CN104679012A - Fusion method of UAV (Unmanned Aerial Vehicle) rudder control information based on incremental weighted value - Google Patents
Fusion method of UAV (Unmanned Aerial Vehicle) rudder control information based on incremental weighted value Download PDFInfo
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- 238000001914 filtration Methods 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 6
- 230000001186 cumulative effect Effects 0.000 claims description 4
- 238000005303 weighing Methods 0.000 claims description 3
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Abstract
The invention provides a fusion method of UAV (Unmanned Aerial Vehicle) rudder control information based on an incremental weighted value. An FPGA (Field Programmable Gate Array) module needs to be provided in the method and comprises a rudder control information fusion processing circuit; the rudder control information fusion processing circuit is used for enabling an automatic control rubber incremental value generated by a flight control unit of an unmanned aerial vehicle to be related to a manual control rudder incremental value acquired by a remote control receiver. The method comprises the following specific steps: defining one incremental weighted value sigma related to the variable quantity delta r of a manual control rudder and the variable quantity delta c of an automatic control rubber and deciding the percentage values of the manual control rudder and the automatic control rubber in a total output rudder by the utilization of the rudder control information fusion processing circuit and an incremental weighted value sigma; when one of the manual control rudder and the automatic control rubber is changed, reflecting an output rubber through the control rudder with larger incremental quantity in real time. Through the fusion method, the respective control rudders can be updated in real time, and the time period is improved to a microsecond level, so that the response speed is greatly improved, and the maneuver flight performance of the unmanned aerial vehicle is improved.
Description
Technical field
The present invention relates to steering engine for unmanned plane control technology field, particularly relate to a kind of fusion method of the unmanned plane rudder amount control information based on increment weights.
Background technology
The rudder amount of the steering wheel of existing unmanned aerial vehicle controls general employing logical circuit or microprocessor, the manual rudder amount information of the multiplex PWM waves gathered with fly to control the automatic control rudder amount information that unit produces and carry out overlap-add procedure (the employing potentiometer with switch had carries out number percent value), then output multi-channel rudder amount control information, controls the motions such as the roll of unmanned plane, pitching and course.The information updating cycle, it is slower that flight controls response speed at ten Milliseconds; And the rudder amount information of manual rudder amount information and automatic control is separate, the dirigibility that the flight of aircraft controls is not enough.
The collection of the servos control information of current unmanned plane, generally adopt logical circuit or microprocessor unit, adopt CPLD (CPLD) as patent of invention " small-sized unmanned aircraft steering engine control device " in 2008, patent No. CN200810032398.1.Its structured flowchart as shown in Figure 1.
The circuit mechanism of this patent is that single-chip microcomputer 1 is connected with complex programmable logic device (CPLD) 8, single-chip microcomputer 1 adopts Serial Peripheral Interface SPI or UART Universal Asynchronous Receiver Transmitter UART to connect host computer, CPLD is connected with receiver, the steering wheel remote signal 13 obtained from receiver 5 and steering wheel 6 automatic control signal 10 drawn from single-chip microcomputer computing, after electronic switch through CPLD inside is selected, export servos control signal, access in steering wheel after low-pass filter.The servos control of such realization, or by Automatic control of single chip microcomputer, or carry out Non-follow control by remote-control receiver, and the combined operation of hand control and automation can not be realized, extremely inconvenient in test flight especially.
Some flight control system in addition, remote control manual rudder amount signal is carried out number percent with automatic control rudder amount signal superpose, then after low-pass filter, in access steering wheel, the number percent value of both controlled quentity controlled variables is determined by the position of the potentiometer on telepilot, fast owing to flying to control the automatic control rudder amount renewal speed that draws of unit, when its controlled quentity controlled variable is larger, often cause the remote control of manual rudder amount blunt, the position of variation potentiometer frequently can only be leaned on to change the number percent of controlled quentity controlled variable to realize manual mode operation, such flight debugging control is got up, extremely inconvenient.
