CN105204514A - Novel tilt-rotor unmanned aerial vehicle attitude control system - Google Patents
Novel tilt-rotor unmanned aerial vehicle attitude control system Download PDFInfo
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- CN105204514A CN105204514A CN201510615697.8A CN201510615697A CN105204514A CN 105204514 A CN105204514 A CN 105204514A CN 201510615697 A CN201510615697 A CN 201510615697A CN 105204514 A CN105204514 A CN 105204514A
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Abstract
The invention discloses a novel tilt-rotor unmanned aerial vehicle attitude control system. The system comprises two parts of a hardware circuit and control software, wherein the hardware circuit comprises a main control chip, a gyroscope, a sensor, a remote controller, a heading attitude control mechanism and a tilt-rotor execution mechanism, the main control chip captures an instruction of the remote controller through wireless transmission, an expected attitude of the remote controlled instruction is compared with a real-time attitude monitored by the gyroscope, a compared result serves as controlled input quantity, and a corresponding control command is output after the input quantity is operated and processed by the main control chip. By means of close integration of software and hardware, an unmanned aerial vehicle can detects real-time attitudes of the vehicle and controls movement of the heading attitude control mechanism and the tilt-rotor execution mechanism according to the remote controller instruction, and the aircraft mode can be freely switched between a fixed wing aircraft and a rotorcraft. According to the novel tilt-rotor unmanned aerial vehicle attitude control system, great practical significance is achieved for development of tilt-rotor unmanned aerial vehicles, and high reference value is achieved for development of manned tilt rotorcrafts.
Description
Technical field
The present invention relates to novel unmanned plane field, specifically a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system.
Background technology
In recent years, a kind of novel flight tool-multi-rotor aerocraft obtains extensive concern and the fast development of sciemtifec and technical sphere.The flare maneuvers such as multi-rotor aerocraft can realize vertical takeoff and landing, fix a point high hovering, forward-reverse, rotation, side calmly fly.The lift-offs such as imaging equipment, Communication Equipment, collection equipment, special equipment can be carried as flight carrier, space shuttle and the unapproachable operation needs of telecontrolled aircraft can be realized.Although multi-rotor aerocraft widespread use achieve good effect in production, life, the factors such as multi-rotor aerocraft load is too little, and the speed of a ship or plane is low, flying power is too poor govern its large-scale application.
Meanwhile, in aircraft, fixed wing aircraft has the advantage that flying speed is fast, voyage is long, but needs to build an airport runway for its landing, this not only adds use cost, also limit fixed wing aircraft range of application and use field.
Although helicopter has unique flight performance such as vertical takeoff and landing and hovering, it does not need special landing airport, almost can carry out in any place taking off and landing, but helicopter also has the shortcoming of himself, as low in flying speed, voyage is little, by wind disturbance is larger.
The offline mode of tiltrotor freely can switch between fixed wing aircraft and giro, so tiltrotor both can vertical takeoff and landing, hovering as giro, and again can as fixed wing aircraft, the speed of a ship or plane be high, voyage is far away.But China is just at the early-stage to the research of tiltrotor, corresponding, ripe, stable, reliable tiltrotor attitude control system with it is not yet had to emerge.
Summary of the invention
Object of the present invention will solve above-mentioned prior art Problems existing exactly, a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system is provided, the utilization of this system combines that the fixed wing aircraft speed of a ship or plane is high, voyage is far away and many rotor wing unmanned aerial vehicles (helicopter) vertical takeoff and landing, hovering advantage, compensate for fixed wing aircraft field of rising and falling and require harsh and that many rotor wing unmanned aerial vehicles (helicopter) speed of a ship or plane is low, flying power is poor deficiency, greatly expand the usable range of unmanned plane in dual-use and application.
For achieving the above object, the present invention adopts following technical scheme: tilting rotor wing unmanned aerial vehicle attitude control system comprises hardware circuit and control software design two large divisions.
