CN103809596A - Quadrotor unmanned aircraft platform based on hybrid control method - Google Patents
Quadrotor unmanned aircraft platform based on hybrid control method Download PDFInfo
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- CN103809596A CN103809596A CN201210448706.5A CN201210448706A CN103809596A CN 103809596 A CN103809596 A CN 103809596A CN 201210448706 A CN201210448706 A CN 201210448706A CN 103809596 A CN103809596 A CN 103809596A
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Abstract
The invention relates to a quadrotor unmanned aircraft platform based on a hybrid control method. The quadrotor unmanned aircraft platform is characterized in that a structure comprises five sub modules, wherein S1 is a micro processor module, S2 is a navigation measuring system, S3 is a brushless motor driving system, S4 is a Wi-Fi wireless communication system, S5 is a man-machine monitoring system, each module comprises multiple devices, a control structure of an aircraft hybrid control system comprises following elements, Q1 is a first brushless motor, Q2 is a second brushless motor, Q3 is a third brushless motor, Q4 is a fifth brushless motor, A1 is course angle increment, A2 is lifting force increment, A3 is roll angle increment, A4 is pitch angle increment, B1 is a desired rotating speed of the brushless motor Q1, B2 is a desired rotating speed of the brushless motor Q2, B3 is a desired rotating speed of the brushless motor Q3, and B4 is a desired rotating speed of the brushless motor Q4. According to the quadrotor unmanned aircraft platform, a quadrotor unmanned aircraft can be effectively controlled, stability against extraneous disturbance is improved, and system control performance is improved.
Description
Technical field
A kind of four rotor unmanned aircraft platforms based on mixing control method belong to Intelligent flight robot control field.
Background technology
Four rotor unmanned aircrafts are a kind of vertical take-off and landing unmanned beam riding device Vertical Take-off and Landing Unmanned Aerial Vehicle, VTOL UAV), claim again Quad rotor abroad, Four rotor or X4-flyer etc., the present invention is referred to as four rotor unmanned vehicles.It has four rotors that are criss-cross construction, by regulating the rotating speed of four motors to realize attitude control, thus the position of change of flight device in space.In recent years, four rotor unmanned aircrafts have caused people's extensive concern with its novel topology layout and unique flying method, become rapidly new in the world study hotspot.Four rotor unmanned vehicles have huge application prospect in fields such as search and rescue task, weather monitoring, geodetic surveying, Military Application; Meanwhile, as a six degree of freedom aircraft with second order non-holonomic constraints, can be used as the carrier of scientific research, carry out the Related Experimental Study of advanced control method and robotics field.
Summary of the invention
The object of the invention is to design a kind of four rotor unmanned aircraft mixing control methods, can effectively realize and control four rotor unmanned aircrafts, strengthen the stability of disturbance to external world, improve the control performance of system.
The object of the present invention is achieved like this:
Take four rotor unmanned aircrafts as platform, carry microprocessor module S1, navigation measurement system S2, driving system for brushless motor S3, Wi-Fi wireless communication system S4 and people's crane monitoring system S5, formed a set of four rotor unmanned aircraft control system.Wherein microprocessor module is take DSP/FPGA flush bonding processor as core, realizes the collection of measurement data, and by mixing control method, calculates the controlled quentity controlled variable of the brushless electric machine of four rotor unmanned aircrafts; Navigation measurement system has been used for the real-time estimation to four rotor unmanned aircraft kinematic parameters; Driving system for brushless motor is made up of microcontroller and driving circuit, realizes the control to four brshless DC motors; Wi-Fi wireless communication system has been used for communicating by letter of four rotor unmanned aircrafts and land station, obtains the expectation instruction of four rotor unmanned aircrafts; Finally realize monitoring and the record to four rotor unmanned aircraft platform flight parameters by people's crane monitoring system.
1. above-mentioned a kind of four rotor unmanned aircraft platforms based on mixing control method, described barometer 1 is used for measuring the elevation information of four rotor unmanned aircrafts, is connected with A/D device 5;
2. above-mentioned a kind of four rotor unmanned aircraft platforms based on mixing control method, described Inertial Measurement Unit 2 be used for measuring four rotor unmanned aircrafts the data such as attitude speed and specific force, be connected with A/D device 6;
3. above-mentioned a kind of four rotor unmanned aircraft platforms based on mixing control method, described GPS module 3 be used for measuring four rotor unmanned aircrafts plan position information, with the interface of FPGA processor 9 be RS232 universal serial bus 7;
4. above-mentioned a kind of four rotor unmanned aircraft platforms based on mixing control method, described electronic compass 4, measure four rotor unmanned aircrafts course information, with the interface of FPGA processor 9 be iic bus 8.