In addition, adopt single-chip computer control system, information controls to adopt program loop to realize, and its information updating cycle, signal response speed was slower at ten Milliseconds.
Wherein, FPGA, field programmable gate array Field Progammable Gate Array, can adopt the functional circuit module of hardware description language design specialized, be built into hardware module by logical block, response frequency is high.
Steering wheel: control motor unmanned aerial vehicle controlling roll, pitching and course.
Rudder amount: to the controlled quentity controlled variable of steering wheel on unmanned aerial vehicle, can send Non-follow control amount by telepilot, also can by flying to control the automatic control amount that sends of unit.
Summary of the invention
The technical problem to be solved in the present invention, be the fusion method that a kind of unmanned plane rudder amount control information based on increment weights is provided, respective control flaps amount can be upgraded in real time, and the time cycle brought up to Microsecond grade, greatly improve response speed, thus improve the maneuvering flight performance of unmanned aerial vehicle.
The present invention is achieved in that a kind of fusion method of the unmanned plane rudder amount control information based on increment weights, and described method need provide FPGA module, this FPGA module comprises rudder amount control information fusion treatment circuit; The manual rudder amount increment size flying the automatic control rudder amount increment size and remote-control receiver collection controlling unit generation of unmanned plane is associated by this rudder amount control information fusion treatment circuit; Described method is specially: define one to the variation delta r of manual rudder amount and the increment weights σ relevant with the variation delta c of automatic control rudder amount, manual rudder amount and automatic control rudder amount are in total percent value exporting rudder amount to utilize rudder amount control information fusion treatment circuit and increment weights σ to determine, reach manual rudder amount and automatic control rudder amount arbitrary rudder amount when changing, the equal control flaps amount that increment can be made larger can be reflected in real time and export in rudder amount, reaches the object controlling steering wheel in real time.
Further, described fusion method is the clock cycle based on high frequency, gathering and the Multi-way remote control that processes after filtering manual rudder amount information, with the automatic control rudder amount information flying to control unit and draw, carries out weights cumulative sum fusion treatment.
Further, when there being manual rudder amount, manual signal just has increment size to produce, thus increment weights σ effect is obvious, and steering wheel is with regard to preferential answering manual rudder amount signal; And when manual rudder amount is very little or when not having, its increment weights are very little, steering wheel, with regard to preferential answering automatic control rudder amount signal, guarantees unmanned plane auto-flare system, thus guarantee that manual rudder amount signal and automatic control rudder amount signal all can obtain real-time response limiting.
Further, rudder amount control information fusion treatment circuit is specially: define an increment weights σ, computing formula is:
σ＝Δc/(Δc+Δr).........(1)
In formula (1),
Δc＝abs(Control_now-Control_last).........(2)
That is, the current automatic control rudder amount Control_now of steering wheel and the absolute value of the difference of the last automatic control rudder amount Control_last obtained,
Δr＝abs(Remote_now-Remote_last).........(3)
That is, the current manual rudder amount Remote_now of steering wheel and the absolute value of the difference of the last manual rudder amount Remote_last obtained, and regulation as Δ c=0 and Δ r=0 time, σ=1;
Merging the steering wheel overhead control rudder amount exported is:
Output＝σ*Control_now+(1-σ)*Remote_now.........(4)
In formula (4), the steering wheel overhead control rudder amount Output exported has merged current automatic control rudder value and manual rudder value, and according to respective variable quantity degree, determine respective weighing factor, the control flaps amount making increment larger can be reflected in time in the overhead control rudder amount of output and go, and realizes the control of comparatively weight.