Described hardware circuit comprises main control chip, gyroscope, sensor, telepilot, boat appearance catanator, tilting rotor topworks, main control chip catches the instruction of telepilot by wireless transmission, read the real-time boat appearance of gyroscope monitoring simultaneously, main control chip compares to above-mentioned data, computing, export corresponding control command after process, controls the action of boat appearance catanator, tilting rotor topworks.
Described control software design comprises roll angle control software design, angle of pitch control software design, course angle control software design, Altitude control software, rotor vert control software design etc.
Described main control chip refers to the Stm32F407 chip of ST Microelectronics.
Described telepilot refers to WFLY-WTF9 model plane specialty telepilot.
Described gyroscope refers to MPU6050 gyroscope.
Described sensor refers to the GPS module etc. of barometer, three axis accelerometer, three axle magnetometers and built-in ground magnetic compass.
Described boat appearance catanator refers to digital rudder controller and DC brushless motor.
Described tilting rotor topworks refers to stepper motor and worm-and-wheel gear.
Remarkable advantage of the present invention is:
Tiltrotor has the low-speed maneuver performance of helicopter and the high-performance cruise performance of fixed-wing aircraft concurrently, and having the advantages such as site requirements is low, maneuverability good, cruise speed is high, voyage is far away, is the important development direction of following unmanned plane.But China is just at the early-stage to the research of tiltrotor, and referential data is very limited.Research and development of the present invention not only have great realistic meaning to development tilting rotor wing unmanned aerial vehicle, and also have very large reference value to the development of manned tiltrotor.
Provide a kind of small-sized tilting rotor wing unmanned aerial vehicle attitude control system scheme of high realizability: tilt rotor aircraft technical sophistication, realization difficulty, cost are very expensive, and China does not still grasp this technology.Innovative point of the present invention is, devise structure relatively simple, realize the scheme that is easy to, realize identical function with relatively simple, lower-cost dynamo-electric mixing system.Can either purpose of design be realized, can ensure that again manufacture is simple, cost is controlled, ensure that product competitive power commercially.
The present invention creatively introduces four rotor wing unmanned aerial vehicle rigid dynamics control principles, namely adopt quiet unstable structure, with electronic system carry out control increase steady under-actuated systems realize the control of tilting rotor wing unmanned aerial vehicle under helicopter mode.By the rolling to unmanned plane, pitching, course and adjustment highly, realize the motion of unmanned plane at space six degree of freedom.
Accompanying drawing explanation
Fig. 1 is novel tilting rotor wing unmanned aerial vehicle three-dimensional design figure.
Fig. 2 is novel tilting rotor wing unmanned aerial vehicle attitude control system hardware circuit principle figure.
Fig. 3 is novel tilting rotor wing unmanned aerial vehicle attitude control system control software design overview flow chart.
Fig. 4 is novel tilting rotor wing unmanned aerial vehicle attitude control system roll angle control software design schematic diagram.
Fig. 5 is novel tilting rotor wing unmanned aerial vehicle attitude control system angle of pitch control software design schematic diagram.
Fig. 6 is novel tilting rotor wing unmanned aerial vehicle attitude control system course angle control software design schematic diagram.
Fig. 7 is that novel tilting rotor wing unmanned aerial vehicle attitude control system rotor verts control software design schematic diagram.
In figure: 1 is tilting rotor topworks (comprising worm-and-wheel gear, stepper motor etc.), 2 is equipment compartment (comprising master control borad, gyroscope, sensor, lithium battery etc.), 3 is single-degree-of-freedom inclinator, and 4 is digital rudder controller, and 5 is DC brushless motor.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
As shown in Figure 1, for realizing the completely controlled of unmanned plane, to the roll angle of unmanned plane, the angle of pitch, course angle and highly must control.Concrete grammar is: adopt the same in the same way angular turn of single-degree-of-freedom inclinator along pitch axes, realize the control of the unmanned plane angle of pitch; Adopt the reverse same angular turn of inclinator, realize the control of unmanned plane course angle; Adopt both sides gyroplane rotate speed poor, realize the control at unmanned machine rolling angle; Adopt both sides gyroplane rotate speed equivalent increase and decrease, realize the Altitude control of unmanned plane.Above four control channels are independent mutually, each control channel is all that the expectation attitude that the actual attitude that calculates gyroscope, sensor and telepilot provide compares, and do PID servo antrol, controlled quentity controlled variable is the linear coupling superposition that four-way pid algorithm exports controlled quentity controlled variable in each topworks.
