CN104331086A - Flight control system of small multi-rotor for power line patrol - Google Patents
Flight control system of small multi-rotor for power line patrol Download PDFInfo
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- CN104331086A CN104331086A CN201410638102.6A CN201410638102A CN104331086A CN 104331086 A CN104331086 A CN 104331086A CN 201410638102 A CN201410638102 A CN 201410638102A CN 104331086 A CN104331086 A CN 104331086A
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Abstract
The invention discloses a flight control system of a small multi-rotor for power line patrol. The flight control system comprises an electronic compass, an angular rate gyro, a height sensor, an accelerometer, a GPS (Global Position System) receiver, a flight control computer and a ground control station. The electronic compass, the angular rate gyro, the height sensor, the accelerometer, the GPS receiver and the flight control computer are arranged on the multi-rotor. The electronic compass, the angular rate gyro, the height sensor, the accelerometer and the GPS receiver are connected with the flight control computer. The ground control station sends remote control commands to the flight control computer. The flight control computer comprises a data input module, an RS232 level switching module, an RS485 level switching module, a data storage SD card module, a smart fusion module, a power supply module, an automatic calling module, a recovery control module, a task device module and a steering engine module. The flight control system of the small multi-rotor for power line patrol has the advantages of improving the control sensitivity of the flying machines and facilitating system updating.
Description
Technical field
The present invention relates to a kind of flight control system for power-line patrolling small-sized multi-axis aircraft, especially a kind of flight control system for power-line patrolling small-sized multi-axis aircraft for ultra-high-tension power transmission line.
Background technology
At present, the line walking work of ultra-high-tension power transmission line, mainly or by human at periodic intervals patrols and examines or the monitoring of supervising device fixed point.The mode of manual inspection is adopted to there is following shortcoming: 1) to need a large amount of patrol officers, need extra human cost; 2) in inclement weather and environment, patrol and examine very difficult; 3) in the environment that geographical conditions are poor, artificial very difficult realization is patrolled and examined.What adopt the mode of supervising device fixed point monitoring to solve the place being manually difficult to patrol and examine patrols and examines problem, and the monitoring but this mode can only be fixed a point, maneuverability is poor.For not arranging supervising device part, cannot realize patrolling and examining, and in a large number supervising device being installed, also needing very high cost; Supervising device itself also needs repairing maintenance, needs a large amount of manpower and materials, adds the workload of staff.
In the management process of ultra-high-tension power transmission line, take photo by plane to ultra-high-tension power transmission line and power equipment, image data is absolutely necessary.In prior art, aircraft average physique is comparatively large, and production cost is high.Therefore, the small-sized multi-axis aircraft cruised for electric power arises at the historic moment.But the small electrical of the prior art Multi-axis aircraft that cruises controls to be comparatively complicated, and control system in the market generally adopts monoblock type modular structure, controls sensitivity poor, system update inconvenience.
Summary of the invention
The present invention is for avoiding the weak point that exists in above-mentioned prior art, providing a kind of flight control system for power-line patrolling small-sized multi-axis aircraft, with the convenience of the control sensitivity and system update that improve aircraft.
The present invention be technical solution problem by the following technical solutions.
For the flight control system of power-line patrolling small-sized multi-axis aircraft, its design feature is, comprises electronic compass, angular rate gyroscope, height sensor, accelerometer, GPS, flight control computer and ground control station; Described electronic compass, angular rate gyroscope, height sensor, accelerometer, GPS and flight control computer are all arranged on aircraft, and electronic compass, angular rate gyroscope, height sensor, accelerometer and GPS are all connected with described flight control computer; Described ground control station sends telecommand to flight control computer;
Described flight control computer comprises data input module, RS232 level switch module, RS485 level switch module, data storing SD card module, Intelligent Fusion module, power module, automatic call module, reclaims control module, task device module and steering wheel module; Described Intelligent Fusion module comprises execution module, UARTO module, UART module and sound pressure level module;
Described data input module is used for being connected with described execution module, for carrying out unidirectional control to execution module;
Described RS232 level switch module is connected with described UARTO module, and RS485 level switch module is connected with described UART module, and described data storing SD card module is connected with described sound pressure level module;
Described power module, automatic call module, recovery control module, task device module are all connected with described Intelligent Fusion module with steering wheel module, by described power module for described Intelligent Fusion module provides power supply.
