CN105134392A - Gasoline engine rotation speed control system for small unmanned helicopter and control method of gasoline engine rotation speed control system for small unmanned helicopter - Google Patents
Gasoline engine rotation speed control system for small unmanned helicopter and control method of gasoline engine rotation speed control system for small unmanned helicopter Download PDFInfo
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Abstract
The invention discloses a gasoline engine rotation speed control system for a small unmanned helicopter. The control system comprises a rotation speed measuring module, a core controller module, a control signal executing module and a power source management module. The rotation speed measuring module comprises a rotation speed signal acquisition module, a rotation speed calculation module and a data processing module. The invention further discloses a control method of the gasoline engine rotation speed control system for the small unmanned helicopter. The control method includes the following steps that firstly, a high-pressure pulse signal is generated once an engine rotates by a circle, and the high-pressure pulse signal is connected into the rotation speed calculation module through an external capturing interface of a timer in the rotation speed signal acquisition module; secondly, the rotation speed value of the engine is calculated through a T method; thirdly, fused rotation speed data and data of a GPS module are analyzed respectively; fourthly, the difference value between a set rotation speed value and a measured rotation speed value is calculated through a rotation speed control algorithm; and fifthly, the rotation speed of the engine is changed. The gasoline engine rotation speed control system for the small unmanned helicopter and the control method of the gasoline engine rotation speed control system for the small unmanned helicopter have the beneficial effects of being good in extensibility, wide compatibility and the like.
Description
Technical field
The present invention relates to a kind of technology using Automatic Control Theory to control engine speed, in particular to a kind of small-sized depopulated helicopter petrol engine revolution speed control system and controlling method thereof, the present invention is applicable to the petrolic rotating speed of small-sized depopulated helicopter and controls, and design speed measurement, data communication, control signal export isoelectronic series system.
Background technique
Current little (micro-) type depopulated helicopter come into operation mostly uses electric drive, this is because the structure of electronic unmanned plane is relatively simple, Controller gain variations is workable, and the interference of genemotor to communication system is smaller.Be limited by the power that its power system is limited, this kind of helicopter often cannot provide larger useful load, and its hang time, radius are very restricted.So, when performing remote, long boat, the aerial mission of large load time, GED depopulated helicopter has just become suitable selection.Petrol engine can not only provide more powerful power, and can ensure the stability of lifting airscrew rotating speed under bad weather condition, eliminates the battery maintenance work of genemotor, improves the efficiency of turning out for work of aircraft.
The realization of unmanned plane function depends on a set of reliable flight control system, but petrol engine introduces a series of electromagnetic interference, affects the reliability of flight control system.Petrol engine speed stability is poor, can cause unmanned helicopter flight bad stability.In the flight course of helicopter, the maneuver of the change of load, the change of weather conditions, aircraft self all can change petrolic load, thus can impact petrolic rotating speed.Now, the rotating speed that certain control signal carrys out stable gasoline motor must be applied, the regime of flight of helicopter could be stablized.Present Domestic is outer limited for the petrolic achievement in research of UAV system, being practically applicable to depopulated helicopter, to carry the control system of petrol engine fewer, as can be seen here, in order to make petrol engine, the impact that helicopter controls is minimized, need for Gasoline engine developments one independently controller, stable Power output can be provided for helicopter.Small-sized depopulated helicopter petrol engine revolution speed control system of the present invention, is applicable to the small-sized depopulated helicopter of 20 feather weight load, and its compatibility is strong, extensibility is high, reliable and stable.
Summary of the invention
Primary and foremost purpose of the present invention is that the shortcoming overcoming prior art is with not enough, propose a kind of small-sized depopulated helicopter petrol engine revolution speed control system, this control system is that a kind of stability is high, extensibility strong, is easy to the small-sized depopulated helicopter petrol engine revolution speed control system of realization.
Another object of the present invention is, provides a kind of controlling method controlling small-sized depopulated helicopter petrol engine revolution speed control system.
