CN103921949A - Autonomous quad-rotor flight vehicle based on Renesas chip R5F100LEA - Google Patents
Autonomous quad-rotor flight vehicle based on Renesas chip R5F100LEA Download PDFInfo
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- CN103921949A CN103921949A CN201410181608.9A CN201410181608A CN103921949A CN 103921949 A CN103921949 A CN 103921949A CN 201410181608 A CN201410181608 A CN 201410181608A CN 103921949 A CN103921949 A CN 103921949A
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Abstract
The invention provides an autonomous quad-rotor flight vehicle based on Renesas chip R5F100LEA and belongs to the field of control over flight vehicles. The autonomous quad-rotor flight vehicle based on the Renesas chip R5F100LEA aims at solving problems existing in a traditional quad-rotor flight vehicle control method. The autonomous quad-rotor flight vehicle based on the Renesas chip R5F100LEA comprises a quad-rotor flight vehicle body, four propellers, a propeller control unit and a propeller driving unit. The four propellers are installed at the four tail ends of a rack of the quad-rotor flight vehicle body respectively. The four propellers are of the same structure and are located at the same height. The rotation directions of the two opposite propellers are identical and opposite to the rotation directions of the other two propellers. The propeller control unit comprises a central processing unit, a pose module, a photoelectric sensor, an ultrasonic sensor and an electromagnet. The photoelectric sensor, the ultrasonic sensor and the electromagnet are arranged on the lower surface of the rack. The propeller driving unit comprises four electronic speed regulators and four propeller motors.
Description
Technical field
The present invention relates to the four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA, belong to aircraft control field.
Background technology
Quadrotor is a kind of aircraft that four screw propellers and four screw propellers are square crossing structure that has.It can fly with many attitude, comprises hovering, frontly flies, the flight attitude such as inverted flight and side fly.
Lot of domestic and international colleges and universities and research team are all devoted to the research of quadrotor at present.Quadrotor is also applied widely in multiple fields such as such as military and civilian.Taking photo by plane and image transmitting of for example civilian aspect, patrol monitors and target tracking, search and rescue after disaster occurs, the inspection in section etc. after high tension cord, bridge, dam and earthquake; The ground battle reconnaissance of military aspect, obtain enemy's information, closely control patrol, supervision, electronic warfare, ground communication etc.
The mode of quadrotor mainly contains at present: remote control distributor, autonomous flight and three kinds of modes of half autonomous flight.Autonomous flight refers to that the intervention that can depart from people in flight course completely realizes flight, conventionally adopts magnetic compass to measure attitude, with angular rate gyroscope composition stabilization of carriage angle inner looping, and adopts navigationsystem to navigate.Conventional autonomous flight control core has following three kinds at present:
(1) the AVR micro controller system of atmel corp.It is the 8-bit High-Speed Microcontroller of RISC reduced instruction set computer.Taking comparatively common ATmega16 as example, its data throughput is 1MIPS/MHz, has 32 general purpose working registers, the In-System Programmable Flash of 16K byte, 32 programmable I/O mouths.But inadequate resource in its sheet, needs are controlled in the quadrotor flight that is difficult to meet the large difficulty of high precision.
(2) TMS320F2812 of TI company.It is high-performance 32-bit micro controller system.It has the In-System Programmable Flash of 128K*16 byte, 56 programmable I/O mouths.Certainly, DSP is the chip of giving birth to for computing specially, and TMS320F2812 is no exception.But its controller performance is not good enough, be even difficult to meet the steady control of quadrotor, and expensive.
(3) STM32F103CBT6 of ST company.It is also a 32 micro controller systems, has the In-System Programmable Flash of 128K byte, 80 programmable I/O mouths.It adopts ARM Corex-M3 kernel, and running velocity is fast, and expansibility is strong, and alerting ability is high.Shortcoming be its programmed instruction based on C/C++ language construction, write the program process complexity of complex control function, code is readable and modifiability is all very poor.Because quadrotor is powered battery, the high power consumption of this chip is also a key factor of its application of restriction.In addition, expensive is also its shortcoming.
In sum, aspect quadrotor control, at present conventional control core exists that inadequate resource in, sheet high such as power consumption, running velocity are unhappy, the complicated inconvenience of programming is write and the various problems such as amendment, is difficult to meet the highly difficult quadrotor flight of high precision and controls.