The design feature of the flight control system for power-line patrolling small-sized multi-axis aircraft of the present invention is also:
Described Intelligent Fusion module comprises chip A2F200M3.
Described Intelligent Fusion module is provided with enlargement module null region.
Compared with the prior art, beneficial effect of the present invention is embodied in:
Flight control system for power-line patrolling small-sized multi-axis aircraft of the present invention, adopt multi-module structure, Intelligent Fusion module is wherein the allotment center comprising execution module, UARTO module, UART module and sound pressure level module, realize the internal control of equipment, control sensitiveer, expansion in Intelligent Fusion module is used for the renewal of the system that realizes from module region, meet the more new demand of equipment according to this.
Flight control system for power-line patrolling small-sized multi-axis aircraft of the present invention, has and can improve the advantage such as the control sensitivity of aircraft and the convenience of system update.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the flight control system for power-line patrolling small-sized multi-axis aircraft of the present invention.
Fig. 2 is the structural drawing of the flight control computer of the flight control system for power-line patrolling small-sized multi-axis aircraft of the present invention.
Fig. 3 is the schematic diagram that the AD of the flight control computer of the flight control system for power-line patrolling small-sized multi-axis aircraft of the present invention drives.
As the control schematic diagram that Fig. 4 is four motors in Fig. 1
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment
See accompanying drawing 1-4, the flight control system for power-line patrolling small-sized multi-axis aircraft of the present invention, comprises electronic compass, angular rate gyroscope, height sensor, accelerometer, GPS, flight control computer and ground control station; Described electronic compass, angular rate gyroscope, height sensor, accelerometer, GPS and flight control computer are all arranged on aircraft, and electronic compass, angular rate gyroscope, height sensor, accelerometer and GPS are all connected with described flight control computer; Described ground control station sends telecommand to flight control computer;
Described flight control computer comprises data input module, RS232 level switch module, RS485 level switch module, data storing SD card module, Intelligent Fusion module, power module, automatic call module, reclaims control module, task device module and steering wheel module; Described Intelligent Fusion module comprises execution module, UARTO module, UART module and sound pressure level module;
Described data input module is used for being connected with described execution module, for carrying out unidirectional control to execution module;
Described RS232 level switch module is connected with described UARTO module, and RS485 level switch module is connected with described UART module, and described data storing SD card module is connected with described sound pressure level module;
Described power module, automatic call module, recovery control module, task device module are all connected with described Intelligent Fusion module with steering wheel module, by described power module for described Intelligent Fusion module provides power supply.
Described Intelligent Fusion module comprises chip A2F200M3.
Described Intelligent Fusion module is provided with enlargement module null region.
As Fig. 1, flight control system for power-line patrolling small-sized multi-axis aircraft of the present invention, comprise electronic compass, angular rate gyroscope, height sensor, accelerometer, GPS, flight control computer and ground control station, also comprise four electron speed regulators, each electron speed regulator controls a motor.The modularization split-type structural that flight control computer adopts multiple circuit module to form.As Figures 1 and 4, flight control computer controls 4 motors by 4 electron speed regulators, controls with the rotating speed realizing four screw propellers.
It is that flight controls that the function of flight control system on unmanned plane mainly contains two: one, namely unmanned plane keeps the stable of aspect and flight path aloft, and press the change aspect such as terrestrial radio telecommand or pre-set height, course line, course, attitude angle and flight path, ensure the stabilized flight of aircraft, Here it is usual so-called automatic Pilot; Two is flight managements, namely completes the work such as flight status parameter collection, navigation calculating, telemetry transmission, fault diagnosis process, case of emergency process, the control of task device and management.
Flight control system of the present invention take SmartFusion as the computer for controlling of core, and it is the central control unit of unmanned plane, is responsible for the co-ordination of unit on aircraft, and and carries out data transmission between land station.Simultaneously according to the order of control algolithm and land station, aircraft is kept to fly with certain attitude.