Primary and foremost purpose of the present invention realizes by the following technical solutions:
A kind of small-sized depopulated helicopter petrol engine revolution speed control system, comprises rotation speed measuring module, core controller module, control signal Executive Module and power management module; Described rotation speed measuring module comprises tach signal acquisition module, rotating speed computing module, data processing module; Described control signal Executive Module comprises 4017 frequency dividers, Servo-controller module;
Tach signal acquisition module is connected with the AVR processor chips of rotating speed computing module by the external signal input capture interface of rotating speed computing module, rotating speed computing module is by URAT communications protocol and core controller module communication, in the process of rotating speed computing module and core controller module communication, data processing module is needed to carry out data filtering, fusion treatment, core controller module exports the pwm signal of 5v standard to control signal Executive Module, and power management module is then for all modules provide stable power supply support;
Tach signal acquisition module converts the rotary speed information of motor to pulse signal, by the AVR processor of the input capture interface access rotating speed computing module of timer T1, rotating speed calculates Module recognition pulse signal, and calculate corresponding tachometer value, tachometer value needs the filtering process through data processing module, then according to distinctive mode and GPS module data fusion, the DEBUG interface of core controller module is sent to through serial ports, data obtain GPS module data and rotary speed data respectively through the parsing of core controller module, rotary speed data is given to the rotating speed control algorithm on core controller as feedback information, rotating speed control algorithm will calculate the PWM value of control signal after rotary speed data and setting value Data Comparison, control signal is exported to Servo-controller by the process through 4017 frequency dividers, and then control the rotating speed of motor.
Preferably, the impulser of described tach signal acquisition module, has the ability of hardware filtering, antagonism external high frequency electromagnetic interference.
Preferably, the transmission means of described tach signal, power amplification processing circuit designed before access AVR processor, the identifying method of tach signal in AVR processor and the method for calculating rotary speed data.
Preferably, the processing method of described initial speed data, the data format of rotary speed data and GPS module data fusion and the transmission method of data, transmission speed, the analytic method of data on core processor.
Preferably, described core controller module comprises arm processor module, interface modular converter, gas pressure sensor module, three-axis gyroscope module, I/O Interface Module.
Preferably, the switching power source chip that described power management module is 3A by two output capabilities is formed, and for whole engine control system provides 5V and 3.3V two kinds of voltages, has the function of level conversion, voltage stabilizing output, short circuit isolation.
Another order of the present invention is achieved through the following technical solutions:
Control a controlling method for described small-sized depopulated helicopter petrol engine revolution speed control system, comprise the steps:
Step 1, petrol engine often revolve to turn around and all can produce the pulse signal of a high pressure, tach signal acquisition module collects this pulse signal, sensor hardware in signal acquisition module is integrated with wave filter, by the noise filtering of pulse signal, obtain ideal pulse signal, this pulse signal carries out power amplification through amplifier, through the capture-outside interface access rotating speed computing module of the timer T1 of AVR processor.
AVR processor identification rotational speed pulse signal in step 2, rotating speed computing module, and do time mark when lock-on signal with timer T1, then calculate tachometer value by T method; Initial tachometer value can produce acyclic saltus step because of high-frequency noise interference, uses median window filtering process initial speed value; In whole flight control system, rotating speed computing module carries again the reception forwarding capability of GPS module data, and rotary speed data needs and sends to core controller module after GPS module data fusion;
After step 3, core controller module receive the data after fusion, by analytical algorithm, parse GPS module data and rotary speed data respectively, GPS module data are used for the calculating of helicopter flight state, and rotary speed data is used for the calculating of control signal;
Step 4, rotational speed governor adopt classical pid control algorithm, described pid control algorithm realizes in a software form in core controller module, through the difference calculating given rotating speed value and measure between tachometer value, draw control signal, to reach the final effect eliminating difference;
Rotating speed control algorithm in step 5, described core controller module calculates control signal, 4017 allocator module in described control signal Executive Module are exported to the form of PWM value, through the process of frequency divider, Servo-controller is exported to from Five-channel, Servo-controller makes corresponding actions according to control signal, drive engine air throttle, the aperture of closure produces corresponding change, changes the rotating speed of motor.
Preferably, in step 2, it is a kind of method calculating tachometer value by measuring the time lag between two adjacent pulses that T method surveys rotating speed, and the crystal oscillator frequency of AVR processor is higher, and the data that this method obtains are more accurate; According to the timer count value T in Fig. 1
cjust can according to clock frequency f
tobtain the time between two pulses further, thus calculate rotating speed (unit rpm), the formula of rotating speed is
Use 8Mhz crystal oscillator just can meet petrolic requirement of testing the speed; Median window filtering can invalid value effectively in filtering tachometric survey, selected window length be 6 filtering method can ensure filter effect, can avoid again causing excessive time delay.
