CN105487446A - Flight control platform - Google Patents
Flight control platform Download PDFInfo
- Publication number
- CN105487446A CN105487446A CN201511000072.7A CN201511000072A CN105487446A CN 105487446 A CN105487446 A CN 105487446A CN 201511000072 A CN201511000072 A CN 201511000072A CN 105487446 A CN105487446 A CN 105487446A
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- flight
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- parametric controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2225—Communication, CPU accesses own I-O and next CPU over dual port memory
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a flight control platform, comprising an on-chip system, a flight control sensor, and an input/output interface. The on-chip system comprises a processor and an on-site gate array; the on-chip system is utilized to realize the following control operation: the main program of a flight control algorithm, a top layer communication scheduling function, a great arithmetic algorithm of the bottom layer and a coding-decoding portion of a communication protocol; the flight control sensor at least obtains the flight speed signal, the flight altitude signal, and the position signal; and the input/output interface is used for connecting the on-chip system and the flight control sensor. The flight control platform has advantages of strong processing capability and high I/O expansion degree. The flight control platform not only finishes the flight control processing algorithm having high complexity, but also performs interconnection with the external sensor, and has the obvious advancement by comparing with the prior art.
Description
Technical field
The invention belongs to flying vehicles control technical field, particularly relate to a kind of flight parametric controller.
Background technology
Flight control system (flightcontrolsystem) refers to that aircraft can implement the system of control in flight course to the configuration of aircraft, flight attitude and kinematic parameter.This system can be used to ensure aircraft stability and control, improve the ability of finishing the work and flight quality, strengthen the safety of flying and alleviate driver's burden.The classification of flight control system is set out different sorting techniques from different perspectives.Sent by driver according to steering order, another kind of is automatic flight control system, and its steering order is that system itself produces automatically.
Unmanned spacecraft is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.Unmanned plane, by application, can be divided into military and civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.Unmanned plane+sector application is the real firm need of unmanned plane.At present taking photo by plane, agricultural plant protection, the field such as mapping application, expanded the purposes of unmanned plane itself greatly.
Flight parametric controller at present for unmanned plane has following limitation: first is that core processor is made up of the MCU (microcontroller) of function singleness, and the type processor processing power is limited, cannot perform real-time process; Second Problem is IO interface (I/O) limited amount, thus makes with the connection of external sensor limited, cannot carry out functions expanding.
Summary of the invention
The object of this invention is to provide a kind of flight parametric controller, to solve, current existing flight parametric controller processor processing power is limited cannot perform real-time process and limited with the connection of external sensor, cannot carry out the technical matters of functions expanding.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of flight parametric controller, and it comprises:
SOC (system on a chip), described system on chip processor and field programmable gate array; Described SOC (system on a chip) is utilized to realize the following control algorithm that flies: the master routine of Flight Control Algorithm, the communication scheduling function of top layer, the macrooperation quantity algorithm of bottom and the coding-decoded portion of communication protocol;
Flight controls sensor, and described flight controls sensor at least can obtain flying speed signal, flying height signal, present position signal, air pressure signal;
Input/output interface, described input/output interface is for connecting described SOC (system on a chip) and flight control sensor.
The present invention flies parametric controller as above, and further, the processor of SOC (system on a chip) realizes the following control algorithm that flies: the master routine of Flight Control Algorithm and the communication scheduling function of top layer; The field programmable gate array of SOC (system on a chip) realizes following computing: the macrooperation quantity algorithm of bottom and the coding-decoded portion of communication protocol.
The present invention flies parametric controller as above, further, the processor of SOC (system on a chip) at least comprises first processor core and the second processor core, described first processor core realizes the computing of the master routine of Flight Control Algorithm, and described second processor core realizes the computing of the communication scheduling function of top layer.
The present invention flies parametric controller as above, and further, the macrooperation quantity algorithm of bottom comprises regular extended Kalman filter and custom algorithm, can realize process in real time in the field programmable gate array part of SOC (system on a chip).
The present invention flies parametric controller as above, further, coding-the decoded portion of communication protocol comprises I2C generic communications modules, UART generic communications modules, CAN generic communications modules, SPI generic communications modules, and the coding-decoder module of PWM/PPM can realize process in real time in the field programmable gate array part of SOC (system on a chip).
