CN105134392B - Small-sized depopulated helicopter petrol engine revolution speed control system and its control method - Google Patents
Small-sized depopulated helicopter petrol engine revolution speed control system and its control method Download PDFInfo
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Abstract
The invention discloses a kind of small-sized depopulated helicopter petrol engine revolution speed control system, including rotation speed measuring module, core controller module, control signal execution module, power management module；The rotation speed measuring module includes tach signal acquisition module, rotating speed computing module, data processing module；Invention additionally discloses a kind of control methods of small-sized depopulated helicopter petrol engine revolution speed control system, include the following steps：1st, engine just generates a high-voltage pulse signal for each revolution, and high-voltage pulse signal passes through the capture-outside interface access rotating speed computing module of the timer in tach signal acquisition module；2nd, the tachometer value of engine is calculated with T methods；3rd, the data of rotary speed data and GPS module after fusion are parsed respectively；4th, rotating speed control algolithm calculates the tachometer value of setting and measures the difference between tachometer value；5th, change the rotating speed of engine.The advantages that being with good expansibility and be extensive compatible.
Description
Technical field
The present invention relates to a kind of technologies controlled with Automatic Control Theory engine speed, more particularly to a kind of
Small-sized depopulated helicopter petrol engine revolution speed control system and its control method, the present invention are suitable for small-sized depopulated helicopter vapour
The rotating speed control of oil turbine, the electronic systems such as design speed measurement, data communication, control signal output.
Background technology
Small (micro-) the type unmanned helicopter currently to come into operation mostly uses electric drive, this is because electronic unmanned plane
Structure is relatively easy, and controller design operability is strong, and genemotor is smaller to the interference of communication system.It is limited by it
The limited power of dynamical system, this kind of helicopter can not often provide larger payload, and its hang time, radius
It is very restricted.So when performing remote, long endurance, the aerial mission of big load, gasoline engine driven without
People's helicopter has become suitable selection.Petrol engine can not only provide more powerful power, and can ensure straight
Stability of the machine rotor rotating speed under bad weather condition is risen, the battery maintenance work of genemotor is eliminated, improves winged
The efficiency of turning out for work of machine.
The realization of unmanned plane function depends on a set of reliable flight control system, however, petrol engine introduces one
The electromagnetic interference of series influences the reliability of flight control system.Petrol engine speed stability is poor, can lead to unmanned helicopter
Flight stability is deteriorated.In the flight course of helicopter, the variation of load, the change of meteorological condition, aircraft itself it is motor-driven
Action can all change the load of petrol engine, so as to be impacted to the rotating speed of petrol engine.Now it is necessary to apply one
Fixed control signal carrys out the rotating speed of stable gasoline engine, could stablize the state of flight of helicopter.Currently both at home and abroad for nothing
The achievement in research of man-machine load petrol engine is limited, and the control system for being practically applicable to unmanned helicopter load gasoline engine is fewer, thus
As it can be seen that in order to which petrol engine is made to minimize the influence that helicopter controls, need for one independence of Gasoline engine developments
Controller, stable power output can be provided for helicopter.The small-sized depopulated helicopter petrol engine of the present invention
Revolution speed control system, suitable for the small-sized depopulated helicopter of 20 feather weight load, its compatibility is strong, scalability is high, stablizes
Reliably.
Invention content
The shortcomings that primary and foremost purpose of the present invention is to overcome the prior art and deficiency, propose a kind of small-sized depopulated helicopter vapour
Oil turbine revolution speed control system, the control system are that a kind of stability is high, scalability is strong, the miniature self-service that is easily achieved is straight
Rise machine petrol engine revolution speed control system.
It is a further object of the invention to provide a kind of control small-sized depopulated helicopter petrol engine rotating speed control systems
The control method of system.
