CN103838152B - A kind of ground test device for flight control system and control method - Google Patents
A kind of ground test device for flight control system and control method Download PDFInfo
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- CN103838152B CN103838152B CN201410072725.1A CN201410072725A CN103838152B CN 103838152 B CN103838152 B CN 103838152B CN 201410072725 A CN201410072725 A CN 201410072725A CN 103838152 B CN103838152 B CN 103838152B
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Abstract
The invention discloses a kind of ground test device for flight control system and control method, including: carrying platform system, kinetic control system, flight control system, remote controller and receiver, electric power system, communication system, host computer, control method and method of testing；Present invention achieves three kinds of working methods of test device, one is to move under flight control system control, and one is to move under remote controller control, and one is line walking motion, and three kinds of working methods can switch easily；When testing device autonomic movement under flight control system control, utilize speed control loop and the direction control circuit of kinetic control system, test device is made to simulate unmanned vehicle motion under automatic driving mode visually, the reasonability of algorithm in checking flight control system；The present invention gives three kinds of method of testings, can be to a greater extent in the performance of ground test flight control system, at the effective checking system parameter of flight control system design experimental stage energy, the reasonability of access control loop, navigation algorithm etc. and effectiveness.
Description
Technical field
The present invention relates to a kind of ground test device for flight control system and control method, be applied to the flight control system ground performance test of unmanned plane, unmanned airship, belong to flight control system ground simulation technical field of measurement and test.
Background technology
The ground test being traditionally used for flight control system mostly is go-cart or sport car experiment, it is typically to be installed on small four-wheel go-cart or automobile flight control system, mode manually promotes body movement or drives a car, and then collects attitude and position data, is analyzed contrast.Using this kind of mode, there is ground test device can not run automatically, and volume is big, puts into manpower more, the function that can test and the limited drawback of project.Therefore, put into little in the urgent need to one, the device in ground simulation test flight control system can be gone up to a greater extent.
Summary of the invention
The technical problem to be solved in the present invention, solve traditional sport car or the go-cart experiment equipment therefor volume for flight control system big, tested data and the limited problem of function, propose the ground test for flight control system, accurate line walking data and the control methods of flight control data, reach the performance from the test flight control system of analog simulation to a greater extent.
Technical scheme: a kind of ground test device for flight control system, including carrying platform system, kinetic control system, receiver, remote controller, electric power system, communication system, flies control and host computer, wherein:
Described carrying platform system need to be moved in ward；Including vehicle body, two-layer mechanical platform structure and four driving wheels；Interior of body installs kinetic control system, and some installing holes are arranged at vehicle body top, are used for fixing sensor and support；Two-layer mechanical platform copper post supports, and ground floor installs a data radio station in electric power system, receiver and communication system, and top layer installs flight control system；Carrying platform system is under the effect of kinetic control system, by four DC motor Driver left side wheel and right side wheels, it is achieved platform moves；
Described kinetic control system is the control core of carrying platform system, the input signal of kinetic control system mainly has the Transistor-Transistor Logic level signal of 5 line walking sensors, 6 road PWM count word signals, output signal is two-way motor control signal, signal frequency 20KHz, on the left of one road signal control, front and back wheel drives motor, and on the right side of a road signal control, front and back wheel drives motor；Operating mainly in three kinds of modes, one is to accept path planning by infrared line walking sensor, controls walking along track of test device accurate and flexible；Other two kinds are, receive flight control system or the digital controlled signal of remote controller, resolve the azimuth controlled quentity controlled variable of direction control signal, it is translated into both sides wheel turning angle rate controlled amount, realizes turning by the differential of left side wheels with right-hand wheel, resolution speed control signal, the motor speed of service is adjusted by changing pulsewidth, thus regulation speed, make test device move according to the control command of flight control system or remote controller, reach the purpose of simulated flight device transverse movement.
Described receiver receives remote controller control signal, and decoded digital signal is sent respectively to kinetic control system and flight control system, it is achieved the remote manual control control of carrying platform and flight control system control.
Described remote controller is clematis stem road remote controller, and two passages send advance and left/right rotation order to kinetic control system, it is achieved the remote pilot of test device；Two passages send and accelerate with direction deflection command to flight control system, as the input signal of flight control system；Knob passage sends switching command, it is achieved test device remote pilot and the pattern switching flying control control.