Tool of the present invention has the following advantages: the present invention is based on the controlling value to steering wheel rudder amount, associate with the variable quantity of manual rudder amount and automatic control rudder amount, make when arbitrary control flaps amount changes, its increment weights independently according to increment larger obtain preferential answering.Like this when there being manual rudder amount, manual signal just has increment size to produce, thus its increment weights effect is obvious, and steering wheel is with regard to preferential answering manual rudder amount signal; And when manual rudder amount is very little or do not have (not manual make rudder), its increment weights are very little, and this is steering wheel preferential answering automatic control rudder amount, guarantee unmanned plane auto-flare system, which ensure that manual information and automatic information all can obtain real-time response limiting.
Existing technology adopts the remote signal of the method process steering wheel of hardware logic electric circuit and microprocessor, and the processing response cycle, be generally 10 ~ 20 milliseconds and upgrade once, signal response time was long at ten Milliseconds.The present invention adopts the clock signal in FPGA to carry out cycling, and response frequency reaches more than 100 megahertzes, can reach the response cycle of Microsecond grade, therefore greatly improves the reaction velocity of steering wheel.
Accompanying drawing explanation
Fig. 1 is the small-sized unmanned aircraft steering engine control device block diagram of prior art.
Fig. 2 is the theory diagram of the fused controlling of steering engine for unmanned plane information based on FPGA.
Fig. 3 is the structured flowchart of the rudder amount control information fusion treatment circuit of steering engine for unmanned plane information based on FPGA.
Fig. 4 is fusion treatment schematic flow sheet that is manual based on the unmanned plane of the steering engine for unmanned plane information of FPGA and automatic control rudder value.
Embodiment
Refer to shown in Fig. 1 to Fig. 4, a kind of fusion method of the unmanned plane rudder amount control information based on increment weights, described method need provide FPGA module, this FPGA module comprises rudder amount control information fusion treatment circuit; The manual rudder amount increment size flying the automatic control rudder amount increment size and remote-control receiver collection controlling unit generation of unmanned plane is associated by this rudder amount control information fusion treatment circuit; Described method is specially: define one to the variation delta r of manual rudder amount and the increment weights σ relevant with the variation delta c of automatic control rudder amount, manual rudder amount and automatic control rudder amount are in total percent value exporting rudder amount to utilize rudder amount control information fusion treatment circuit and increment weights σ to determine, reach manual rudder amount and automatic control rudder amount arbitrary rudder amount when changing, the equal control flaps amount that increment can be made larger can be reflected in real time and export in rudder amount, reaches the object controlling steering wheel in real time.The present invention is based on the clock period of 100 megahertzes, merge manual with automatic control rudder value in real time, just can realize the manual control of steering wheel in microsecond periodic circulation and control automatically simultaneously.
Wherein, described fusion method is the clock cycle based on high frequency, gathering and the Multi-way remote control that processes after filtering manual rudder amount information, with the automatic control rudder amount information flying to control unit and draw, carries out weights cumulative sum fusion treatment.
When there being manual rudder amount, manual signal just has increment size to produce thus increment weights σ effect is obvious, and steering wheel is with regard to preferential answering manual rudder amount signal; And when manual rudder amount is very little or when not having, its increment weights are very little, steering wheel, with regard to preferential answering automatic control rudder amount signal, guarantees unmanned plane auto-flare system, thus guarantee that manual rudder amount signal and automatic control rudder amount signal all can obtain real-time response limiting.
Rudder amount control information fusion treatment circuit is specially: define an increment weights σ, computing formula is:
σ＝Δc/(Δc+Δr).........(1)
In formula (1),
Δc＝abs(Control_now-Control_last).........(2)
That is, the current automatic control rudder amount Control_now of steering wheel and the absolute value of the difference of the last automatic control rudder amount Control_last obtained,
Δr＝abs(Remote_now-Remote_last).........(3)
That is, the current manual rudder amount Remote_now of steering wheel and the absolute value of the difference of the last manual rudder amount Remote_last obtained, and regulation as Δ c=0 and Δ r=0 time, σ=1;
Merging the steering wheel overhead control rudder amount exported is:
Output＝σ*Control_now+(1-σ)*Remote_now.........(4)
In formula (4), the steering wheel overhead control rudder amount Output exported has merged current automatic control rudder value and manual rudder value, and according to respective variable quantity degree, determine respective weighing factor, the control flaps amount making increment larger can be reflected in time in the overhead control rudder amount of output and go, and realizes the control of comparatively weight.