The primary and foremost purpose of the present invention is realized using following technical scheme：
A kind of small-sized depopulated helicopter petrol engine revolution speed control system, including rotation speed measuring module, core controller
Module, control signal execution module and power management module；The rotation speed measuring module includes tach signal acquisition module, rotating speed
Computing module, data processing module；The control signal execution module includes 4017 frequency dividers, Servo-controller module；
Tach signal acquisition module passes through the external signal input capture interface of rotating speed computing module and rotating speed computing module
AVR processor chips be connected, rotating speed computing module is by URAT communications protocol and core controller module communication, in tachometer
During calculating module and core controller module communication, data processing module is needed to carry out data filtering, fusion treatment, core
For controller module to the pwm signal of control signal execution module output 5v standards, power management module is then that all modules carry
It is supported for stable power supply；
The rotary speed information of engine is converted into pulse signal by tach signal acquisition module, is caught by the input of timer T1
The AVR processors of interface access rotating speed computing module, rotating speed computing module identification pulse signal are obtained, and calculates corresponding rotating speed
Value, tachometer value needs the filtering process by data processing module, then according to distinctive mode and GPS module data fusion,
The DEBUG interfaces of core controller module are sent to by serial ports, parsing of the data Jing Guo core controller module respectively obtains
GPS module data and rotary speed data, rotary speed data are given to the rotating speed control algolithm on core controller, rotating speed as feedback information
Control algolithm will calculate control signal PWM value after rotary speed data and set-point data comparison, by the place of 4017 frequency dividers
Reason exports control signal to Servo-controller, and then controls the rotating speed of engine.
Preferably, the pulse transducer of the tach signal acquisition module has hardware filtering, confrontation external high frequency electromagnetism
The ability of interference.
Preferably, the transmission mode of the tach signal, the designed power amplification processing before AVR processors are accessed
Circuit, the method for recognition methods and calculating rotary speed data of the tach signal in AVR processors.
Preferably, the processing method of the initial speed data, rotary speed data and the data format of GPS module data fusion
And transmission method, the transmission speed of data, analytic method of the data on core processor.
Preferably, the core controller module includes arm processor module, interface modular converter, baroceptor
Module, three-axis gyroscope module, I/O interface modules.
Preferably, the power management module is made of the switching power source chip that two fan-out capabilities are 3A, is entire
Engine control system provides two kinds of voltages of 5V and 3.3V, has the function of level conversion, voltage stabilizing output, short circuit isolation.
Another mesh of the present invention is achieved through the following technical solutions：
A kind of control method for controlling the small-sized depopulated helicopter petrol engine revolution speed control system, including following steps
Suddenly：
Step 1, petrol engine can all generate the pulse signal of a high pressure, tach signal acquisition module for each revolution
Collecting the pulse signal, the sensor hardware in signal acquisition module is integrated with wave filter, by the noise filtering of pulse signal,
Ideal pulse signal is obtained, which carries out power amplification, the timer T1 through AVR processors by amplifier
Capture-outside interface access rotating speed computing module.
AVR processors identification rotational speed pulse signal in step 2, rotating speed computing module, and the timing when capturing signal
Device T1 does time label, then calculates tachometer value with T methods；Initial tachometer value can generate aperiodicity because of high-frequency noise interference
Saltus step, use median window filtering processing initial speed value；In entire flight control system, rotating speed computing module carries again
The reception forwarding capability of GPS module data, rotary speed data are needed with being sent to core controller mould after GPS module data fusion
Block；
After step 3, core controller module receive the data after fusion, by analytical algorithm, GPS moulds are parsed respectively
Block number evidence and rotary speed data, GPS module data are used for the calculating of helicopter flight state, and rotary speed data is by controlling based on signal
It calculates；
Step 4, rotational speed governor are using classical pid control algorithm, and the pid control algorithm is in a software form in core
It is realized in controller module, by calculating given rotating speed value and measuring the difference between tachometer value, control signal is obtained, to reach
The final effect for eliminating difference；
Control signal is calculated in step 5, core controller mould rotating speed control algolithm in the block, with the shape of PWM value
Formula is exported to 4017 allocator modules in the control signal execution module, defeated from Five-channel by the processing of frequency divider
Go out to Servo-controller, Servo-controller makes corresponding actions according to control signal, drives engine air throttle, the aperture production of air throttle
Raw corresponding variation changes the rotating speed of engine.