Described electric power system, to the electricity consumption module for power supply of whole telecontrol equipment, including 12V lithium battery, DC/DC module；Electric power system is powered to kinetic control system and motor by interface, powers to flight control system, powers to Vehicular communication system.
Described communication system, including a pair data radio station and antenna；Two data radio station point-to-point communications, host computer is connected with fixing data radio station therein by serial ports, protocol format the most certain for control command sum is passed to data radio station, two data radio stations form air-data link, the control command received and data are passed to and are flown control by motion data radio station, movement velocity and direction can be changed with switching control pattern；Otherwise, flying control can return motion state parameters by motion data radio station；
Described flight control system, mainly includes navigation elements and control unit；The navigation elements position coordinates (considering longitude and latitude) by GPS acquisition device, track course and the ground velocity of operation, measure system acquisition device current pose and course by strapdown navigation attitude, calculate according to destination and route information and produce control instruction；Control unit is with the control instruction of navigation elements for input, by given control algolithm, produces suitable speed control signal and direction control signal to kinetic control system, thus controls simulation testing device and complete the cruise of ground destination.
The upper computer software of described host computer sends way point information and the motion of control command control carrying platform by serial ports to communication system；Upper computer software, by resolving the data message of flight control system, can be tested device with real-time positioning and show movement locus, and device can show test device attitude, rotation direction in real time, can be with the aircraft pursuit course of real time inspection motor control parameter；
Described driving motor is DC speed-reducing, load voltage value 6V, gear ratio 30:1, electric current time non-loaded: 750mA, nominal torque moment of torsion 117g.cm.
Described kinetic control system supply voltage 5-6V, six PWM input channels, channel signal frequency is 50-70Hz, high level width 0.5-2.5ms；Connect 5 infrared line walking sensors, input Transistor-Transistor Logic level；Two path control signal exports, and frequency is 20KHz, maximum output current 2A(instantaneous peak current 3A), peak power output 25W, there is diode continuousing flow protection.
Within described infrared line walking sensor is rated voltage 50V, operating current is no more than 15mA, operating temperature range :-10 DEG C-70 DEG C, and input/output interface is 3 lines interface (+5V/GND/TS), and output level: Transistor-Transistor Logic level, about weight 1g.
Described receiver and matched remote controller, within supply voltage 4.8V-7.4V, communications band 2.4GHz, 6 passages, built-in aerial.
Described electric power system selects battery to be 12V6AH poly-lithium battery, and selecting DCDC module is the input of 9-18v Width funtion, standard output voltage 5v, maximum operating currenbt 3A, and with short-circuit protection function.
Described communication system is for launching power 1mW-1W, and indoor transmissions distance 900 meters, outdoor visual transmission range reaches 2 kilometers, and transfer rate 9600 and 115200bps is optional.
Described flies control supply voltage 5-6v, and communication interface is serial ports, and transfer rate is 9600 or 115200bps, and output pwm control signal is 50Hz, and high level width is 1-2ms, and the GPS module data renewal frequency of selection is 1-4Hz.
Described host computer is at least to have a serial ports or USB interface, and Installed System Memory is more than 2GB, and video card internal memory is more than 256M, supports the industrial computer of Windows XP operating system.
Software in described host computer at least has basic GIS-Geographic Information System, energy real-time positioning apparatus, can estimate by real-time rendering；There is controlling curve and draw function；There is data output function；
The method of testing additionally providing a kind of ground test device for flight control system is:
A. select enough spacious test site, make test device work in MANUAL CONTROL mode.Under the control action of remote controller, suitably changing speed and the direction of test device, gather attitude and acceleration information at host computer, inspection flies to control the precision of attitude filtering algorithm under certain vibration and motion conditions；In host computer picking rate and position data, inspection flies speed and the effect of position filtering algorithm that control is used.
B. select enough spacious test site, the black line of certain angle is set as course line, makes test device work in line walking control model.Test device is under the effect of line walking sensor, can move along scheduled airline more accurately, gather position data at host computer, real-time rendering goes out to test the movement locus of device, analyze contrast and fly to control the track data collected and the data of actual experiment track, improve position filtering algorithm；Analyze contrast and fly to control the deviation of course line course angle and the actual course line course angle collected, as the reference of correction navigation data；Making test device move along the linear accelerating of a certain angle, inspection flies the data such as the course that in control, GPS the exports process with velocity variations, as reference during Fusion.