The control principle of four axles (multiaxis) is as described below.
The control principle of four axles is exactly, and when not having external force and weight distribution mean time, four screw propellers are with the same rotational speed, when screw propeller pulling force is upwards greater than the weight of complete machine, four axles will to rising, and at pulling force with when being equal in weight, four axles just can aloft hover.When the front of four axles is subject to downward external force, front motor revs up, to offset the impact of external force thus to keep level, when other several direction same is subject to external force, four axles also can by this action maintenance level, when needs control to fly before four-axial, the motor in front slows down, and the motor at rear accelerates, like this, four axles will turn forward, also corresponding flight forward, equally, need backward, left, fly to the right is also four axles just can be made to want the direction controlled to fly toward us by such control, when we will control the heading of four axles to when rotating clockwise, four axles accelerate the rotating speed of left and right motor simultaneously, and reduce the rotating speed of front and back motor simultaneously, because left and right motor rotates counterclockwise, and the rotating speed of left and right motor is the same, so left and right keeps balance, and front and back motor rotates clockwise, but the rotating speed of front and back motor is also the same, so be all around to keep balance, flying height also can keep, but the force rate rotated counterclockwise is just large clockwise, so fuselage can to counter-rotation, thus reach the direction controlling head.This is also will use two anti-oars why, the reason of two positive oars.It is the control schematic diagram of the motor of four axles in the control principle of four axles as Fig. 4.
Sensor comprises electronic compass, angular rate sensor, height sensor, accelerometer and GPS etc.Electronic compass selects Honeywell HMR3300, and it can measure course, inclination angle and roll angle, and the way of output is SPI Serial output.That angular rate sensor adopts is the ADXRS300 of ADI company, and its output voltage is directly proportional to yawrate.The MPX4115A barometric pressure sensor of the piezoresistive effect principle manufacture of height sensor Selection utilization semiconductor material.That accelerometer adopts is the ADXL203 of ADI company, and it is capacitive accelerometer, and have the features such as high precision, high stability and low-power consumption, output voltage is proportional to accekeration after signal condition.GPS selects GPS-G03A (H), and it is the gps antenna reception all-in-one of a super low-power consumption, can provide longitude and latitude, the information such as time and speed, with RS 232 serial port form transmission data.Steering wheel comprises elevating rudder, yaw rudder, aileron.The control signal of steering wheel is pulse-width signal, is convenient to carry out interface with flight control computer.
The principle of work of three-axis gyroscope is as follows.
Gyroscope is very responsive to small rotation, so it plays an important role to the control of aircraft flight attitude, aircraft deflection gyroscope is a little energy auto modification just, simple gyroscope helps aircraft to keep holding position, so gyrostatic aircraft flight is stablized again, but four-axle aircraft does not have gyroscope just can not fly, because the power of four screw propellers a little difference will be turned on one's side, triaxial accelerometer is used to analyze gyrostatic signal, how many angles are turned, analyze now flight attitude, it can remember the attitude of aircraft, when after operating rod return, aircraft just recovers level automatically.
The flight-control computer of unmanned plane is the core of UAV Flight Control System, and its hardware configuration as shown in Figure 2.Its function realizes primarily of SmartFusion single-chip minimum system and peripheral circuit, also has a power module be used to provide all kinds of voltage needed for system and manage supplying cell in addition.
Flight control computer comprises data input module, RS232 level switch module, RS485 level switch module, data storing SD card module, Intelligent Fusion module, power module, automatic call module (Automatic Call Distributor, ACD module), reclaims control module, task device module and steering wheel module; Described Intelligent Fusion module comprises execution module, UARTO module, UART module (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receive/dispensing device) and sound pressure level module (sound pressure level, SPL module).
Described data input module carries out unidirectional control to execution module, and described RS232 level switch module and RS485 level switch module realize double-direction control with UART module and SPL module respectively.Described ACD module acts on Intelligent Fusion module, and control module, task device module and steering wheel module are reclaimed in the unidirectional control of described Intelligent Fusion module, and described power module provides electric energy support for all modules.This is used for small electrical and cruises the flight control system of Multi-axis aircraft, adopt multi-module structure, Intelligent Fusion module is wherein the allotment center of SLP module, UARTO module, UART module and SPL module, realize the internal control of equipment, control sensitiveer, expansion in Intelligent Fusion module is used for the renewal of the system that realizes from module region, meet the more new demand of equipment according to this.
