CN104808676B - The full independent flight control system of quadrotor unmanned vehicle based on external view - Google Patents
The full independent flight control system of quadrotor unmanned vehicle based on external view Download PDFInfo
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- CN104808676B CN104808676B CN201510102660.5A CN201510102660A CN104808676B CN 104808676 B CN104808676 B CN 104808676B CN 201510102660 A CN201510102660 A CN 201510102660A CN 104808676 B CN104808676 B CN 104808676B
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Abstract
The invention discloses a kind of full independent flight control system of quadrotor unmanned vehicle based on external view, the system is by quadrotor hardware platform, independent flight control system, and Flight Data Processing System is constituted, quadrotor hardware platform includes equipped with XBee wireless communication modules to enter microminiature quadrotor, external vectored interrupt controller ON vision positioning systems and the earth station's PC machine of embedded-type ARM microcontroller, earth station's PC machine runs main control algolithm, and control instruction is sent to quadrotor, to carry out real-time control.The present invention can realize that quadrotor unmanned vehicle accurately and rapidly carries out the autonomous flight under indoor environment.Each module independence decoupling of system is closed, convenient in the future independent individually exploitation further to the progress of each module.
Description
Technical field
The present invention relates to the technical field of quadrotor, specifically a kind of quadrotor based on external view nobody fly
The full independent flight control system of row device.
Background technology
In recent years, have benefited from microelectronics, the achievement in the fields such as sensor and communication, unmanned plane be able to fast development and by
Extensive concern is arrived.The full name of " unmanned plane " is " UAV ", is to utilize radio robot and the program provided for oneself
The not manned aircraft that control device manipulates.Non-driver on machine, but the equipment such as automatic pilot, presetting apparatus are installed.
On ground, naval vessels or machine tool remote control station personnel are by equipment such as radars, passed into line trace, positioning, remote control, telemetering and number to it
It is defeated.In recent years, the quantity rapid growth of global unmanned plane：2.5 ten thousand frame of nineteen ninety alreadys exceed 40,000 framves for 2000, reaches within 2010
To more than 100,000 framves.At present, the whole world oneself have 55 national military equipments, 200 various types of unmanned planes.As unmanned plane
In more special one kind, microminiature quadrotor drone develops in recent years particularly quickly and to be received more and more attention.
This unmanned vehicle appearance and size is usually less than 1 meter, and quality is usually less than 1 kilogram.Due to small, in addition its is easy to control,
The features such as flexibility is strong, microminiature quadrotor drone can help the mankind to complete many works in hazardous environment or small space
Make, if disaster area supervises, enemy's situation investigation, high-altitude shooting etc..It is competent at above-mentioned task, during autonomous real-time flight control system is entirely most
Crucial one of technology.Complete complete autonomous flight control system is established to pushing the practical application of quadrotor drone to have
Significance.It, can be after the data of intuitive accurate reproduction flight course to promote the exploitation and problem diagnosis of flight control system
Processing system is also particularly important.Currently, the country there is no such patent disclosure.
Invention content
It is an object of the invention to solve existing flight control system do not have generally full autonomous flight control ability and
The problem of intuitive is lacked to flight visual simulation, it is entirely autonomous to provide a kind of quadrotor unmanned vehicle based on external view
Flight control system.
The purpose of the present invention is achieved through the following technical solutions：A kind of quadrotor unmanned vehicle based on external view
Full independent flight control system, the control system is by quadrotor hardware platform, independent flight control system, Yi Jifei
Row data processing system is constituted, and quadrotor hardware platform includes embedded to enter equipped with XBee wireless communication modules
Microminiature quadrotor, external vectored interrupt controller ON vision positioning systems and the earth station's PC machine of ARM microcontroller；Earth station PC
It is connected and is communicated by wireless serial XBee between machine and quadrotor；Earth station's PC machine is for realizing main
Business planning, Track Pick-up and control algolithm, and control instruction is sent to aircraft by wireless serial；External vectored interrupt controller ON visions are fixed
Position system provides position feedback for carrying out position positioning；Independent flight control system includes airborne attitude controller, earth station
Positioner and trajectory planning device, using Closed-loop Control Strategy, (such as proportional-plus-derivative (P-D) controls airborne attitude controller
Device), and controlled with 1000Hz frequencies, on the basis of attitude stabilization is controllable, earth station location controller is virtual with posture
Input quantity controls position, and control instruction issues airborne attitude controller by XBee wireless communication modules, to make to fly
Row device is flown in a manner of compatible with its dynamics, and to improve flying quality, trajectory planning device is being flown with smooth flight device
The acceleration of process is target, generates rational reference locus curve；Flying quality after-treatment system is locally stored up by flying quality
Storing module, critical data report generation module and flight course visualization playback module are constituted, and flying quality uses python
In MySQL kits adopt in its local MySQL database of deposit, with all historical informations of complete documentation aircraft, hereafter,
The analysis to specific flying quality can be automatically performed using the flight behavior analysis module specially designed.When analysis, according to reference
Input finds out response time, the parameters such as steady-state error and modeling error with system response.Obtained parameter and aircraft are each
State trajectory figure line inserts the latex masterplates of tailor-made together.It can then be compiled by latex compilers and generate pdf reports.