C. select enough spacious test site, make test device work in and fly to control control model.The target destination data in the range of place are set in host computer, it is sent to fly control by communication system, make to fly control and be operated in autopilot pattern, fly to control then sending direction control command and speed control commands to perform to kinetic control system, make test device then start to emulate unmanned vehicle to fly on a certain level altitude, now may be used for verifying the performance in Navigation Control loop, the index such as the stability of various flight control mode and the reliability of data communication system.Under flying control control model, if running into barrier or deflecting away from place, contingency mode (Non-follow control) can be switched to remote controller, so as to avoid an accident.
Additionally providing the control method of a kind of ground test device for flight control system, rate-determining steps is:
A. initializing, kinetic control system first powers on, and closes all input control signal passages, prevents error action of device from making, automatically controlling four motors to reference position, if device does not produce any action, and mark LED lights, then display is correct initializes, otherwise, initialization error, need to be adjusted；Powering on then to flight control system and communication system, if device does not produce any action, then system initialization completes, and otherwise, need to be adjusted the median of kinetic control system.
B. after initializing successfully, the control signal that kinetic control system detection remote controller knob passage sends, if detecting, signal high level width is 500-700ms, then for flying to control control model, test device receives and flies to control direction controlling passage and the control signal of rate control channel, and test device runs under the control flying control automatically；If detecting, signal high level width is 1400-1600ms, then be line walking control model, the input signal of test device detection 5 line walking sensors of headstock, controls test device along the black line orbiting motion specified；If detecting, signal high level width is 2300-2500ms, then be remote controller control model, also referred to as contingency mode, receives the control signal of receiver, by the motion of manual controller.
Present invention advantage compared with prior art is:
(1), testing relative to the go-cart or sport car being traditionally used for flight control system, the test device volume in the present invention is little, it is not necessary to put into substantial amounts of material resources and human cost, it is simple to test.
(2), the present invention can not only be conventionally, the navigational parameter of flight control system is tested in artificial participation, and can under flight control system control autonomic movement, so that test device simulates unmanned vehicle motion under automatic driving mode visually, the performance in ground simulation test flight control system can be gone up to a greater extent.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of a kind of ground test device for flight control system of the present invention；
Fig. 2 is the control method flow chart of a kind of ground test device for flight control system of the present invention；
Fig. 3 is the static result figure that the present invention tests certain flight control system navigational parameter；Fig. 3 (a) is static longitude test result；Fig. 3 (b) is static longitude test result；
Fig. 4 is the path curves figure that the present invention tests certain flight control system；Fig. 4 (a) is that certain flies to control movement locus when ground test for figure, Fig. 4 (b) be figure be course angle test result curve corresponding to motor process.
In figure, the implication of reference is: 1-carrying platform system；2-kinetic control system；3-receiver；4-remote controller；5-electric power system；6-communication system；7-flight control system；8-host computer；9-stores device；And 10-infrared line walking sensor.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
One flies to control ground test device as shown in Figure 1, and this device includes: 1, carrying platform system；2, kinetic control system；3, receiver；4, remote controller；5, electric power system；6, communication system；7, flight control system；8, host computer；9, the storage device of the control program of control method, 10, infrared line walking sensor.Fig. 2 show the basic flow sheet of the present invention " one flies to control ground test device " control method.
Described carrying platform system 1 need to be moved in ward；Including vehicle body, two-layer mechanical platform structure and four driving wheels；Interior of body installs kinetic control system, and some installing holes are arranged at vehicle body top, are used for fixing sensor and support；Two-layer mechanical platform copper post supports, and ground floor installs a data radio station in electric power system, receiver and communication system, and top layer installs flight control system；Carrying platform system is under the effect of kinetic control system, by four DC motor Driver left side wheel and right side wheels, it is achieved platform moves；
Described kinetic control system 2 is the control core of carrying platform system, the input signal of kinetic control system mainly has the Transistor-Transistor Logic level signal of 5 line walking sensors, 6 road PWM count word signals, output signal is two-way motor control signal, signal frequency 20KHz, on the left of one road signal control, front and back wheel drives motor, and on the right side of a road signal control, front and back wheel drives motor；Operating mainly in three kinds of modes, one is to accept path planning by line walking sensor, controls walking along track of test device accurate and flexible；Another mode is, receive flight control system or the digital controlled signal of remote controller, resolve the azimuth controlled quentity controlled variable of direction control signal, it is translated into both sides wheel turning angle rate controlled amount, realizes turning by the differential of left side wheels with right-hand wheel, resolution speed control signal, the motor speed of service is adjusted by changing pulsewidth, thus regulation speed, make test device move according to the control command of flight control system or remote controller, reach the purpose of simulated flight device transverse movement.