Preferably, in step 2, it is that one kind is calculated by time interval between two adjacent pulses of measurement that T methods, which survey rotating speed,
The method of tachometer value, the crystal oscillator frequency of AVR processors is higher, and the data that this method obtains are more accurate；Determined in Fig. 1
When device count value TcIt can be according to clock frequency ftThe time between two pulses is further obtained, it is (single so as to calculate rotating speed
Position rpm), the calculation formula of rotating speed is
The requirement of testing the speed of petrol engine can be met using 8Mhz crystal oscillators；Median window filtering can effectively filter out
Invalid value in tachometric survey, selected window length be 6 filtering method i.e. can guarantee filter effect, and be avoided that cause it is excessive
Delay.
Preferably, in step 3, rotation speed measuring module is established according to UART protocol with core controller module and is communicated, data
Parsing be to be solved by the message of matched data, each type of data all correspond to unique message, and message compares successfully
Array where then updating the data；The form of each group of data packet is：
$GPGGA,data,$GPVTG,data,$HMC,data,$SPEED,data。
Data packet is divided into four parts, and each part is there are one the type that header is used for identification data segment, wherein preceding two
A part is GPS sensor data, and Part III is compass data, and last part is engine speed data.Data quilt
Core controller mould arm processor in the block parses after receiving using data can respectively obtain GPS module, compass
And engine speed data.
Preferably, in step 4, control algolithm is pid control algorithm used by core controller module, standard
Pid control algorithm such as formula：
The measured value of output y (t) can be influenced by sensor noise, and simultaneity factor can be by the shadow of external interference d (t)
It rings, error signal e (t) is by given input yref(t) make difference with output valve y (t) and obtain, e (t) is by proportional component, integration ring
The calculating of section, differentiation element is summed again, and be just under control signal u (t).
The principle of the present invention：The present invention include the read method of engine rotational speed signal, engine speed computational methods,
Integration transmission, rotational speed governor design, the calculating output of control signal of rotary speed data, by designing the soft of associated electronics systems
Hardware components, the composition for improving existing flight control system realize the function that rotating speed controls, and by the system integration in currently used
Flight control system in, realize the constant speed control of engine.The engine revolution speed control system of the present invention, which both realized, to be started
The constant speed function of machine, optimize petrol engine driving when helicopter flight stability, while expand can constant speed range,
Can dynamic regulation fixed speed, be with good expansibility and extensive compatibility
The present invention is had the following advantages relative to the prior art and effect：
1st, the present invention constructs small-sized depopulated helicopter petrol engine revolution speed control system, realizes helicopter gasoline hair
The rotating speed control function of motivation enhances the flight stability of helicopter, with real-time is good, integrated level is high, at low cost, reliable
The advantages that property is high.
2nd, the autonomous Design of the present invention software and hardware system of revolution speed control system, the identification Method of engine is started
The optimization method of machine controller parameter, data communication method.Provide a whole set of design petrol engine revolution speed control system
Specific method.
3rd, the present invention overcomes the shortcomings that original system constant speed range is small, fixed speed cannot be adjusted in real time, in wide range
The constant speed control of petrol engine is realized, and fixed speed can be adjusted in real time.
4th, electronic system of the invention relies on flight control system to be designed, compatible with a whole set of flight control system perfection, improves
The integrated level of system, has saved development cost.
5th, the present invention compensates for the deficiency of small-sized depopulated helicopter flight control system, is with good expansibility, and is gasoline
The advanced control method research of control of engine speed is laid a good foundation.
Description of the drawings
Fig. 1 is the schematic diagram that T methods survey rotating speed in the present invention.
Fig. 2 is the system construction drawing of the present invention.
Fig. 3 is the velocity-measuring system schematic diagram used in the present embodiment.
Fig. 4 is using the program flow diagram for the software that tests the speed in the present embodiment.
Fig. 5 is the program flow diagram of controller software in the present embodiment.