Preferably, in step 3, rotation speed measuring module and core controller module set up communication according to UART agreement, and the parsing of data is solved by the message of matched data, the all corresponding unique message of data of every type, message is than the array to success then more new data place; The form of each group packet is:
$GPGGA,data,$GPVTG,data,$HMC,data,$SPEED,data。
Packet is divided into four parts, and each part has a header for the type of identification data segment, and wherein first two section is GPS sensing data, and Part III is compass data, and last part is engine speed data.Data just can obtain GPS module, compass and engine speed data through Data Analysis after being received by the arm processor in core controller module more respectively.
Preferably, in step 4, the control algorithm that core controller module adopts is pid control algorithm, and the pid control algorithm of a standard is as formula:
The measured value exporting y (t) can be subject to the impact of sensor noise, and simultaneity factor can be subject to the impact of external interference d (t), and error signal e (t) is by given input y
reft () and output value y (t) make difference and obtain, e (t) sues for peace through the calculating of proportional component, integral element, differentiation element again, and be just under control signal u (t).
Principle of the present invention: the present invention includes the read method of engine rotational speed signal, the computational methods of engine speed, the integration transmission of rotary speed data, rotational speed governor design, control signal calculating export, the function that rotating speed controls is achieved by the software and hardware part that designs associated electronics systems, the composition that improves existing flight control system, and by this system intergration in the flight control system of current use, achieve the constant speed control of motor.Engine revolution speed control system of the present invention had both achieved the constant speed function of motor, optimize the flight stability of helicopter when petrol engine drives, expand can the scope of constant speed simultaneously, and dynamic regulates constant speed value, is with good expansibility and compatible widely
The present invention has following advantage and effect relative to prior art:
1, the present invention constructs small-sized depopulated helicopter petrol engine revolution speed control system, achieve the petrolic rotating speed controlling functions of helicopter, enhance the flight stability of helicopter, have that real-time is good, level of integration is high, cost is low, high reliability.
2, the autonomous Design of the present invention software and hardware system of revolution speed control system, the identification Method of motor, the optimization method of engine controller parameter, data communication method.Provide the concrete grammar of a whole set of design petrol engine revolution speed control system.
3, instant invention overcomes the shortcoming that original system constant speed scope is little, constant speed value can not regulate in real time, in a big way, achieve petrolic constant speed control, and constant speed value can be adjusted in real time.
4, electronics of the present invention relies on flight control system to design, perfect compatible with a whole set of flight control system, improves the level of integration of system, has saved development cost.
5, the present invention compensate for the deficiency of small-sized depopulated helicopter flight control system, is with good expansibility, and the advanced control method research controlled for petrol engine rotating speed is laid a good foundation.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that in the present invention, T method surveys rotating speed.
Fig. 2 is system construction drawing of the present invention.
Fig. 3 is the velocity-measuring system schematic diagram used in the present embodiment.
Fig. 4 is the program flow diagram using the software that tests the speed in the present embodiment.
Fig. 5 is the program flow diagram of the present embodiment middle controller software.
Fig. 6 is power management module schematic diagram in the present embodiment.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 2, the small-sized depopulated helicopter petrol engine revolution speed control system of the present embodiment comprises rotation speed measurement unit, core controller and accessory circuit unit, control signal performance element three parts on the whole, wherein rotation speed measurement unit comprises tach signal acquisition module, signal amplification circuit and rotating speed computing module, core controller and accessory circuit are made up of primary processor, interface conversion circuit, relevant attitude and Height sensor module, power management module, and control signal performance element comprises 4017 frequency dividing circuits, Servo-controller.The revolution speed control system of these three part formations depends on and flies to control main system on hardware, functional realiey controlling main system independent of flying, not affecting the realization of flight control system performance.
As shown in Figure 3, the ATMEGA8L processor that the rotating speed computing module of the present embodiment selects atmel corp to produce, this processor is based on the RISC framework of classics, be integrated with non-volatile data storage, 8 bit processors of one piece of low power consumption, there are two programmable serial UART mouths, have 16 bit timing device/counters with pre-divider, comparing function and capture function, the needs of system can be met completely.AVR processor mainly completes GPS module digital independent, rotary speed data calculates and the task of data transmission, and wherein, AVR is connected with GPS module, core controller by general serial mouth UART, and baud rate is 19200; The identification of signals of rotational speed sensor, the pulse signal of speed probe output amplitude 5V, but have decay to a certain degree through the transmission of signaling line, so before being given to AVR, need to amplify, the signal after amplification is caught by AVR, for calculating rotating speed.