Described receiver 3 receives remote controller control signal, and decoded digital signal is sent respectively to kinetic control system and flight control system, it is achieved the remote manual control control of carrying platform and flight control system control.
Described remote controller 4 is clematis stem road remote controller, and two passages send advance and left/right rotation order to kinetic control system, it is achieved the remote pilot of test device；Two passages send and accelerate with direction deflection command to flight control system, as the input signal of flight control system；Knob passage sends switching command, it is achieved test device remote pilot and the pattern switching flying control control.
Described electric power system 5, to the electricity consumption module for power supply of whole telecontrol equipment, including 12V lithium battery, DC/DC module；Electric power system is powered to kinetic control system and motor by interface, powers to flight control system, powers to Vehicular communication system.
Described communication system 6, including a pair data radio station and antenna；Two data radio station point-to-point communications, host computer is by serial ports and fixing data radio station wired connection therein, protocol format the most certain for control command sum is passed to data radio station, two data radio stations form air-data link, the control command received and data are passed to and are flown control by motion data radio station, movement velocity and direction can be changed with switching control pattern；
Described flight control system 7, mainly includes navigation elements and control unit；The navigation elements position coordinates (considering longitude and latitude) by GPS acquisition device, track course and the ground velocity of operation, measure system acquisition device current pose and course by strapdown navigation attitude, calculate according to destination and route information and produce control instruction；Control unit is with the control instruction of navigation elements for input, by given control algolithm, produces suitable speed control signal and direction control signal to kinetic control system, thus controls simulation testing device and complete the cruise of ground destination.
The upper computer software of described host computer 8 sends way point information and the motion of control command control carrying platform by serial ports to communication system；Upper computer software, by resolving the data message of flight control system, can be tested device with real-time positioning and show movement locus, and device can show test device attitude, rotation direction in real time, can be with the aircraft pursuit course of real time inspection motor control parameter；
Described driving motor is DC speed-reducing, load voltage value 6V, gear ratio: 30:1, and non-loaded rotating speed is not less than 18000RPM, and weight is not more than 200g, electric current time non-loaded: 750mA, nominal torque moment of torsion 117g.cm.
Described kinetic control system 2 supply voltage 5-6V, six PWM input channels, channel signal frequency is 50-70Hz, high level width 0.5-2.5ms；Connect 5 infrared line walking sensors, input Transistor-Transistor Logic level；Two path control signal exports, and frequency is 20KHz, maximum output current 2A(instantaneous peak current 3A), peak power output 25W, there is diode continuousing flow protection.
Described infrared line walking sensor moves within device is rated voltage 50V, and operating current is no more than 15mA, operating temperature range :-10 DEG C-70 DEG C, and input/output interface is 3 lines interface (+5V/GND/TS), and output level: Transistor-Transistor Logic level, about weight 1g.
Described receiver 3 and matched remote controller 4, within supply voltage 4.8V-7.4V, communications band 2.4GHz, 6 passages, built-in aerial.
Described electric power system 5 selects battery to be 12V6AH poly-lithium battery, and selecting DCDC module is the input of 9-18v Width funtion, standard output voltage 5v, maximum operating currenbt 3A, and with short-circuit protection function.
Described communication system 6 is for launching power 1mW-1W, and indoor transmissions distance 900 meters, outdoor visual transmission range reaches 2 kilometers, and transfer rate 9600 and 115200bps is optional.
Described flight control system 7 supply voltage 5-6v, communication interface is serial ports, and transfer rate is 9600 or 115200bps, and output pwm control signal is 50Hz, and high level width is 1-2ms, and the GPS module data renewal frequency of selection is 1-4Hz.
Described host computer 8 is at least to have a serial ports or USB interface, and Installed System Memory is more than 2GB, and video card internal memory is more than 256M, supports the industrial computer of Windows XP operating system.