Intelligent Fusion module of the present invention combines logic, micro-controller subsystem (MSS) and programmable analog module, namely with the FPGA framework of Actel process checking with based on ARM Cortex-M3 hard nucleus management device subsystem, and FLASH analog module able to programme.Realizing wieldy complete Configurable system design platform, making embedded design personnel without the need to carrying out the change of wiring board level, just can rapid Optimum hardware, software balance of compromising.In Intelligent Fusion module and SmartFusion A2F200 module (execution module, UARTO module, UART module and sound pressure level module), all data all can be sent to FPGA from processor, or be sent to processor from analog module, or transmit between analog module on FPGA and sheet.In addition, the FLASHLock technology of Actel also provides outstanding IP safety guarantee.
Daily commodity used electricity adjusts (electron speed regulator) to be undertaken controlling by the throttle channel on receiver, this receiver control signal is out all generally the PPM pulse-width control signal at 20mS interval, and four axles are in order to improve the speed of response, need the interval of control command shorter-such as 5mS, so just need special electricity to adjust and can not adjust with common commodity electricity, but I2C bus to be used why to adjust with electricity connect, this is relevant with circuit design and software programming etc., I2C bus on signal wiring can multiple equipment directly and be connected in bus, it has corresponding transmission mechanism to ensure main frame and each is from smooth and easy communication before machine, the convenience that such connection is just compared, so the control line that four electricity are adjusted be connect together to link on master control borad just passable, this chip also selected with us is correlated with, a lot of single-chip microcomputer has integrated I2C bus, Software for Design gets up also handy.
Principal feature and the function embodiment of SmartFusion A2F200 module exist:
(1) multiple functional FPGA.Intelligent Fusion module have Actel through checking based on flash memory technology ProASIC3FPGA framework, use advanced 130nm seven layers of quick flashing CMOS technology technology, system door density range is 60K ~ 500K, and has the frequency of operation of 350MHz and maximum 204 I/O.This combination can the integrated existing capability from other devices, the significantly power consumption of minimizing board space and overall system.
(2) micro-controller subsystem.The intelligent of device adds FPGA's with the form of micro-controller subsystem, subsystem is with the ARM Cortex-M3 processor stone of 100MHz frequency of operation, whole standard peripherals and function comprise: multilayer AHB communication matrix, throughput is up to 16Gb/s, with 10M/100M ethernet mac and the SPL module of RMI interface, I2C, UART and 32 bit timing devices.There is the highest 512KB flash memory, 64KB SRAM and data storing SD card module.
(3) programmable analog module.The proprietary analog computation engine (ACE) of novelty can perform sampling sequence and calculate, simulation initialization and the Processing tasks of ARM Cortex-M3 processor can be shared, programmable analog comprises: precision is the ACD module (automatic call module) 10 of 1%, nearly 3 sample frequency are 12 ADC (airborne digital computer module) of 600KS/s, maximum 3 12 the first rank ADC, 10 50ns high-speed comparators integrated various temperature, voltage and current monitoring function.
In view of flight controls and the requirement of navigation accuracy, this ADC module has selected the A/D chip TLC3548 of TI company, is used for gathering the voltage signal of three axis accelerometer, height sensor, the output of triangle-rate gyro.A/D, driving composition frame chart are as shown in Figure 3.
The present invention selects the A2F200M3 of Intelligent Fusion module as acp chip.The major function of its MSS keeps the communication with land station, gathers attitude angle data and GPS locator data, sends control command to FPGA, run relevant Flight Control Algorithm and Navigation Control algorithm etc.The major function of FPGA framework gathers the data with survey sensor, receives the order of MSS and driving steering wheel.FPGA has shared a part of former task that can adopt MSS to realize, and asks for executing arithmetic, to improve the overall performance of system when making MSS have more.