Fig. 6 is power management module schematic diagram in the present embodiment.
Specific embodiment
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
Embodiment
Turn as shown in Fig. 2, the small-sized depopulated helicopter petrol engine revolution speed control system of the present embodiment generally comprises
Fast measuring unit, core controller and accessory circuit unit, wherein control signal execution unit three parts, rotation speed measurement unit
Including tach signal acquisition module, signal amplification circuit and rotating speed computing module, core controller and accessory circuit are by main process task
Device, interface conversion circuit, related posture and Height sensor module, power management module are formed, and control signal execution unit packet
Include 4017 frequency dividing circuits, Servo-controller.The revolution speed control system that these three parts are formed depends on hardware flies control main system,
Independently of winged control main system in function realization, the realization of flight control system performance is not influenced.
As shown in figure 3, the rotating speed computing module of the present embodiment selects the ATMEGA8L processors of atmel corp's production, it should
RISC Architecture of the processor based on classics, is integrated with non-volatile data storage, is 8 bit processors of one piece of low-power consumption,
There are two programmable serial UART ports, and there are one the 16 bit timing devices/meters with pre-divider, comparing function and capture function
Number device can meet the needs of system design completely.AVR processors mainly complete GPS module digital independent, rotary speed data calculates
And the task of data transmission, wherein, AVR is connect by general serial mouth UART with GPS module, core controller, baud rate
It is 19200；The identification of signals of rotational speed sensor, the pulse signal of speed probe output amplitude 5V, but by the biography of signal wire
It is defeated to have a degree of attenuation, so before AVR is given to, need to be amplified, amplified signal is captured by AVR, is used
In calculating rotating speed.
The present embodiment uses the input capture pattern capture tach signal of 16 bit timing devices/counter T1 of AVR, the timing
There are one input capture units for device T/C tools, and external event is by after the elements capture, it is possible to obtain corresponding time of origin, account for
The signal characteristics such as empty ratio, frequency can apply these times label to calculate, and the trigger signal that external event occurs is by drawing
Foot ICP1 is inputted.The pulse signal of speed probe is captured using the unit, when arriving a pulse, timer just stops
It only counts, is reset after returning to count value TCNT1, pulse frequency can be calculated, and then calculate according to count value formula
The rotating speed of engine.The AVR uses the external clock of 8Mhz, can meet the measurement of more than 10000rpm rotating speeds completely.Such as Fig. 4
It show the program flow diagram of tachometric survey, it should be noted that interval time is very when rotating speed is very low, between two pulses
Long, may be more than the maximum count value 65535 of T1, timer will invert at this time, the rotating speed calculated with above method
Value will become meaningless.Through calculating T1 count values be 65535 when, corresponding tachometer value be 915rpm, not only well below
Engine working speed, and less than the minimum speed of engine start, so the problem does not influence the work of velocity-measuring system,
But it for the reliability for ensureing system, needs to handle it to the situation that timer overflows.
The present embodiment uses processor of the ARM7 microprocessors as core controller, which is atmel corp
AT91SAM7SE (512) processor possesses UART interface, TWI interfaces and SPI interface based on ARM7TDMI core designs, can be with
It fully realizes the reception and processing of sensing data, and the operation of control algolithm program can be completed.Rotational speed governor is controlled for PID
Device processed, it is operated in the form of software on ARM7 processors, and the setting value comparison of updated rotary speed data and rotating speed makes the difference,
The difference is respectively after proportional component, integral element, differentiation element calculate, then the signal that is just under control of summing, the control
The purpose of signal is that the difference of actual engine speed and rotating speed of target is gradually reduced so that the rotating speed of engine finally maintains
Rotating speed of target is kept constant.
As shown in figure 5, the power management module of this example uses TPS5430 switching power source chips, this chip supports 5.5
The input signal of~36V can provide the stabilization output current of 3A, can meet the use of new system completely.