5. above-mentioned a kind of four rotor unmanned aircraft platforms based on mixing control method, described microprocessor module comprises:
[1] .FPGA processor 9, read barometer 1 data by A/D device 5, read Inertial Measurement Unit 2 data by A/D device 6, read GPS module 3 data by RS232 universal serial bus 7, by iic bus 8 read electric compass 4 data.FPGA processor 9 imports dual port RAM 18 into all data unifications;
[2] .DSP processor 10, from dual port RAM 18, obtain the measurement data of navigation measurement system, from spi bus 12, obtain the expectation instruction of four rotor unmanned aircrafts, calculate the desired speed of 4 brushless electric machines of four rotor unmanned aircrafts through internal mix controller, import in iic bus 11, import the flight parameter of four rotor unmanned aircrafts into Wi-Fi signal processing module 14 simultaneously;
[3]. the exchanges data between dual port RAM 18, responsible FPGA processor 9 and dsp processor 10, is connected by address bus.
6. above-mentioned a kind of four rotor unmanned aircraft platforms based on mixing control method, described driving system for brushless motor comprises:
[1]. electron speed regulator ECS 13, from iic bus 11, obtain the expectation rotating speed of brushless electric machine 13, resolve by inside, control the turn-on and turn-off of MOSFET with PWM, drive brushless electric machine Q1-Q4.
[2]. brushless electric machine Q1-Q4, final executive component, is controlled by electron speed regulator, and the rotating speed difference of 4 motors can change attitude and the position of four rotor unmanned aircrafts.
7. above-mentioned a kind of four rotor unmanned aircraft platforms based on mixing control method, described Wi-Fi wireless communication system comprises:
[1]. airborne Wi-Fi wireless communication module 15, the expectation instruction of obtaining Wi-Fi wireless communication module 16 obtaining four rotor unmanned aircrafts from WLAN (wireless local area network), import Wi-Fi signal processing module 14 into, the flight parameter that obtains four rotor unmanned aircrafts simultaneously from Wi-Fi signal processing module 14 is sent in wireless network.
[2] .Wi-Fi wireless communication module 16, the expectation instruction that adopts internet interface to communicate by letter to obtain four rotor unmanned aircrafts with man-machine monitoring interface 17, and above information is sent in wireless network.
[3] .Wi-Fi signal processing module 14, from airborne Wi-Fi wireless communication module 15, obtain data and import spi bus 12 into, the flight parameter that obtains four rotor unmanned aircrafts simultaneously from spi bus 12 imports airborne Wi-Fi wireless communication module 15 into.
8. above-mentioned a kind of four rotor unmanned aircraft platforms based on mixing control method, described man-machine monitoring interface 17, be used for the flight parameter of four rotor unmanned aircrafts to do real time record and drawing, dynamically show the attitude of four rotor unmanned aircrafts, send and expect that instruction is in Wi-Fi wireless communication module 16 by LAN (Local Area Network).
On end, tell, than other the four rotor unmanned aircrafts controllers in corresponding field, the present invention has the following advantages:
First, the present invention has adopted DSP/FPGA flush bonding processor, FPGA is responsible for image data, DSP is responsible for calculating, adopt dual port RAM to carry out exchanges data between the two, reduce the time delay of data stream, the advantage of two microprocessors is fully used in such combination, more effectively complete control task, make whole control system more reasonable.
The second, the present invention applies multiple navigation measuring units, by Multi-source Information Fusion algorithm, can obtain more accurate four rotor unmanned aircraft flight parameters, improves the precision of controlling.
The 3rd, to four rotor unmanned aircraft modelings and do approximate processing near equilibrium point, the complete drive part of full decoupled one-tenth and owe drive part, pass through mixing control method, realize the STATE FEEDBACK CONTROL of complete drive part and the sliding formwork control of owing drive part, the application of this mixing control method, is improved the control accuracy of four rotor unmanned aircrafts, strengthens the robustness under external disturbance simultaneously.
The 4th, the present invention has designed a set of people's crane monitoring system, and monitoring four rotor unmanned aircraft flight parameters that can be detailed, for control system provides Data support.