Peripheral interface circuit is primarily of compositions such as RS232 level switch module, RS485 level switch module, data storing SD card module, collecting sensor signal passage, task device module, measurement of engine rotate speed passage RS232 level switch module, battery voltage detection passage, RS485 level switch modules.GPS with PC serial ports is connected all needs 1 MAX232 chip to carry out level conversion.SD card is used for depositing flight parameter and view data.Data transmission is carried out by GPIO between MSS and FPGA.The function such as servo driving, wireless receiver input, signal control realizes by the internal logic circuit of chip, adopts VerilogHDL language compilation.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (3)
1. for the flight control system of power-line patrolling small-sized multi-axis aircraft, it is characterized in that, comprise electronic compass, angular rate gyroscope, height sensor, accelerometer, GPS, flight control computer and ground control station; Described electronic compass, angular rate gyroscope, height sensor, accelerometer, GPS and flight control computer are all arranged on aircraft, and electronic compass, angular rate gyroscope, height sensor, accelerometer and GPS are all connected with described flight control computer; Described ground control station sends telecommand to flight control computer;
Described flight control computer comprises data input module, RS232 level switch module, RS485 level switch module, data storing SD card module, Intelligent Fusion module, power module, automatic call module, reclaims control module, task device module and steering wheel module; Described Intelligent Fusion module comprises execution module, UARTO module, UART module and sound pressure level module;
Described data input module is used for being connected with described execution module, for carrying out unidirectional control to execution module;
Described RS232 level switch module is connected with described UARTO module, and RS485 level switch module is connected with described UART module, and described data storing SD card module is connected with described sound pressure level module;
Described power module, automatic call module, recovery control module, task device module are all connected with described Intelligent Fusion module with steering wheel module, by described power module for described Intelligent Fusion module provides power supply.
2. the flight control system for power-line patrolling small-sized multi-axis aircraft according to claim 1, is characterized in that, described Intelligent Fusion module comprises chip A2F200M3.
3. the flight control system for power-line patrolling small-sized multi-axis aircraft according to claim 1, is characterized in that, described Intelligent Fusion module is provided with enlargement module null region.
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| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| CN105319218A (en) * | 2015-12-15 | 2016-02-10 | 广西师范大学 | Unmanned aerial vehicle building flaw detection system based on FPGA |
| CN106289250A (en) * | 2016-08-16 | 2017-01-04 | 福建工程学院 | A kind of course information acquisition system |
| CN106444842A (en) * | 2016-11-30 | 2017-02-22 | 浙江大学 | Novel flight positioning control system for four-axis aircraft |
| CN106672224A (en) * | 2016-11-25 | 2017-05-17 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle and control method thereof |
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| CN109407572A (en) * | 2018-09-10 | 2019-03-01 | 陕西千山航空电子有限责任公司 | A kind of engine parameter collecting cassette |
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| CN104656664A (en) * | 2015-02-16 | 2015-05-27 | 南京航空航天大学 | Vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and guidance control method |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| CN105319218A (en) * | 2015-12-15 | 2016-02-10 | 广西师范大学 | Unmanned aerial vehicle building flaw detection system based on FPGA |
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| CN108885450A (en) * | 2016-02-24 | 2018-11-23 | 利勃海尔航空航天林登贝格股份有限公司 | Aircraft |
| CN106289250A (en) * | 2016-08-16 | 2017-01-04 | 福建工程学院 | A kind of course information acquisition system |
| CN106672224A (en) * | 2016-11-25 | 2017-05-17 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle and control method thereof |
| CN106672224B (en) * | 2016-11-25 | 2024-03-01 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle and control method thereof |
| CN106444842B (en) * | 2016-11-30 | 2019-06-11 | 浙江大学 | A kind of flight positioning control system of novel four-axle aircraft |
| CN106444842A (en) * | 2016-11-30 | 2017-02-22 | 浙江大学 | Novel flight positioning control system for four-axis aircraft |
| CN109407572A (en) * | 2018-09-10 | 2019-03-01 | 陕西千山航空电子有限责任公司 | A kind of engine parameter collecting cassette |
| CN115344060A (en) * | 2022-08-08 | 2022-11-15 | 北京天域航通科技有限公司 | Large-scale unmanned aerial vehicle rotor control system |
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