In addition, Data Post Processing System further includes the flight course playback system of a three-dimensional visualization, in order to more intuitively detect
The behavior of aircraft flight overall process, while can extract when data analysis and showing in three dimensions.
Wherein, the attitude controller is arranged on quadrotor, and the trajectory planning device is in distal end (PC)
Separately designed with standalone module.
Wherein, the track that the trajectory planning device generates passes to positioner, position control in a manner of reference input
Instruction is sent to quadrotor by device processed by wireless serial again after calculating, and the feedback signal of positioner directly passes through
Ethernet is obtained to VICON data servers.
Wherein, when data analysis, flight course main feature data are directly calculated by PYTHON scripts, insert Latex
Module simultaneously calls Latex compiler directives to compile generation data sheet automatically.
Wherein, each submodule independent design in flight controller, to reduce lotus root conjunction.
The invention has the advantages that：
It can realize that quadrotor unmanned vehicle accurately and rapidly carries out the autonomous flight under indoor environment.Each mould of system
Block independence decoupling is closed, convenient in the future independent individually exploitation further to the progress of each module；Number proposed by the invention simultaneously
Flight overall process can be intuitively reproduced according to post-processing approach and can quickly extract effective information, and generates report, to fast
Speed finds and solves the problems, such as.
Description of the drawings
Fig. 1 is system critical piece composition and fundamental diagram in the embodiment of the present invention.
Fig. 2 is the communications protocol between earth station and aircraft in the embodiment of the present invention.
Fig. 3 is posture in the embodiment of the present invention and the general P-D controllers of positioner.
Fig. 4 is the overall structure of control system in the embodiment of the present invention.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in Figs 1-4, an embodiment of the present invention provides a kind of, and the quadrotor unmanned vehicle based on external view is complete certainly
Flight control, the control system is by quadrotor hardware platform, independent flight control system and flight number
It is constituted according to processing system, quadrotor hardware platform includes micro- to enter embedded-type ARM equipped with XBee wireless communication modules
Microminiature quadrotor, external vectored interrupt controller ON vision positioning systems and the earth station's PC machine of controller；Earth station's PC machine and four
It is connected and is communicated by wireless serial between rotor craft；Earth station's PC machine for realizing main control algolithm, and
By wireless serial control instruction is sent to aircraft；External vectored interrupt controller ON vision positioning systems are by positioner, track creator
And mission planning device is integrated in the ends PC composition, for carrying out position positioning, provides position feedback；Independent flight control system packet
Airborne attitude controller, earth station location controller and trajectory planning device are included, airborne attitude controller uses proportional-plus-derivative
(P-D) controller, and controlled with 1000Hz frequencies, on the basis of attitude stabilization is controllable, earth station location controller is with appearance
State is that virtual input quantity controls position, and control instruction issues airborne gesture stability by XBee wireless communication modules
Device, trajectory planning device is for generating rational reference locus curve；Flying quality after-treatment system is locally-stored by flying quality
Module, critical data report generation module and flight course visualization playback module are constituted, and flying quality uses in python
MySQL kits adopt in its local MySQL database of deposit, with all historical informations of complete documentation aircraft, data point
It can extract when analysis and show in three dimensions and extract critical data to generate report.
Embodiment
Step 1 presses structure shown in Fig. 1 block diagrams, indoors (such as 5x5x3.5 meters) in a certain size space, around cloth
Set the VICON vision positioning systems for having 8 cameras or more.One, PC computers are equipped with simultaneously, may be programmed quadrotor flight
One frame of device and wireless communication module XBee are a pair of.
XBee is connected respectively on the serial ports of quadrotor and the serial ports of PC machine by step 2.Quadrotor is formulated to fly
The agreement communicated between row device and PC machine.Protocol contents are as shown in Figure 2.
The signal procedure corresponding to quadrotor and the ends PC is write according to the content of communications protocol.
Step 3, the attitude controller for writing quadrotor.Attitude controller uses P-D control algolithms.Control algolithm
Structure is as shown in Figure 3.
The same P-D control structures using such as Fig. 3, the positioner at the design ends PC.
Step 4, by the Control system architecture of Fig. 4 respectively at position controller and appearance on the ends PC and quadrotor
State controller.The transmission of control instruction and status information is carried out between two controllers using XBee.
The attitude controller is fed back using the airbone gyro instrument, accelerometer and magnetometer；The position control
Device is fed back using VICON vision positioning systems.
The further design task planning sysetm of step 5, such as Fig. 4 and path generator.
The mission planning device need to only determine corresponding destination according to environment.Such destination is usually according to the operation of aircraft
Space is determined.