The control signal execution module of this example is used by frequency divider and Servo-controller, and frequency divider is using CD4017 pulses point
Pwm pulse signal can be divided into 10 channels by orchestration, and the control signal output that can meet 8 channel of flight control system completely will
It asks, the control signal of engine is dispensed on the output of the 5th channel, and Servo-controller selects the S9206 patterns of Futaba productions to intend rudder
Machine, which will control signal to be converted into torque signals, dragging engine air throttle movement by electric signal, and then reach control
Make the purpose of its rotating speed.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. a kind of small-sized depopulated helicopter petrol engine revolution speed control system, which is characterized in that including：Rotation speed measuring module,
Core controller module, control signal execution module, power management module；The rotation speed measuring module is acquired including tach signal
Module, rotating speed computing module, data processing module；The control signal execution module includes：4017 frequency dividers, Servo-controller mould
Block；
Tach signal acquisition module passes through the external signal input capture interface of AVR and the AVR processor cores of rotating speed computing module
Piece is connected, and rotating speed computing module is by URAT communications protocol and core controller module communication, in rotating speed computing module and core
Controller module communicate during, need data processing module carry out data filtering, fusion treatment, core controller module to
The pwm signal of signal execution module output 5v standards is controlled, power management module then provides stable power supply for all modules
It supports；
The rotary speed information of engine is converted into pulse signal by tach signal acquisition module, is connect by the input capture of timer T1
The AVR processors of mouth access rotating speed computing module, rotating speed computing module identification pulse signal, and corresponding tachometer value is calculated,
Tachometer value needs the filtering process by data processing module, and then with GPS module data fusion, core is sent to by serial ports
The DEBUG interfaces of controller module, parsing of the data Jing Guo core controller module respectively obtain GPS module data and rotating speed number
According to rotary speed data is given to the rotational speed governor on core controller as feedback information, and rotational speed governor is by rotary speed information with giving
The PWM value of control signal is calculated after point information comparison, signal will be controlled to export to control by the processing of 4017 frequency dividers
Signal execution module, the rotating speed of the control signal execution module control engine.
2. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, which is characterized in that described
Rotation speed measuring module is connected with GPS module, and the rotation speed measuring module is used to acquire the pulse signal of engine rotation, calculate simultaneously
It handles corresponding rotary speed data, by the data fusion of the rotary speed data and the GPS module and encode transmission.
3. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, which is characterized in that described
The communication modes of core controller module include AVR processors respectively with the communication modes of GPS module, signal acquisition module it is logical
Communication modes and the communication in AVR processors and GPS module, the AVR processors and signal of news mode and core controller are adopted
Collect the communication of module and processing mode when communicating concurrent of AVR processors and core controller.
4. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, which is characterized in that described
The data format of core controller module is included to data transmission/reception, data type, data content, data transmission bauds
Complete definition, forms reference format, so as to be carried out between the rotation speed measuring module and the core controller module to data
Generation, parsing and processing.
5. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, which is characterized in that described
Core controller module include arm processor module, interface modular converter, gas pressure sensor module, three-axis gyroscope sensing
Device module, I/O interface modules.
6. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, which is characterized in that described
Control signal execution module include pwm signal frequency unit and Servo-controller unit, the control signal execution module will
The control signal of core controller module output is exported to engine air throttle, and the engine air throttle control engine turns
Speed.
7. small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1, which is characterized in that described
Power management module be used to for small-sized depopulated helicopter petrol engine revolution speed control system provide power supply.