Software in described host computer 8 at least has basic GIS-Geographic Information System, energy real-time positioning apparatus, can estimate by real-time rendering；There is controlling curve and draw function；There is data output function；
The rate-determining steps (see figure 2) of described a kind of ground test device for flight control system is:
A. initializing, kinetic control system first powers on, and closes all input control signal passages, prevents error action of device from making, automatically controlling four motors to reference position, if device does not produce any action, and mark LED lights, then display is correct initializes, otherwise, initialization error, need to be adjusted；Powering on then to flight control system and communication system, if device does not produce any action, then system initialization completes, and otherwise, need to be adjusted the median of kinetic control system.
B. after initializing successfully, the control signal that kinetic control system detection remote controller knob passage sends, if detecting, signal high level width is 500-700ms, then for flying to control control model, test device receives and flies to control direction controlling passage and the control signal of rate control channel, and test device runs under the control flying control automatically；If detecting, signal high level width is 1400-1600ms, then be line walking control model, the input signal of test device detection 5 line walking sensors of headstock, controls test device along the black line orbiting motion specified；If detecting, signal high level width is 2300-2500ms, then be remote controller control model, also referred to as contingency mode, receives the control signal of receiver, by the motion of manual controller.
Described a kind of fly to control ground test device method of testing be:
A. select enough spacious test site, make test device work in MANUAL CONTROL mode.Under the control action of remote controller, suitably changing speed and the direction of test device, gather attitude and acceleration information at host computer, inspection flies to control the precision of attitude filtering algorithm under certain vibration and motion conditions；In host computer picking rate and position data, inspection flies speed and the effect of position filtering algorithm that control is used.
B. select enough spacious test site, the black line of certain angle is set as course line, makes test device work in line walking control model.Test device is under the effect of line walking sensor, can move along scheduled airline more accurately, gather position data at host computer, real-time rendering goes out to test the movement locus of device, analyze contrast and fly to control the track data collected and the data of actual experiment track, improve position filtering algorithm；Analyze contrast and fly to control the deviation of course line course angle and the actual course line course angle collected, as the reference of correction navigation data；Making test device move along the linear accelerating of a certain angle, inspection flies the data such as the course that in control, GPS the exports process with velocity variations, as reference during Fusion.
C. select enough spacious test site, make test device work in and fly to control control model.The target destination data in the range of place are set in host computer, it is sent to fly control by communication system, make to fly control and be operated in self-driving pattern, fly to control then sending direction control command and speed control commands to perform to kinetic control system, make test device then start to emulate unmanned vehicle to fly on a certain level altitude, now may be used for verifying the performance in Navigation Control loop, the index such as the stability of various flight control mode and the reliability of data communication system.Under flying control control model, if running into barrier or deflecting away from place, contingency mode (Non-follow control) can be switched to remote controller, so as to avoid an accident.
Fig. 3 is the static result figure that the present invention tests certain flight control system navigational parameter；Fig. 3 (a) is static longitude test result；Fig. 3 (b) is static longitude test result；Experiment test shown in Fig. 3 navigation and positioning accuracy of tested flight control system, from the figure 3, it may be seen that the static longitude of certain flight control system tested and latitude fluctuate at about 0.0001 °.
Fig. 4 is the path curves figure that the present invention tests certain flight control system；Fig. 4, (a) figure is that certain flies the control movement locus when ground test, and (b) figure is the course angle test result curve that motor process is corresponding.This time experiment is from starting point (39.980251 °, 116.345734 °) set out, entering after nearly rectangle runway detours one week and be returned to starting point, by can be seen that in (a) of Fig. 4 that certain flight control system tested depicts movement locus more accurately, its navigation and positioning accuracy substantially meets requirement；Figure (b) can be seen that, course angle changes from the beginning of about 270 degree (by north), to about 180 degree, to about 90 degree, again to about 0 degree (0 degree is same angle with 360 degree), illustrate that in test, flight control system is along an approximate rectangular orbiting motion, mate with figure (a), be consistent with practical situation.
What the present invention did not elaborated partly belongs to techniques well known.
Although detailed description of the invention illustrative to the present invention is described above; so that those skilled in the art understand the present invention; it is to be understood that; the invention is not restricted to the scope of detailed description of the invention; from the point of view of those skilled in the art; as long as various changes limit and in the spirit and scope of the present invention that determine, these changes are apparent from, and all utilize the innovation and creation of present inventive concept all at the row of protection in appended claim.