The path generator generates the continuous path that can continue through the determined destination of mission planning device.Path generates
When, determine following target capabilities function：Wherein, t0For the track initial time, T is the track end time,
L (x) is a certain quantity of state norm of aircraft, such asThe barrier in constraint and environment due to practical dynamical system
Hinder, there are following constraints for above-mentioned optimal problem：| u (t) | ＜ umax, c1(t)≤x(t)≤c2(t),x(ti)=xi
(i=1,2,3 ..., N).Above-mentioned optimal problem can be solved using Hamiltonian function.
The track that path generator generates can temporally the discrete location tracking device that is then sent to be tracked.
Step 6, control system is stored in this by design data storage program in all parameters of operational process in PC machine
On local disk.The data preserved are stored in by local MySQL database using PYTHON language call MySQL kits.
Step 7 is read, search program using the MySQL kit design datas of PYTHON.
Step 8 designs three-dimensional simulation scene corresponding with physical flight device using VPYTHON.Pass through number read-out by step 7
According to continuously showing on threedimensional model at any time, to the scene of representation of the historical flight.
Step 9, full automatic flying quality analysis and reporting system are established.It realizes that process is as follows.
Latex template graphs are established, and define figure and table keyword.Using the PyMatplotlib moulds in PYTHON
Data of the block based on step 7 draw position in-flight, posture curve.And the keys such as absolute value error integral of calculating aircraft
Data.
The figure line of drafting is inserted at the graphics critical word in latex templates by PYTHON, and will analysis data filling
At corresponding table keyword.
It calls LATEX compiler directives to be compiled, automatically generates flying quality report.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (1)
1. a kind of full independent flight control system of quadrotor unmanned vehicle based on external view, which is characterized in that the control
System processed is made of quadrotor hardware platform, independent flight control system and Flight Data Processing System, quadrotor
Aircraft hardware platform include equipped with XBee wireless communication modules with enter embedded-type ARM microcontroller quadrotor,
External vectored interrupt controller ON vision positioning systems and earth station's PC machine；Pass through wireless serial between earth station's PC machine and quadrotor
XBee is connected and is communicated；Earth station's PC machine passes through for realizing main mission planning, Track Pick-up and control algolithm
Wireless serial sends control instruction to aircraft；It is anti-to provide position for carrying out position positioning for external vectored interrupt controller ON vision positioning systems
Feedback；Independent flight control system includes airborne attitude controller, earth station location controller and trajectory planning device；Airborne posture
Controller uses Closed-loop Control Strategy, and is controlled with 1000Hz frequencies, on the basis of attitude stabilization is controllable, earth station location
Controller is that virtual input quantity controls position with posture, and control instruction is issued airborne by XBee wireless communication modules
Attitude controller, trajectory planning device is for generating rational reference locus curve；Flying quality after-treatment system is by flying quality
Locally-stored module, critical data report generation module and flight course visualization playback module are constituted, and flying quality uses
MySQL kits in python are adopted in the local MySQL database of its deposit, and attitude controller setting flies in quadrotor
On row device, the trajectory planning device is designed in distal end with standalone module, and the track that the trajectory planning device generates is to refer to
Input mode passes to positioner, and instruction is sent to quadrotor flight by positioner by wireless serial again after calculating
Device, the feedback signal of positioner are directly obtained by Ethernet to VICON data servers, when data analysis, are passed through
PYTHON scripts directly calculate flight course main feature data, insert Latex modules and Latex compiler directives is called to compile automatically
Translate generation data sheet.
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| CN105320010B (en) * | 2015-11-05 | 2018-01-26 | 北京精航科技有限公司 | Support the system for flight control computer of secondary development |
| CN105259909B (en) * | 2015-11-08 | 2018-07-10 | 杨珊珊 | Vegetation collecting method and harvester based on unmanned vehicle |
| CN105425208A (en) * | 2015-12-21 | 2016-03-23 | 深圳思科尼亚科技有限公司 | Positioning system and method used for accurate navigation of unmanned aerial vehicle |
| CN105549497B (en) * | 2016-02-26 | 2018-05-08 | 暨南大学 | Support more rotor unmanned aircraft control systems of PC controls |
| CN105867404A (en) * | 2016-05-20 | 2016-08-17 | 张爱军 | Equipment and method for measuring earthwork through unmanned aerial vehicle |
| CN107598970A (en) * | 2017-09-29 | 2018-01-19 | 华南理工大学 | A kind of design method for the flying robot's communication system for carrying redundancy mechanical arm |
| CN111033428A (en) * | 2018-01-23 | 2020-04-17 | 深圳市大疆创新科技有限公司 | Device and system for controlling device motion using a single chip |
| CN110287274A (en) * | 2019-07-09 | 2019-09-27 | 东北电力大学 | A kind of Power management information system |
| CN110361595A (en) * | 2019-07-22 | 2019-10-22 | 西安电子科技大学 | A kind of frequency measuring system in adaptive period |
| CN110470959A (en) * | 2019-08-27 | 2019-11-19 | 东北电力大学 | A kind of switch cabinet comprehensive on-line monitoring analysis platform |
| CN111045439B (en) * | 2019-12-13 | 2023-03-10 | 西安航空职业技术学院 | Aircraft flight control system |
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