Below in conjunction with accompanying drawing explanation and embodiment, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 tetra-rotor unmanned aircraft platform structure figure
Fig. 2 tetra-rotor unmanned aircraft hybrid control system control structure figure
Fig. 3 tetra-rotor unmanned aircraft platform software process flow diagrams
In figure: 1 barometer, 2 Inertial Measurement Units, 3 GPS, 4 electronic compasss, 5 A/D, 6 A/D, 7 RS232, 8 IIC, 9 image data part FPGA, 10 calculating section DSP, 11 IIC, 12 SPI, 13 electron speed regulator ECS, 14 Wifi processors, 15 airborne wifi wireless communication modules, 16 wifi wireless communication modules, 17 man-machine monitoring interfaces, 18 dual port RAMs, 19 height, course state feedback controller, 20 owe drive system sliding mode controller, 21 controller synthetic controllers, 22 height, input is expected in course, 23 horizontal levels are expected input, 24 navigation measurement systems, B1-B4 brushless electric machine desired speed, S1 microprocessor module, the S2 Department of Survey of navigating, S3 driving system for brushless motor, S4 Wi-Fi wireless communication system, S5 land station-people crane monitoring system, No. one, Q1 brushless electric machine, No. two, Q2 brushless electric machine, No. three, Q3 brushless electric machine, No. four, Q4 brushless electric machine.
Embodiment
Four rotor unmanned aircraft platform structures as shown in Figure 1, are made up of five submodules, and wherein S1 is microprocessor module, and S2 is navigation measurement system, and S3 is driving system for brushless motor, and S4 is Wi-Fi wireless communication system, and S5 is people's crane monitoring system.Each module is made up of multiple devices, wherein 1 is barometer, 2 is Inertial Measurement Unit, 3 is GPS module, 4 is electronic compass, 5 is A/D converter part, 6 is A/D converter part, 7 is RS232 universal serial bus, 8 is iic bus, 9 is FPGA processor, 10 is dsp processor, 11 is iic bus, 12 is spi bus, 13 is electron speed regulator, 14 is Wi-Fi processor, 15 is airborne Wi-Fi wireless communication module, 16 is Wi-Fi wireless communication module, 17 is people's machine monitoring interface, 18 is dual port RAM, 19 is height, course state feedback controller, 20 for owing drive system sliding mode controller, 21 is controlled quentity controlled variable synthetic controller.
As shown in Figure 2, in figure, middle Q1 is No., brushless electric machine to four rotor unmanned aircraft hybrid control system control structures, and Q2 is No. two, brushless electric machine, Q3 is No. three, brushless electric machine, Q4 is No. four, brushless electric machine, and A1 is course angle increment, and A2 is lift increment, A3 is roll angle increment, A4 is angle of pitch increment, and B1 is the expectation rotating speed of brushless electric machine Q1, and B2 is the expectation rotating speed of brushless electric machine Q2, B3 is the expectation rotating speed of brushless electric machine Q3, and B4 is the expectation rotating speed of brushless electric machine Q4.Four rotor unmanned aircraft main movement patterns are attitude motion and position motion, and the present invention mixes control for yawing rotation and pitching/roll motion respectively.
Described barometer 1 is used for measuring the elevation information of four rotor unmanned aircrafts, is connected with A/D device 5;
Described Inertial Measurement Unit 2 be used for measuring four rotor unmanned aircrafts the data such as attitude speed and specific force, be connected with A/D device 6;
Described GPS module 3 be used for measuring four rotor unmanned aircrafts plan position information, with the interface of FPGA processor 9 be RS232 universal serial bus 7;
Described electronic compass 4, measure four rotor unmanned aircrafts course information, with the interface of FPGA processor 9 be iic bus 8.
Described microprocessor module comprises:
[1] .FPGA processor 9, read barometer 1 data by A/D device 5, read Inertial Measurement Unit 2 data by A/D device 6, read GPS module 3 data by RS232 universal serial bus 7, by iic bus 8 read electric compass 4 data.FPGA processor 9 imports dual port RAM 18 into all data unifications;
[2] .DSP processor 10, from dual port RAM 18, obtain the measurement data of navigation measurement system, from spi bus 12, obtain the expectation instruction of four rotor unmanned aircrafts, calculate the desired speed of 4 brushless electric machines of four rotor unmanned aircrafts through internal mix controller, import in iic bus 11, import the flight parameter of four rotor unmanned aircrafts into Wi-Fi signal processing module 14 simultaneously;
[3]. the exchanges data between dual port RAM 18, responsible FPGA processor 9 and dsp processor 10, is connected by address bus.