As shown in Figure 2, hardware circuit comprises main control chip, gyroscope, sensor, telepilot, boat appearance catanator, tilting rotor topworks, main control chip catches the instruction of telepilot by wireless transmission, read the real-time boat appearance information of gyroscope, Sensor monitoring simultaneously, main control chip compares to above-mentioned data, computing, export corresponding control command after process, controls the action of boat appearance catanator, tilting rotor topworks.
As shown in Figure 3, first system needs to do initial configuration, comprising: system clock setting, time delay initialization, serial port baud rate setting, timer count set of frequency etc.Because DC brushless motor is moved by electric transfer drive, so and then program needs to adjust electricity to do throttle stroke setting, with the controlled range of certainty annuity to motor speed, the throttle stroke (high level pulsewidth) of the present invention's setting is 1000 ~ 2000us.So far, software systems configuration terminates, and program enters major cycle.After entering major cycle, system reads the real-time attitude information of unmanned plane of MPU6050 three-axis gyroscope measurement by serial ports 2, the expectation flight attitude sent by timer capture telepilot, then measured value and expectation value are made comparisons, via PID controlling unit respectively to three Eulerian angle and highly do servo antrol, more independent controlled quentity controlled variable is done linear coupling superposition.Finally, by the action of the topworkies such as timer output multi-channel PWM Waveform Control direct current generator, steering wheel, stepper motor.
As shown in Figure 4, (high level pulse width information is converted to angle information the positional information of rolling rocking bar to be converted into the expectation value of roll angle, the limit roll angle that the present invention sets is as ± 20 degree), the measured value of the real-time information extraction roll angle of MPU6050 three-axis gyroscope is read via serial ports, be PID after the two to control, the controlled quentity controlled variable exported is pulsewidth increment (U1/U2), as actual pulse width information (PWM1/PWM2) after the benchmark pulse width information (PWM) that pulsewidth increment and throttle rocking bar provide superposes, actual pulse width information (PWM1/PWM2) is by the rotating speed of electric regulation and control system two DC brushless motor.For safety, the threshold value arranging throttle rocking bar is 1200us, does not namely turn lower than motor during 1200us; Separately must not exceed throttle stroke (1000 ~ 2000us) by software defined actual pulse width information value.
As shown in Figure 5, the positional information of pitching rocking bar is converted into the expectation value (high level pulse width information is converted to angle information) of luffing angle, the measured value of the real-time information extraction luffing angle of MPU6050 three-axis gyroscope is read via serial ports, be PID after the two to control, the controlled quentity controlled variable exported is the rotation greatly, in the same way such as steering wheel, namely steering wheel 1 drives corner to be β, it is β that steering wheel 2 drives corner also, steering wheel drives two single-degree-of-freedom inclinators to tilt in the same way by pull bar, and then change the angle of attack of blade, ensure that unmanned plane pitching is controlled.
As shown in Figure 6, the ideas on software design of Heading control is substantially identical with pitching, the rotation that difference to be controlled quentity controlled variable that PID controls to export be steering wheel etc. is large, reverse, namely steering wheel 1 drives corner to be α, steering wheel 2 drives corner to be-α, steering wheel drives two single-degree-of-freedom inclinator reversal dips by pull bar, and then changes the angle of attack of blade, ensure that unmanned plane course is controlled.
Altitude control controls DC motor speed by throttle rocking bar, realizes the ascending, descending of unmanned plane.Barometer gathers the elevation information of unmanned plane, makes comparisons with the height value of setting, and the two difference controls two direct current brushless motor speeds with increasing or with subtracting after the computing of PID link, process, to ensure that unmanned plane realizes fixed high object.