Summary of the invention
To the present invention seeks to use the problems such as the unhappy and control accuracy of traditional control chip the internal resource deficiency, the computation speed that exist is not high in order solving in quadrotor control, a kind of four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA to be provided.
The four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA of the present invention, it comprises four rotor bodies, four screw propellers, screw propeller control unit and screw propeller driver elements;
Four frame ends at four rotor bodies are installed respectively a screw propeller, and the structure of four screw propellers is identical, and in sustained height, two relative screw propellers have identical hand of rotation, and contrary with another hand of rotation to screw propeller;
Described screw propeller control unit comprises central process unit, attitude module, opto-electronic pickup, ultrasonic transduter and electromagnet; Opto-electronic pickup, ultrasonic transduter and electromagnet are arranged on frame lower surface;
Described screw propeller driver element comprises front end electronic governor, rear end electronic governor, left end electronic governor, right-hand member electronic governor, front end screw propeller motor, rear end screw propeller motor, left end screw propeller motor and right-hand member screw propeller motor;
The attitude signal mouth of attitude module is connected with the attitude signal input end of central process unit;
The tracking signal output part of opto-electronic pickup is connected with the tracking signal input part of central process unit;
The distance measuring signal mouth of ultrasonic transduter is connected with the distance measuring signal input end of central process unit;
The iron instruction output end that picks up of central process unit is connected with the Enable Pin of electromagnet;
The one PWM speed control signal output part of central process unit is connected with the input end of front end electronic governor; The mouth of front end electronic governor is connected with the speed control end of front end screw propeller motor;
The 2nd PWM speed control signal output part of central process unit is connected with the input end of rear end electronic governor; The mouth of rear end electronic governor is connected with the speed control end of rear end screw propeller motor;
The 3rd PWM speed control signal output part of central process unit is connected with the input end of left end electronic governor; The mouth of left end electronic governor is connected with the speed control end of left end screw propeller motor;
The 4th PWM speed control signal output part of central process unit is connected with the input end of right-hand member electronic governor; The mouth of right-hand member electronic governor is connected with the speed control end of right-hand member screw propeller motor.
Advantage of the present invention:
1. use one to there are 96K byte In-System Programmable Flash, 48 more complete control cores that programmable I/O mouth, programming low in energy consumption simply easily realize, can utilize the Code Generator in the IDE CubeSuite+ of auspicious Sa, can carry out direct generating code by the mode of parameters, improve programming efficiency, and be easy to amendment.
2. hardware platform cost is low, and accessory is easy to change.Quadrotor complete machine is on the market not only expensive, and the compatibility of accessory is very poor.The present invention adopts a whole set of aerocraft system of accessory Self-Integration that uses on the market extensive, cheap and ample supply and prompt delivery, both can ensure that aircraft met basic performance figure, can ensure again the conformability of many aircraft in performance.
3. based on the auspicious Sa R5F100LEA of control core, realized tracking, picked up iron plate and flying height reaches the functions such as certain value in conjunction with ultrasonic transduter, opto-electronic pickup and electromagnet and power module.
Brief description of the drawings
Fig. 1 is the structural representation of the four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA of the present invention;
Fig. 2 is four rotor automated spacecraft perpendicular movement schematic diagrams;
Fig. 3 is four rotor automated spacecraft luffing schematic diagrams;
Fig. 4 is four rotor automated spacecraft rolling movement schematic diagrams;
Fig. 5 is four rotor automated spacecraft yawing rotation schematic diagrams;
Fig. 6 is the four rotor automated spacecrafts schematic diagrams that seesaw;
Fig. 7 is four rotor automated spacecraft sideway movement schematic diagrams.