Claims (12)
1. the ground test device for flight control system, it is characterised in that: this device includes: carrying platform system (1),
Kinetic control system (2), receiver (3), remote controller (4), electric power system (5), communication system (6), fly control
System (7), host computer (8), wherein:
Described carrying platform system (1) need to be moved in ward；Drive including vehicle body, two-layer mechanical platform structure and four
Driving wheel；Interior of body installs kinetic control system, and some installing holes are arranged at vehicle body top, are used for fixing sensor and support；Two-layer
Mechanical platform copper post supports, and ground floor installs in electric power system (5), receiver (3) and communication system (6)
Data radio station, top layer installs flight control system (7)；Carrying platform system (1) under the effect of kinetic control system (2),
Left side wheel and right side wheels is driven, it is achieved test device motion by four direct current generators (9)；
Described kinetic control system (2) is the control core of carrying platform system (1), mainly has three kinds of working methods, a kind of
It is to accept path planning by infrared line walking sensor (10), controls test device accurate and flexible ground and walk along track；Other two
Planting working method is to receive flight control system (7) or the digital controlled signal of remote controller, by resolving control signal, controls
The differential of left side wheels and right-hand wheel realizes turning and pace controls, thus control test device according to flight control system (7) or
The control command motion of remote controller, carries out test job；
Described receiver (3) receives remote controller (4) control signal, and decoded digital signal is sent respectively to motion control
System processed (2) and flight control system (7), it is achieved the remote manual control control of carrying platform and flight control system (7) control；
Described remote controller (4) is clematis stem road remote controller, and two passages send and advance and left/right rotation order is to kinetic control system (2),
Realize the remote pilot of test device；Two passages send and accelerate with direction deflection command to flight control system (7), as flying control
The input signal of system；Knob passage sends switching command, it is achieved the switching of test device different working modes；
Described electric power system (5), to the electricity consumption module for power supply of whole telecontrol equipment, including 12V lithium battery, DC/DC module；
Electric power system (5) is powered to kinetic control system (2) and motor (9) by distinct interface, powers to flight control system (7),
Power to communication system (6)；
Described communication system (6), including a pair data radio station and antenna；Two data radio station point-to-point communications；Host computer (8)
It is connected with fixing data radio station therein by serial ports, protocol format the most certain for control command sum is passed to data radio station,
Two data radio stations form air-data link, and the control command received and data are passed to flight control system by motion data radio station
(7)；Otherwise, flight control system also can return kinematic parameter by motion data radio station to host computer (8)；
Described flight control system (7), mainly includes navigation elements and control unit；Navigation elements obtains dress by GPS
The position coordinates put, track course and the ground velocity of operation, measure system acquisition device current pose and boat by strapdown navigation attitude
To, calculate according to destination and route information and produce control instruction；Control unit, with the control instruction of navigation elements for input, is passed through
Given control algolithm, produces suitable speed control signal and direction control signal to kinetic control system (2), thus controls
System test device completes the cruise of ground destination；
The upper computer software of described host computer (8) sends way point information and control command control by serial ports to communication system (6)
The motion of carrying platform system (1)；Upper computer software, can be with real-time positioning by resolving the data message of flight control system (7)
Test device also shows movement locus, and host computer (8) can show test device attitude, rotation direction in real time, can be real-time
Check the aircraft pursuit course of motor control parameter.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described is straight
Stream motor (9) is DC speed-reducing, load voltage value 6V, speed reducing ratio 30:1, electric current time non-loaded: 750mA, specified turn
Square 117g cm.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described fortune
Autocontrol system (2) supply voltage 5-6V, six PWM input channels, channel signal frequency is 50-70Hz, high level width
Degree 0.5-2.5ms；Connect 5 infrared line walking sensors (10), input Transistor-Transistor Logic level；Two path control signal exports, and frequency is
20KHz, maximum output current 2A, peak power output 25W, there is diode continuousing flow protection.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described is red
Within outer line walking sensor (10) is rated voltage 50V, operating current is no more than 15mA, operating temperature range :-10 DEG C
-70 DEG C, input/output interface is 3 line interface, i.e.+5V/GND/TS, and output level: Transistor-Transistor Logic level, about weight 1g.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described connects
Receipts machine (3) and matched remote controller (4), within supply voltage 4.8V-7.4V, communications band 2.4GHz, 6 passages, built-in
Antenna.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described confession
Electricity system (5) selects battery to be 12V6AH poly-lithium battery, and selecting DCDC module is the input of 9-18v Width funtion, standard
Output voltage 5v, maximum operating currenbt 3A, and with short-circuit protection function.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described is logical
Communication system (6) is for launching power 1mW-1W, and the outdoor visual transmission range of indoor transmissions distance 900m reaches 2km, transfer rate 9600
Optional with 115200bps.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described flies
Ore-controlling Role (7) supply voltage 5-6v, communication interface is serial ports, and transfer rate is 9600 or 115200bps, output PWM control
Signal processed is 50Hz, and high level width is 1-2ms, and the GPS module data renewal frequency of selection is 1-4Hz.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described upper
Machine (8) is at least to have a serial ports or USB interface, and Installed System Memory is more than 2GB, and video card internal memory is more than 256M, supports
The industrial computer of Windows XP operating system.