As shown in Figure 7, definition pulsewidth 1ms is helicopter flight mode, and pulsewidth 2ms is fixed-wing offline mode.The high level pulsewidth of input capture telepilot accessory channel, suppose that the high level pulsewidth that this is caught is 1ms, the pulsewidth of catching before then judging, if pulsewidth is 1ms before, be exactly helicopter mode before then representing unmanned plane, namely wing tip gondola is axially perpendicular to surface level, without the need to action, maintains the statusquo; If pulsewidth is 2ms before, then before representing, unmanned plane is fixed-wing pattern, and namely wing tip gondola is axially parallel to surface level, then need Driving Stepping Motor to drive worm-and-wheel gear, wing tip gondola is inclined and turn 90 degrees, be transformed to helicopter mode.This capture the situation of 2ms pulsewidth and above-mentioned principle similar, repeat no more.
As mentioned above, then well the present invention can be realized.Every technical scheme adopting the mode of equivalent replacement or equivalent transformation to obtain under technology enlightenment provided by the present invention, also should be considered as protection scope of the present invention.
Claims (9)
1. a novel tilting rotor wing unmanned aerial vehicle attitude control system, is characterized in that described system comprises hardware circuit and control software design two large divisions.
2. a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system according to claim 1, it is characterized in that described hardware circuit comprises main control chip, gyroscope, sensor, telepilot, boat appearance catanator, tilting rotor topworks, main control chip catches the instruction of telepilot by wireless transmission, read the real-time boat appearance of gyroscope monitoring simultaneously, main control chip compares to above-mentioned data, computing, export corresponding control command after process, controls the action of boat appearance operating-controlling mechanism, tilting rotor topworks.
3. a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system according to claim 1, is characterized in that described control software design comprises roll angle control software design, angle of pitch control software design, course angle control software design, Altitude control software, rotor vert control software design etc.
4. a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system according to claim 1, is characterized in that described main control chip refers to the Stm32F407 chip of ST Microelectronics.
5. a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system according to claim 1, is characterized in that described telepilot refers to WFLY-WTF9 model plane specialty telepilot.
6. a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system according to claim 1, is characterized in that described gyroscope refers to MPU6050 gyroscope.
7. a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system according to claim 1, is characterized in that described sensor refers to the GPS module etc. of barometer, three axis accelerometer, three axle magnetometers and built-in ground magnetic compass.
8. a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system according to claim 1, is characterized in that described boat appearance catanator refers to digital rudder controller and DC brushless motor.
9. a kind of novel tilting rotor wing unmanned aerial vehicle attitude control system according to claim 1, is characterized in that described tilting rotor topworks refers to stepper motor and worm-and-wheel gear.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105938371A (en) * | 2016-06-21 | 2016-09-14 | 深圳市博飞航空科技有限公司 | Flight control system, method and remote controller of unmanned aerial vehicle |
| CN106054908A (en) * | 2016-06-17 | 2016-10-26 | 上海惠盛科技有限公司 | Unmanned aerial vehicle (UAV) attitude adjusting device and method |
| CN106200630A (en) * | 2016-07-12 | 2016-12-07 | 上海集成电路研发中心有限公司 | A kind of ability of posture control remote manipulator system and remote control thereof |
| CN106843276A (en) * | 2017-04-06 | 2017-06-13 | 苏州全翼空智能科技有限公司 | A kind of tilting rotor wing unmanned aerial vehicle control system |