8. a kind of controlling party for controlling small-sized depopulated helicopter petrol engine revolution speed control system according to claim 1
Method, which is characterized in that include the following steps：
Step 1, the control object of the small-sized depopulated helicopter petrol engine revolution speed control system are engine, described
Engine can all generate a high-voltage pulse signal for each revolution, and tach signal acquisition module collects the high-voltage pulse letter
Number, the tach signal acquisition module has been internally integrated wave filter, by the noise filtering of the high-voltage pulse signal, the high pressure
The operational amplifier that pulse signal passes through in the tach signal acquisition module carries out power amplification, the high-voltage pulse signal warp
Cross the capture-outside interface access rotating speed computing module of the timer in tach signal acquisition module；
AVR processors in step 2, the rotating speed computing module identify the rotational speed pulse signal of the engine, and are capturing
Time label is done with timer during signal, the tachometer value of engine is then calculated with T methods；It is handled using median window filtering
Initial speed value；In entire flight control system, rotating speed computing module receives the data for forwarding the GPS sensor, described to start
Core controller module is sent to by rotating speed computing module after the rotary speed data of machine and the data fusion of GPS module；
Step 3, the core controller module receive the data of rotary speed data and GPS module after fusion, are calculated by parsing
Method, parses the data of rotary speed data and GPS module after fusion respectively, and the data of the GPS module are used to calculate helicopter
State of flight, the rotary speed data are used to calculate the value of control of engine speed signal；
Using PID controller, the rotating speed control algolithm passes through for step 4, the rotating speed control algolithm of the core controller module
Realized in core controller mould code in the block, the rotating speed control algolithm calculate the tachometer value of setting with measure tachometer value it
Between difference；
Step 5, core controller module rotation speed control program the control signal of engine speed is calculated, with PWM value
Form is exported to the control signal execution module, and the control signal execution module drives engine air throttle movement so that
The switch of engine air throttle generates corresponding variation, changes the rotating speed of engine.
9. control method according to claim 8, which is characterized in that the step 2 is further comprising the steps of：
It is to calculate engine speed by measuring the time interval between two adjacent pulses that step 21, the T methods, which survey rotating speed,
The method of value；
Step 22, median window filtering can effectively filter out the invalid value in the engine speed data, the median
The length of window of window filtering is 6；
Step 23, the GPS module data are received according to 19200 baud rate to rotation speed measuring module, GPS by serial ports UART
Module data is transmitted according to the set form of data message, data segment, after rotary speed data GPS module data fusion, through rotating speed
The UART port of measurement module is sent to core controller module, Transmission bit rate 19200.
10. control method according to claim 8, which is characterized in that the step 3 is further comprising the steps of：
Step 31, the rotation speed measuring module and core controller module are established according to UART protocol and are communicated, rotary speed data and GPS
The parsing of module data realizes that rotary speed data and GPS module data correspond to unique report respectively by matched data message
Text, message successful match then update corresponding data；
Step 32, the core controller module rotary speed data be updated with the frequency of 30Hz, updated rotary speed data
The value for calculating engine control signal is directly used in, if update failure, using the rotary speed data before update.
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| CN105781752B (en) * | 2016-03-24 | 2019-05-31 | 清华大学 | Steering engine direct-drive type air throttle and the engine and helicopter for using this air throttle |
| CN105736156B (en) * | 2016-03-24 | 2019-05-28 | 清华大学 | Unmanned helicopter engine determines method for controlling number of revolution and control system |
| CN106773654B (en) * | 2016-12-12 | 2019-10-29 | 中南大学 | A kind of Fractional Order PID Controller parameter optimization setting method |
| CN107272408B (en) * | 2017-06-13 | 2020-02-18 | 华南理工大学 | Power planning method in flight control of small unmanned helicopter |
| 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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| US6059226A (en) * | 1998-04-29 | 2000-05-09 | Sikorsky Aircraft Corporation | Navigation of helicopter with limited polar groundspeed commands |
| CN1831692A (en) * | 2005-12-26 | 2006-09-13 | 浙江大学 | Constant speed apparatus for speed of unmanned copter engine |
| CN2854666Y (en) * | 2005-12-26 | 2007-01-03 | 浙江大学 | Constant speed apparatus of rotation speed of engine of miniature pilotless helicopter |
| JP4961166B2 (en) * | 2006-06-12 | 2012-06-27 | ヒロボー株式会社 | Autonomous flight controller and small unmanned helicopter equipped with autonomous flight controller |
| CN203038112U (en) * | 2012-09-19 | 2013-07-03 | 苏州工业园区职业技术学院 | Unmanned aerial vehicle (UAV) automatic control system |
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