Detailed description of the invention
Detailed description of the invention one: present embodiment is described below in conjunction with Fig. 1 to Fig. 7, the four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA described in present embodiment, it comprises four rotor bodies, four screw propellers, screw propeller control unit and screw propeller driver elements;
Four frame ends at four rotor bodies are installed respectively a screw propeller, and the structure of four screw propellers is identical, and in sustained height, two relative screw propellers have identical hand of rotation, and contrary with another hand of rotation to screw propeller,
Described screw propeller control unit comprises central process unit 1, attitude module 2, opto-electronic pickup 3, ultrasonic transduter 4 and electromagnet 5; Opto-electronic pickup 3, ultrasonic transduter 4 and electromagnet 5 are arranged on frame lower surface;
Described screw propeller driver element comprises front end electronic governor 6, rear end electronic governor 7, left end electronic governor 8, right-hand member electronic governor 9, front end screw propeller motor 10, rear end screw propeller motor 11, left end screw propeller motor 12 and right-hand member screw propeller motor 13;
The attitude signal mouth of attitude module 2 is connected with the attitude signal input end of central process unit 1;
The tracking signal output part of opto-electronic pickup 3 is connected with the tracking signal input part of central process unit 1;
The distance measuring signal mouth of ultrasonic transduter 4 is connected with the distance measuring signal input end of central process unit 1;
The iron instruction output end that picks up of central process unit 1 is connected with the Enable Pin of electromagnet 5;
The one PWM speed control signal output part of central process unit 1 is connected with the input end of front end electronic governor 6; The mouth of front end electronic governor 6 is connected with the speed control end of front end screw propeller motor 10;
The 2nd PWM speed control signal output part of central process unit 1 is connected with the input end of rear end electronic governor 7; The mouth of rear end electronic governor 7 is connected with the speed control end of rear end screw propeller motor 11;
The 3rd PWM speed control signal output part of central process unit 1 is connected with the input end of left end electronic governor 8; The mouth of left end electronic governor 8 is connected with the speed control end of left end screw propeller motor 12;
The 4th PWM speed control signal output part of central process unit 1 is connected with the input end of right-hand member electronic governor 9; The mouth of right-hand member electronic governor 9 is connected with the speed control end of right-hand member screw propeller motor 13.
Central process unit 1 adopts auspicious Sa R5F100LEA micro controller system.RL78/G13 series 32 High Performance SCMs of auspicious Sa R5F100LEA based on RL78 kernel.Its programming is simple easily to be realized, and utilizes the Code Generator in the IDE CubeSuite+ of auspicious Sa, can carry out direct generating code by the mode of parameters, has removed the trouble of large section of code of manual compiling, debugging, amendment from.
It is the reflective photoelectric sensor of RPR220 that opto-electronic pickup 3 adopts model.
It is HC-SR04 ultrasonic transduter that ultrasonic transduter 4 adopts model.Be used for measuring quadrotor distance to the ground.
Electromagnet 5 is for picking up iron plate.
Front end screw propeller motor 10, rear end screw propeller motor 11, left end screw propeller motor 12 and right-hand member screw propeller motor 13 adopt A2212KV1260 brshless DC motor.Be rotor diameter 22mm, rotor height 12mm.
Four rotor bodies adopt diameter 330mm, the frame of bare machine weight 600g, plastic material (framework connecting plate is acrylic material).
Described screw propeller is selected 8038 models, i.e. 8 inches of diameters (approximately 20.32cm), 38 ° of the blade angles of attack.
Attitude module 2 adopts MPU-6050 integration module.Integrated 3 axle gyroscopes and 3 axis accelerometers, the poor problem of between centers while having exempted combination gyroscope and accelerometer, has reduced a large amount of packaging spaces.Gyroscope and accelerometer detect flight attitude for real-time, and send to central process unit 1.
Described flight attitude has following six kinds:
Perpendicular movement, as accompanying drawing 2, because there being two pairs of motor steerings contrary, can balance its reactive torque to fuselage, when increase the horsepower output of four motors simultaneously, gyroplane rotate speed increase increases total pulling force, in the time that total pulling force is enough to overcome the weight of complete machine, quadrotor is liftoff vertical uplift just; Otherwise, reducing the horsepower output of four motors simultaneously, quadrotor vertically declines, until balance is landed, has realized along the perpendicular movement of z axle.In the time that external disturbance amount is zero, when the lift producing at rotor equals the deadweight of aircraft, aircraft just keeps floating state.Ensure that four gyroplane rotate speeds synchronously increase or reduce is the key of perpendicular movement.
Luffing, as Fig. 3, the rise of rotational speed of front end screw propeller motor 10, the rotating speed of rear end screw propeller motor 11 declines, and the rotating speed of left end screw propeller motor 12, right-hand member screw propeller motor 13 remains unchanged.For not because the change of gyroplane rotate speed causes quadrotor entirety moment of torsion and total pulling force to be changed, front end rotor should equate with the size of rear end this variable of gyroplane rotate speed.Because the lift of front end rotor rises, the lift of rear end rotor declines, the unbalanced moment producing makes fuselage around y axle rotation (direction as shown in Figure 3), in like manner, when the rotating speed of front end screw propeller motor 10 declines, the rise of rotational speed of rear end screw propeller motor 11, and this variable is while equating, fuselage just, around axially another direction rotation of y, is realized the luffing of aircraft.
