CPU of signal plate (11) timing sends depopulated helicopter status information to ground control terminal (19) by data radio station (12);
Whether the 4. CPU timing sampling fuel-quantity transducer value (15) of signal plate (11) according to preset flight directive, calculate oil mass and support to make a return voyage, and formula is:
Figure FDA0000455090260000081
if oil mass alarm flies to control the CPU of plate (10) immediately with interrupt mode notice, the CPU that flies to control plate (10) controls lifting steering wheel (17-1) or tail actuator (17-4) makes depopulated helicopter landing or makes a return voyage;
5. the CPU timing sampling cylinder temperature sensor (16) of signal plate (11), the alarm if cylinder temperature sensor (16) value transfinites, with interrupt mode notice, fly to control immediately the CPU of plate (10), fly to control the CPU control lifting steering wheel (17-1) of plate (10), depopulated helicopter is declined;
6. the CPU timing sampling GPS(8 of signal plate (11)) lat/longitude/height value, height of sampling meter (9) value, by GPS(8) height value 40%+ altitude gauge (9) value 60% obtains unmanned helicopter flight height value and calculates with the default flight path height value being stored in the CPU of signal plate (11), obtain depopulated helicopter height difference △ H, receiving while flying to control plate (10) interrupt request, by course angle H a, height difference △ H, whether hover, whether spiral, whether make a return voyage, whether landing information sends to the CPU that flies to control plate (10);
7. the CPU Interruption request of signal plate (11) flies to control the CPU of plate (10), obtains orientation/pitching/roll flight angle S a, S e, S rengine speed V turnand whether meet barrier information.
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