Described driving system for brushless motor comprises:
[1]. electron speed regulator ECS 13, from iic bus 11, obtain the expectation rotating speed of brushless electric machine 13, resolve by inside, control the turn-on and turn-off of MOSFET with PWM, drive brushless electric machine Q1-Q4.
[2]. brushless electric machine Q1-Q4, final executive component, is controlled by electron speed regulator, and the rotating speed difference of 4 motors can change attitude and the position of four rotor unmanned aircrafts.
Described Wi-Fi wireless communication system comprises:
[1]. airborne Wi-Fi wireless communication module 15, the expectation instruction of obtaining Wi-Fi wireless communication module 16 obtaining four rotor unmanned aircrafts from WLAN (wireless local area network), import Wi-Fi signal processing module 14 into, the flight parameter that obtains four rotor unmanned aircrafts simultaneously from Wi-Fi signal processing module 14 is sent in wireless network.
[2] .Wi-Fi wireless communication module 16, the expectation instruction that adopts internet interface to communicate by letter to obtain four rotor unmanned aircrafts with man-machine monitoring interface 17, and above information is sent in wireless network.
[3] .Wi-Fi signal processing module 14, from airborne Wi-Fi wireless communication module 15, obtain data and import spi bus 12 into, the flight parameter that obtains four rotor unmanned aircrafts simultaneously from spi bus 12 imports airborne Wi-Fi wireless communication module 15 into.
Described man-machine monitoring interface 17, be used for the flight parameter of four rotor unmanned aircrafts to do real time record and drawing, dynamically show the attitude of four rotor unmanned aircrafts, send and expect that instruction is in Wi-Fi wireless communication module 16 by LAN (Local Area Network).
Claims (2)
1. four rotor unmanned aircraft platforms based on mixing control method, it is characterized in that aircraft platform structure comprises five submodules, wherein S1 is microprocessor module, S2 is navigation measurement system, S3 is driving system for brushless motor, S4 is Wi-Fi wireless communication system, S5 is people's crane monitoring system, each module is made up of multiple devices, wherein (1) is barometer, (2) be Inertial Measurement Unit, (3) be GPS module, (4) be electronic compass, (5) be A/D converter part, (6) be A/D converter part, (7) be RS232 universal serial bus, (8) be iic bus, (9) be FPGA processor, (10) be dsp processor, (11) be iic bus, (12) be spi bus, (13) be electron speed regulator, (14) be Wi-Fi processor, (15) be airborne Wi-Fi wireless communication module, (16) be Wi-Fi wireless communication module, (17) be people's machine monitoring interface, (18) be dual port RAM, (19) be height, course state feedback controller, (20) for owing drive system sliding mode controller, (21) be controlled quentity controlled variable synthetic controller.
2. a kind of four rotor unmanned aircraft platforms based on mixing control method according to claim 1, it is characterized in that described aircraft hybrid control system control structure is made up of following element, wherein: Q1 is No., brushless electric machine, Q2 is No. two, brushless electric machine, Q3 is No. three, brushless electric machine, Q4 is No. four, brushless electric machine, A1 is course angle increment, A2 is lift increment, A3 is roll angle increment, A4 is angle of pitch increment, B1 is the expectation rotating speed of brushless electric machine Q1, B2 is the expectation rotating speed of brushless electric machine Q2, B3 is the expectation rotating speed of brushless electric machine Q3, B4 is the expectation rotating speed of brushless electric machine Q4.
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Cited By (2)
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| CN105093130A (en) * | 2015-09-17 | 2015-11-25 | 杨珊珊 | Unmanned aerial vehicle cruising capacity monitoring system and method |
| CN107416212A (en) * | 2016-09-07 | 2017-12-01 | 亿航智能设备（广州）有限公司 | The motor speed regulation system and multi-rotor aerocraft of a kind of multi-rotor aerocraft |
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Cited By (2)
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| CN105093130A (en) * | 2015-09-17 | 2015-11-25 | 杨珊珊 | Unmanned aerial vehicle cruising capacity monitoring system and method |
| CN107416212A (en) * | 2016-09-07 | 2017-12-01 | 亿航智能设备（广州）有限公司 | The motor speed regulation system and multi-rotor aerocraft of a kind of multi-rotor aerocraft |
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Application publication date: 20140521 |