Rolling movement, as Fig. 4, principle is identical with Fig. 3, change the rotating speed of left end screw propeller motor 12 and right-hand member screw propeller motor 13, one of an increase reduces, and variable quantity maintenance is equal, keeps the rotating speed of front end screw propeller motor 10 and rear end screw propeller motor 11 constant, can make fuselage around the rotation of x axle (forward and reverse), can realize the rolling movement of aircraft.
Yawing rotation, as Fig. 5, the reactive torque that quadrotor yawing rotation can produce by rotor realizes.In rotor rotation process, due to the reactive torque of air resistance effect meeting formation and direction of rotation, the impact bringing in order to overcome reactive torque, can make two forwards in four rotors, two reversions, and each rotor rotation direction on diagonal line is identical.The size of reactive torque is relevant with gyroplane rotate speed, in the time that four motor speeds are identical, and four mutual balances of reactive torque that rotor produces, quadrotor does not rotate; In the time that four motor speeds are incomplete same, unbalanced reactive torque can cause that quadrotor rotates.In Fig. 5, when the rise of rotational speed of front end screw propeller motor 10 and rear end screw propeller motor 11, when the rotating speed of left end screw propeller motor 12 and right-hand member screw propeller motor 13 declines, front end rotor and rear end rotor are greater than left end rotor and the reactive torque of rotor 4 to fuselage to the reactive torque of fuselage, fuselage just rotates around z axle under the effect of reactive torque more than needed, realize the yawing rotation of aircraft, turn to the switched in opposite with front end screw propeller motor 10, rear end screw propeller motor 11.
Seesaw, as Fig. 6, want to realize the motion of aircraft all around in horizontal surface, must in horizontal surface, apply certain power to aircraft.In Fig. 6, increase rear end screw propeller motor 11 rotating speeds, pulling force is increased, corresponding front end screw propeller motor 10 rotating speeds that reduce, reduce pulling force, keep other two motor speeds constant simultaneously, and reactive torque still will keep balance.First there is inclination to a certain degree in aircraft, thus make rotor thrust produce horizontal component, therefore can realize aircraft before fly motion.Flight is with flight is just in time contrary forward backward.Certainly, in Fig. 3 Fig. 4, aircraft also can produce along the horizontal motion of x, y axle in producing pitching, tumbling motion.
Sideway movement, following Fig. 7, due to symmetrical configuration, so the principle seesawing in the principle of work of crabbing and Fig. 6 is just the same.
Described in employing Fig. 1, aircraft completes above six kinds of flight attitudes, by the data of gyroscope, accelerometer are carried out to Kalman filtering, realizes data fusion and then carries out flight attitude and resolve; By the data acquisition and processing (DAP) of ultrasonic transduter, opto-electronic pickup is realized to tracking, pick up iron plate and flying height reaches the functions such as certain value.Its detailed process is:
1) system initialization;
2) quadrotor picks up iron plate and starts and rises;
3) MPU-6050 module gyroscope and accelerometer image data, and carry out data fusion by Kalman filtering, data after merging are reached to control core carries out attitude of flight vehicle and resolves, judge whether balance of aircraft, enter afterwards control core control process: if overbalance, the PWM of control core output respective change, and then change motor speed, regulate aircraft balance; If balance, ultrasonic transduter starts range finding.When aircraft is greater than 0.5 meter apart from ground, aircraft stops rising and starts and advances;
4), in the process of advancing, opto-electronic pickup continues ground black clearance line to survey, if direction departs from, and the PWM respective change of control core output, and then change motor speed, regulate aircraft course.
Described control core control process relates to control algorithm part, uses classical PID algorithm, and the data that record in conjunction with each sensor calculate the tachometer value of four brshless DC motors, directly control inputs amount.
Detailed description of the invention two: present embodiment is described further embodiment one, also comprise power module 14, power module 14 provides working power for central process unit 1, power module 14 adopts 11.1V, 2600mAh lithium cell, can export transient high-current, meet the flight demand of quadrotor.