Here it should be noted that: based on 100 megahertzes, continuous collection is from the manual rudder amount of remote-control receiver and control the automatic control rudder amount that draws of unitary operation from flying, upgrade the increment weights σ directly related with the changing value of these two rudder amounts, obtain the control effects that increment the greater preferentially exports its control flaps amount.
Certainly, if adopt more advanced FPGA device, its clock frequency can be higher than 100 megahertzes, and the renewal namely exporting rudder amount is faster, and response is just rapider.
Employing blending algorithm is as shown in Figure 4 the one in filter processing method involved in the present invention, respond well.The present invention also can adopt other blending algorithms that can realize with hardware description language, as carried out the methods such as auxiliary control in conjunction with pid control algorithm or combined with remote-control potentiometer switch, realizes the Intelligent Fusion treatment effect that performance is more superior.
In a word, the present invention adopts FPGA technology and hardware description language, based on the clock cycle of high frequency, gathering and the Multi-way remote control processed after filtering manual rudder amount information, with the automatic control rudder amount information flying to control unit and calculate, carry out intelligent cumulative sum fusion treatment, manual rudder amount and the automatic control rudder amount information that can realize remote control organically merge, the dynamic response of information both realizing intelligently, respective control flaps amount can be upgraded in real time, and the time cycle brought up to Microsecond grade, greatly improve response speed, thus improve the maneuvering flight performance of unmanned aerial vehicle.
Present invention eliminates signal condition and the A/D modular converter of remote-control receiver, the substitute is and utilize FPGA circuit, adopt hardware description language convenient and design information collection and filtering treatment circuit neatly, the much information filter processing method comprising Kalman filtering algorithm can be adopted, can effective filtering interference signals, when guaranteeing that unmanned plane leaps the regions such as high-intensity magnetic field, its rudder amount is interference-free, guarantees flight stability.
Therefore the present invention has simplified signal conditioning circuit, adopts filtering Processing Algorithm flexibly, improves information response's ability, can improve the interference free performance of remote-control receiver rudder amount signal.
In FPGA, adopt hardware description language to realize the Acquire and process module of remote-control receiver output rudder amount signal, based on the clock period of 100 megahertzes, record the rising edge of PWM pulse-width signal from remote-control receiver port and the clock periodicity of negative edge, draw the PWM pwm value of receiver signal.The clock periodicity of high period interocclusal record 100 megahertz of the pwm signal that setting receiver exports is 2000 to 4000 numbers, so just can achieve the collection to remote signal in microsecond periodic circulation.
Because unmanned plane during flying environmental baseline is changeable, may experience high-intensity magnetic field or strong jamming spatial domain, the unavoidable crosstalk of undesired signal is in the output signal of receiver, if not in addition filtering, will cause flight fluctuation, thus reducing having a smooth flight property.In view of remote signal is continuous print PWM waveform variation characteristic, can adopt hardware description language in FPGA, design filtering algorithm, as adopted Kalman filtering algorithm, filtering interfering is made an uproar ripple, can realize reliable and stable steering wheel remote signal and control.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (4)
1. based on a fusion method for the unmanned plane rudder amount control information of increment weights, it is characterized in that: described method need provide FPGA module, this FPGA module comprises rudder amount control information fusion treatment circuit; The manual rudder amount increment size flying the automatic control rudder amount increment size and remote-control receiver collection controlling unit generation of unmanned plane is associated by this rudder amount control information fusion treatment circuit; Described method is specially: define one to the variation delta r of manual rudder amount and the increment weights σ relevant with the variation delta c of automatic control rudder amount, manual rudder amount and automatic control rudder amount are in total percent value exporting rudder amount to utilize rudder amount control information fusion treatment circuit and increment weights σ to determine, reach manual rudder amount and automatic control rudder amount arbitrary rudder amount when changing, the equal control flaps amount that increment can be made larger can be reflected in real time and export in rudder amount, reaches the object controlling steering wheel in real time.