A kind of ground test device for flight control system the most according to claim 1, it is characterised in that: described upper
Software in machine (8) at least has basic GIS-Geographic Information System, energy real-time positioning apparatus, can estimate by real-time rendering；Have
Controlling curve draws function；There is data output function.
11. method of testings utilizing a kind of ground test device for flight control system described in claim 1, it is characterised in that
The step of this method of testing is:
A. select enough spacious test site, make test device work in MANUAL CONTROL mode；Under the control action of remote controller,
Suitably changing speed and the direction of test device, gather attitude and acceleration information at host computer, inspection flight control system is necessarily being shaken
Move and the precision of attitude filtering algorithm under motion conditions；In host computer picking rate and position data, inspection flight control system is used
Speed and the effect of position filtering algorithm；
B. select enough spacious test site, the black line of certain angle is set as course line, makes test device work in and patrol
Line traffic control pattern；Test device, under the effect of line walking sensor, can move along scheduled airline, more accurately at host computer
Gathering position data, real-time rendering goes out to test the movement locus of device, analyzes track data and reality that contrast flight control system collects
The data of border experimental traces, improve position filtering algorithm；Analyze course line course angle and actual course line that contrast flight control system collects
The deviation of course angle, as the reference of correction navigation data；Making test device move along the linear accelerating of a certain angle, inspection flies
In Ore-controlling Role, the course data of GPS output is with the process of velocity variations, as reference during Fusion；
C. select enough spacious test site, make test device work in flight control system control model；Host computer sets
Target destination data, are sent to flight control system by communication system, make flight control system be operated in autopilot pattern, and flight control system is then
Sending direction control command and speed control commands perform to kinetic control system, make test device then start to emulate unmanned vehicle
A certain level altitude flies, now can be used in verifying the performance in Navigation Control loop, the stablizing of various flight control mode
Property and the reliability index of data communication system, under flight control system control model, if running into barrier or deflecting away from place,
It is switched to contingency mode, so as to avoid an accident with remote controller.
12. control methods utilizing a kind of ground test device for flight control system described in claim 1, it is characterised in that
The method rate-determining steps is:
A. initializing, kinetic control system (2) first powers on, and closes all input control signal passages, prevents error action of device from making,
Automatically controlling four motors to reference position, if device does not produce any action, and mark LED lights, then at the beginning of display is correct
Beginningization, otherwise, initialization error, need to be adjusted；Power on then to flight control system and communication system, appoint if device does not produce
What action, then system initialization completes, and otherwise, need to be adjusted the median of kinetic control system；
B., after initializing successfully, the control signal that kinetic control system (2) detection remote controller knob passage sends, if detecting
Signal high level width is 500-700ms, then be flight control system control model, and test device receives flight control system direction controlling and leads to
Road and the control signal of rate control channel, test device runs under the control of flight control system automatically；If signal height electricity being detected
Flat width is 1400-1600ms, then be line walking control model, the input signal of test device detection 5 line walking sensors of headstock,
Control test device along the black line orbiting motion specified；If detecting, signal high level width is 2300-2500ms, then for remote control
Device control model, also referred to as contingency mode, receive the control signal of receiver (3), by the motion of manual controller.
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