The present embodiment uses the input capture pattern of the 16 bit timing device/counter T1 of AVR to catch tach signal, this timer T/C has an input capture unit, external event is by after this elements capture, just can obtain corresponding time of origin, the signal characteristic such as dutycycle, frequency just can be applied these time marks and calculate, and the trigger signal that external event occurs is inputted by pin ICP1.Use this unit to catch the pulse signal of speed probe, when a pulse arrives, timer just stops counting, resets, just can calculate pulse frequency according to count value formula, and then calculate the rotating speed of motor after returning count value TCNT1.This AVR adopts the external clock of 8Mhz, can meet the measurement of more than 10000rpm rotating speed completely.Be illustrated in figure 4 the program flow diagram of tachometric survey, it should be noted that, when rotating speed is very low, between two pulses, interval time for a long time, may more than the maximum count value 65535 of T1, now timer will reverse, and will become meaningless with the tachometer value that method above calculates.When being 65535 through calculating T1 count value, corresponding tachometer value is 915rpm, not only well below engine operation rotating speed, and lower than the minimum speed of engine start, so the work of this problem on velocity-measuring system does not affect, but in order to ensure the reliability of system, need the situation to timer overflows to handle it.
The present embodiment adopts ARM7 microprocessor as the processor of core controller, this processor is AT91SAM7SE (512) processor of atmel corp, UART interface, TWI interface and SPI interface is had based on ARM7TDMI core design, fully can realize reception and the process of sensing data, and the operation of control algorithm program can be completed.Rotational speed governor is PID controller, it operates on ARM7 processor in the form of software, rotary speed data after renewal and the setting value of rotating speed contrast does difference, after this difference calculates respectively through proportional component, integral element, differentiation element, to sue for peace again the signal that is just under control, the object of this control signal reduces the difference of actual engine speed and rotating speed of target gradually, makes the rotating speed of motor finally maintain rotating speed of target and keep constant.
As shown in Figure 5, the power management module of this example adopts TPS5430 switching power source chip, and this chip supports the input signal of 5.5 ~ 36V, can provide the stabilizing output current of 3A, can meet the use of new system completely.
The control signal Executive Module of this example is used by frequency divider and Servo-controller, frequency divider adopts CD4017 pulsqe distributor, pwm pulse signal can be divided into 10 passages, the control signal that can meet flight control system 8 passage completely exports requirement, the control signal of motor is dispensed on the 5th passage and exports, the S9206 type simulated steering wheel that Servo-controller selects Futaba to produce, this Servo-controller converts control signal to torque signals by electrical signal, dragging engine air throttle moves, and then reaches the object controlling its rotating speed.
Above-described embodiment is the present invention's preferably mode of execution; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. a small-sized depopulated helicopter petrol engine revolution speed control system, is characterized in that, comprising: rotation speed measuring module, core controller module, control signal Executive Module, power management module; Described rotation speed measuring module comprises tach signal acquisition module, rotating speed computing module, data processing module; Described control signal Executive Module comprises: 4017 frequency dividers, Servo-controller module;
Tach signal acquisition module is connected with the AVR processor chips of rotating speed computing module by the external signal input capture interface of AVR, rotating speed computing module is by URAT communications protocol and core controller module communication, in the process of rotating speed computing module and core controller module communication, data processing module is needed to carry out data filtering, fusion treatment, core controller module exports the pwm signal of 5v standard to control signal Executive Module, and power management module is then for all modules provide stable power supply support;
Tach signal acquisition module converts the rotary speed information of motor to pulse signal, by the AVR processor of the input capture interface access rotating speed computing module of timer T1, rotating speed calculates Module recognition pulse signal, and calculate corresponding tachometer value, tachometer value needs the filtering process through data processing module, then according to distinctive mode and GPS module data fusion, the DEBUG interface of core controller module is sent to through serial ports, data obtain GPS module data and rotary speed data respectively through the parsing of core controller module, rotary speed data is given to the rotational speed governor on core controller as feedback information, rotational speed governor calculates the PWM value of control signal after rotary speed information and setting value information being contrasted, control signal is exported to control signal Executive Module by the process through 4017 frequency dividers, described control signal Executive Module controls the rotating speed of motor.
2. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, it is characterized in that, described rotation speed measuring module is connected with GPS module, and described rotation speed measuring module is for gathering the pulse signal of engine rotation, calculating rotary speed data corresponding to process, the data fusion of described rotary speed data and described GPS module being encoded and sent.
3. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, it is characterized in that, the communication modes of described core controller module comprise AVR processor respectively with the communication modes of the communication modes of GPS module, the communication modes of signal acquisition module and core controller and the communication of AVR processor and GPS module, AVR processor and the communication of signal acquisition module and the communication of AVR processor and core controller concurrent time processing mode.
4. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, it is characterized in that, the data format of described core controller module comprises the complete definition to data sending/receiving, data type, data content, data transmission bauds, form reference format, to make to generate data, resolve and process between described rotation speed measuring module and described core controller module.
5. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, it is characterized in that, described core controller module comprises arm processor module, interface modular converter, gas pressure sensor module, three-axis gyroscope sensor assembly, I/O Interface Module.
6. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, it is characterized in that, described control signal Executive Module comprises pwm signal frequency unit and Servo-controller unit, the control signal that core controller module exports is exported to engine air throttle by described control signal Executive Module, the rotating speed of described engine throttle gate control motor.
7. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, is characterized in that, described power management module is used for providing power supply for small-sized depopulated helicopter petrol engine revolution speed control system.
8. control a controlling method for small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, it is characterized in that, comprise the steps:
Step 1, the control object of described small-sized depopulated helicopter petrol engine revolution speed control system is motor, described motor often revolves to turn around and all can produce a high-voltage pulse signal, tach signal acquisition module collects described high-voltage pulse signal, described tach signal acquisition module inside is integrated with wave filter, by the noise filtering of described high-voltage pulse signal, the operational amplifier of described high-voltage pulse signal in described tach signal acquisition module carries out power amplification, the capture-outside interface access rotating speed computing module of the timer of described high-voltage pulse signal in tach signal acquisition module,
The rotational speed pulse signal of motor described in AVR processor identification in step 2, described rotating speed computing module, and do time mark when lock-on signal with timer, the tachometer value of motor is then calculated by T method; Use median window filtering process initial speed value; In whole flight control system, rotating speed computing module receives the data forwarding described GPS sensor, sends to core controller module after the rotary speed data of described motor and the data fusion of GPS module by rotating speed computing module;
Step 3, described core controller module receive the data of the rotary speed data after fusion and GPS module, pass through analytical algorithm, parse the data of the rotary speed data after fusion and GPS module respectively, the data of described GPS module are for calculating helicopter flight state, and described rotary speed data is for calculating the value of control of engine speed signal;
The rotating speed control algorithm of step 4, described core controller module adopts PID controller, described rotating speed control algorithm is realized by the code in core controller module, the tachometer value that described rotating speed control algorithm calculates setting and the difference measured between tachometer value;
The rotation speed control program of step 5, core controller module calculates the control signal of engine speed, described control signal Executive Module is exported to the form of PWM value, described control signal Executive Module drives engine air throttle motion, make the switch of engine air throttle produce corresponding change, change the rotating speed of motor.
9. controlling method according to claim 8, is characterized in that, described step 2 is further comprising the steps of:
It is calculate the method for engine speed value by the time lag of measuring between two adjacent pulses that step 21, described T method survey rotating speed;
Step 22, median window filtering can invalid values effectively in engine speed data described in filtering, and the length of window of described median window filtering is 6;
Step 23, described GPS module data by serial ports UART according to 19200 baud rate receive to rotation speed measuring module, GPS module data are transmitted according to the set form of data message, data segment, after rotary speed data GPS module data fusion, UART mouth through rotation speed measuring module sends to core controller module, and Transmission bit rate is 19200.
10. controlling method according to claim 8, is characterized in that, described step 3 is further comprising the steps of:
Step 31, described rotation speed measuring module and core controller module set up communication according to UART agreement, the parsing of rotary speed data and GPS module data is realized by matched data message, the message that rotary speed data and GPS module data are corresponding unique respectively, the match is successful then upgrades corresponding data for message;
The rotary speed data of step 32, described core controller module upgrades with the frequency of 30Hz, and the rotary speed data after renewal is directly used in the value of calculation engine control signal, if upgrade unsuccessfully, then adopts the rotary speed data before upgrading.
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| CN105736156A (en) * | 2016-03-24 | 2016-07-06 | 深圳清华大学研究院 | Control method and control system of unmanned helicopter engine constant rotation speed |
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| CN106773654A (en) * | 2016-12-12 | 2017-05-31 | 中南大学 | A kind of Fractional Order PID Controller parameter optimization setting method |
| CN107272408A (en) * | 2017-06-13 | 2017-10-20 | 华南理工大学 | A kind of power planning method in small-sized depopulated helicopter flight control |
| CN110836146A (en) * | 2019-11-28 | 2020-02-25 | 湖南捷飞科技有限公司 | Automatic engine control method in unmanned modification of helicopter |
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