2. the fusion method of the unmanned plane rudder amount control information based on increment weights according to claim 1, it is characterized in that: described fusion method is the clock cycle based on high frequency, gathering and the Multi-way remote control processed after filtering manual rudder amount information, with the automatic control rudder amount information flying to control unit and draw, carry out weights cumulative sum fusion treatment.
3. the fusion method of the unmanned plane rudder amount control information based on increment weights according to claim 1, it is characterized in that: when there being manual rudder amount, manual signal just has increment size to produce, thus increment weights σ effect is obvious, and steering wheel is with regard to preferential answering manual rudder amount signal; And when manual rudder amount is very little or when not having, its increment weights are very little, steering wheel, with regard to preferential answering automatic control rudder amount signal, guarantees unmanned plane auto-flare system, thus guarantee that manual rudder amount signal and automatic control rudder amount signal all can obtain real-time response limiting.
4. the fusion method of the unmanned plane rudder amount control information based on increment weights according to claim 1, is characterized in that: rudder amount control information fusion treatment circuit is specially: define an increment weights σ, computing formula is:
σ＝Δc/(Δc+Δr).........(1)
In formula (1),
Δc＝abs(Control_now-Control_last).........(2)
That is, the current automatic control rudder amount Control_now of steering wheel and the absolute value of the difference of the last automatic control rudder amount Control_last obtained,
Δr＝abs(Remote_now-Remote_last).........(3)
That is, the current manual rudder amount Remote_now of steering wheel and the absolute value of the difference of the last manual rudder amount Remote_last obtained, and regulation as Δ c=0 and Δ r=0 time, σ=1;
Merging the steering wheel overhead control rudder amount exported is:
Output＝σ*Control_now+(1-σ)*Remote_now.........(4)
In formula (4), the steering wheel overhead control rudder amount Output exported has merged current automatic control rudder value and manual rudder value, and according to respective variable quantity degree, determine respective weighing factor, the control flaps amount making increment larger can be reflected in time in the overhead control rudder amount of output and go, and realizes the control of comparatively weight.
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| US4741502A (en) * | 1985-10-01 | 1988-05-03 | Hughes Aircraft Company | Method and apparatus for launching a spacecraft by use of a recoverable upper rocket stage |
| CN1358650A (en) * | 2002-01-29 | 2002-07-17 | 北京航空航天大学 | Remote control system for axle-shared double-rotary wing pilotless helicopter |
| CN101710243A (en) * | 2009-12-23 | 2010-05-19 | 北京航空航天大学 | Method for selecting remote control mode of unmanned plane |
| CN101833336A (en) * | 2010-04-28 | 2010-09-15 | 北京航空航天大学 | Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter |
| CN102331783A (en) * | 2011-06-17 | 2012-01-25 | 沈阳航空航天大学 | Autopilot for indoor airship |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4741502A (en) * | 1985-10-01 | 1988-05-03 | Hughes Aircraft Company | Method and apparatus for launching a spacecraft by use of a recoverable upper rocket stage |
| CN1358650A (en) * | 2002-01-29 | 2002-07-17 | 北京航空航天大学 | Remote control system for axle-shared double-rotary wing pilotless helicopter |
| CN101710243A (en) * | 2009-12-23 | 2010-05-19 | 北京航空航天大学 | Method for selecting remote control mode of unmanned plane |
| CN101833336A (en) * | 2010-04-28 | 2010-09-15 | 北京航空航天大学 | Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter |
| CN102331783A (en) * | 2011-06-17 | 2012-01-25 | 沈阳航空航天大学 | Autopilot for indoor airship |
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