Claims (7)
1. the four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA, is characterized in that, it comprises four rotor bodies, four screw propellers, screw propeller control unit and screw propeller driver elements;
Four frame ends at four rotor bodies are installed respectively a screw propeller, and the structure of four screw propellers is identical, and in sustained height, two relative screw propellers have identical hand of rotation, and contrary with another hand of rotation to screw propeller,
Described screw propeller control unit comprises central process unit (1), attitude module (2), opto-electronic pickup (3), ultrasonic transduter (4) and electromagnet (5); Opto-electronic pickup (3), ultrasonic transduter (4) and electromagnet (5) are arranged on frame lower surface;
Described screw propeller driver element comprises front end electronic governor (6), rear end electronic governor (7), left end electronic governor (8), right-hand member electronic governor (9), front end screw propeller motor (10), rear end screw propeller motor (11), left end screw propeller motor (12) and right-hand member screw propeller motor (13);
The attitude signal mouth of attitude module (2) is connected with the attitude signal input end of central process unit (1);
The tracking signal output part of opto-electronic pickup (3) is connected with the tracking signal input part of central process unit (1);
The distance measuring signal mouth of ultrasonic transduter (4) is connected with the distance measuring signal input end of central process unit (1);
The iron instruction output end that picks up of central process unit (1) is connected with the Enable Pin of electromagnet (5);
The one PWM speed control signal output part of central process unit (1) is connected with the input end of front end electronic governor (6); The mouth of front end electronic governor (6) is connected with the speed control end of front end screw propeller motor (10);
The 2nd PWM speed control signal output part of central process unit (1) is connected with the input end of rear end electronic governor (7); The mouth of rear end electronic governor (7) is connected with the speed control end of rear end screw propeller motor (11);
The 3rd PWM speed control signal output part of central process unit (1) is connected with the input end of left end electronic governor (8); The mouth of left end electronic governor (8) is connected with the speed control end of left end screw propeller motor (12);
The 4th PWM speed control signal output part of central process unit (1) is connected with the input end of right-hand member electronic governor (9); The mouth of right-hand member electronic governor (9) is connected with the speed control end of right-hand member screw propeller motor (13).
2. four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA according to claim 1, it is characterized in that, also comprise power module 14, power module 14 provides working power for central process unit (1), and power module 14 adopts 11.1V, 2600mAh lithium cell.
3. four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA according to claim 1, is characterized in that, central process unit (1) adopts auspicious Sa R5F100LEA micro controller system.
4. four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA according to claim 1, is characterized in that, attitude module (2) adopts MPU-6050 integration module.
5. four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA according to claim 1, is characterized in that, opto-electronic pickup (3) adopts the reflective photoelectric sensor that model is RPR220.
6. four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA according to claim 1, is characterized in that, it is HC-SR04 ultrasonic transduter that ultrasonic transduter (4) adopts model.
7. four rotor automated spacecrafts based on auspicious Sa chip R5F100LEA according to claim 1, it is characterized in that, front end screw propeller motor (10), rear end screw propeller motor (11), left end screw propeller motor (12) and right-hand member screw propeller motor (13) adopt A2212KV1260 brshless DC motor.
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| CN201410181608.9A CN103921949A (en) | 2014-04-30 | 2014-04-30 | Autonomous quad-rotor flight vehicle based on Renesas chip R5F100LEA |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106950977A (en) * | 2017-03-09 | 2017-07-14 | 长沙开雅电子科技有限公司 | A kind of unmanned aerial vehicle control system design |
| CN107813917A (en) * | 2017-11-29 | 2018-03-20 | 北京圣世信通科技发展有限公司 | A kind of underwater equipment with propeller control posture |
| WO2018086087A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Unmanned flight control system |
| CN108803664A (en) * | 2018-08-01 | 2018-11-13 | 辽宁壮龙无人机科技有限公司 | A kind of autonomous flight throws object unmanned plane and control method |
| CN109270944A (en) * | 2018-09-14 | 2019-01-25 | 哈尔滨理工大学 | A kind of attitude flight control system of quadrotor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018086087A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Unmanned flight control system |
| CN106950977A (en) * | 2017-03-09 | 2017-07-14 | 长沙开雅电子科技有限公司 | A kind of unmanned aerial vehicle control system design |
| CN107813917A (en) * | 2017-11-29 | 2018-03-20 | 北京圣世信通科技发展有限公司 | A kind of underwater equipment with propeller control posture |
| CN108803664A (en) * | 2018-08-01 | 2018-11-13 | 辽宁壮龙无人机科技有限公司 | A kind of autonomous flight throws object unmanned plane and control method |
| CN109270944A (en) * | 2018-09-14 | 2019-01-25 | 哈尔滨理工大学 | A kind of attitude flight control system of quadrotor |
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Application publication date: 20140716 |