| CN107065901A (en) * | 2017-01-18 | 2017-08-18 | 北京京东尚科信息技术有限公司 | A kind of rotor wing unmanned aerial vehicle attitude control method, device and unmanned plane |
| CN107505949A (en) * | 2017-09-30 | 2017-12-22 | 上海拓攻机器人有限公司 | A kind of UAV Flight Control method and system |
| CN107943013A (en) * | 2017-10-16 | 2018-04-20 | 北京易驾卓阳科技有限公司 | A kind of method of controlling security of unmanned plane safety control system and unmanned plane |
| CN109597422A (en) * | 2018-12-19 | 2019-04-09 | 中国农业大学 | Unmanned tandem helicopter attitude control system and method |
| CN109634266A (en) * | 2018-11-20 | 2019-04-16 | 国网浙江省电力有限公司信息通信分公司 | A kind of remote control device and its application method of novel quadrotor drone |
| WO2019109622A1 (en) * | 2017-12-06 | 2019-06-13 | Guangdong Kang Yun Technologies Limited | Optimizing propeller direction in drone design using onboard network of sensors |
| CN110531775A (en) * | 2018-05-24 | 2019-12-03 | 深圳臻迪信息技术有限公司 | A kind of unmanned apparatus control method, unmanned device navigation control method and its detection system |
| CN111158388A (en) * | 2020-01-19 | 2020-05-15 | 沈阳无距科技有限公司 | Multi-rotor unmanned aerial vehicle hovering control method and device, multi-rotor unmanned aerial vehicle and storage medium |
| CN114610075A (en) * | 2022-05-10 | 2022-06-10 | 之江实验室 | Many rotor crafts of verting flight control system and many rotor unmanned aerial vehicle |
| CN114610074A (en) * | 2022-05-10 | 2022-06-10 | 之江实验室 | Redundancy flight control system suitable for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
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2015
- 2015-09-18 CN CN201510615697.8A patent/CN105204514A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054908A (en) * | 2016-06-17 | 2016-10-26 | 上海惠盛科技有限公司 | Unmanned aerial vehicle (UAV) attitude adjusting device and method |
| CN105938371A (en) * | 2016-06-21 | 2016-09-14 | 深圳市博飞航空科技有限公司 | Flight control system, method and remote controller of unmanned aerial vehicle |
| CN106200630A (en) * | 2016-07-12 | 2016-12-07 | 上海集成电路研发中心有限公司 | A kind of ability of posture control remote manipulator system and remote control thereof |
| CN107065901A (en) * | 2017-01-18 | 2017-08-18 | 北京京东尚科信息技术有限公司 | A kind of rotor wing unmanned aerial vehicle attitude control method, device and unmanned plane |
| CN106843276A (en) * | 2017-04-06 | 2017-06-13 | 苏州全翼空智能科技有限公司 | A kind of tilting rotor wing unmanned aerial vehicle control system |
| CN107505949A (en) * | 2017-09-30 | 2017-12-22 | 上海拓攻机器人有限公司 | A kind of UAV Flight Control method and system |
| CN107943013A (en) * | 2017-10-16 | 2018-04-20 | 北京易驾卓阳科技有限公司 | A kind of method of controlling security of unmanned plane safety control system and unmanned plane |
| WO2019109622A1 (en) * | 2017-12-06 | 2019-06-13 | Guangdong Kang Yun Technologies Limited | Optimizing propeller direction in drone design using onboard network of sensors |
| CN110531775A (en) * | 2018-05-24 | 2019-12-03 | 深圳臻迪信息技术有限公司 | A kind of unmanned apparatus control method, unmanned device navigation control method and its detection system |
| CN109634266A (en) * | 2018-11-20 | 2019-04-16 | 国网浙江省电力有限公司信息通信分公司 | A kind of remote control device and its application method of novel quadrotor drone |
| CN109597422A (en) * | 2018-12-19 | 2019-04-09 | 中国农业大学 | Unmanned tandem helicopter attitude control system and method |
| CN111158388A (en) * | 2020-01-19 | 2020-05-15 | 沈阳无距科技有限公司 | Multi-rotor unmanned aerial vehicle hovering control method and device, multi-rotor unmanned aerial vehicle and storage medium |
| CN111158388B (en) * | 2020-01-19 | 2023-08-18 | 沈阳无距科技有限公司 | Multi-rotor unmanned aerial vehicle hovering control method and device, multi-rotor unmanned aerial vehicle and storage medium |
| CN114610075A (en) * | 2022-05-10 | 2022-06-10 | 之江实验室 | Many rotor crafts of verting flight control system and many rotor unmanned aerial vehicle |
| CN114610074A (en) * | 2022-05-10 | 2022-06-10 | 之江实验室 | Redundancy flight control system suitable for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
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Application publication date: 20151230 |