The present invention flies parametric controller as above, and further, described input/output interface comprises:
Configurable pulse-length modulation interface, for being connected with motor, telepilot or land station;
General compatible Generalized Communication Interface, the compatible following agreement of described communication interface: I2C, UART, SPI, CAN;
Self-defined I/O interface, this part of interface connects the self-defined IO of FPGA, can be used as self defined interface and connects external sensor;
Number-mode convertion interface: for monitoring the outside simulating signal such as voltage, air pressure;
Gps antenna interface;
USB interface, for being connected with host computer and other USB interface external units;
Network interface, for interconnecting and remote firmware updating with host computer;
Joint test working group interface, tests for chip internal.
The present invention flies parametric controller as above, and further, described flight controls sensor and utilizes GPS module to obtain present position signal, utilizes baroceptor to obtain air pressure signal.
The present invention flies parametric controller as above, and further, described flight parametric controller is the flight parametric controller of unmanned plane.
The invention has the beneficial effects as follows:
The present invention flies parametric controller with SoC (systemonchip) technology for core, adopt FPGA (FieldProgramrableGateArray)+MCU (Microcontroller) as core processor, part Flight Control Algorithm is completed by FPGA, ensure that the real-time that algorithm performs; Part Control and Schedule function is completed by MCU, ensure that the dirigibility of System Programming.
The fly I/O quantity of parametric controller of the present invention is constituted jointly by FPGA-IO and MCU-IO, has greatly expanded the quantity of flight control system I/O and the dirigibility of configuration.
The present invention's integrated a series of flight of parametric controller of flying controls sensor (Inertial Measurement Unit IMU, baroceptor etc.) and gps receiver, has complete navigation feature.
Accompanying drawing explanation
By detailed description done in conjunction with the following drawings, above-mentioned and/or other aspects of the present invention and advantage will become clearer and be easier to understand, and these accompanying drawings just schematically, do not limit the present invention, wherein:
Fig. 1 is the SOC (system on a chip) schematic diagram of an embodiment of the present invention;
Fig. 2 is the SOC (system on a chip) schematic diagram of the another kind of embodiment of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows:
1, SOC (system on a chip), 2, processor, 21, first processor core, the 22, second processor core, 3, field programmable gate array.
Embodiment
Hereinafter, the embodiment of flight parametric controller of the present invention is described with reference to the accompanying drawings.
The embodiment recorded at this is specific embodiment of the present invention, for illustration of design of the present invention, is all explanatory and exemplary, should not be construed as the restriction to embodiment of the present invention and the scope of the invention.Except the embodiment recorded at this, those skilled in the art can also adopt other technical scheme apparent based on the content disclosed in the application's claims and instructions, and these technical schemes comprise the technical scheme making any apparent substitutions and modifications adopted the embodiment recorded at this.
The accompanying drawing of this instructions is schematic diagram, and aid illustration design of the present invention schematically shows shape and the mutual relationship thereof of each several part.Note that the structure of each parts for the ease of clearly showing the embodiment of the present invention, not according to identical scale between each accompanying drawing.Identical reference marker is for representing identical part.
For the defect of above UAV Flight Control platform, the UAS that the present invention proposes has following innovation and solves the problems referred to above:
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of flight parametric controller, and it comprises:
SOC (system on a chip) (systemonchip), described system on chip processor (Microcontroller) and field programmable gate array (FieldProgramrableGateArray); Described SOC (system on a chip) is utilized to realize the following control algorithm that flies: the master routine of Flight Control Algorithm, the communication scheduling function of top layer, the macrooperation quantity algorithm of bottom and the coding-decoded portion of communication protocol;
Flight controls sensor, and described flight controls sensor at least can obtain flying speed signal, flying height signal, present position signal; In a preferred embodiment, described flight controls sensor and utilizes GPS module to obtain present position signal, utilizes baroceptor to obtain air pressure signal.
Input/output interface, described input/output interface is for connecting described SOC (system on a chip) and flight control sensor.
The present invention flies parametric controller with SoC (systemonchip) technology for core, adopt FPGA (FieldProgramrableGateArray)+MCU (Microcontroller) as core processor, part Flight Control Algorithm is completed by FPGA, ensure that the real-time that algorithm performs; Part Control and Schedule function is completed by MCU, ensure that the dirigibility of System Programming.
As shown in Figure 1, be a kind of SOC (system on a chip) and operation control schematic diagram thereof of embodiment, wherein the processor 2 of SOC (system on a chip) 1 realizes the following control algorithm that flies: the master routine of Flight Control Algorithm and the communication scheduling function of top layer; The field programmable gate array 3 of SOC (system on a chip) realizes following computing: the macrooperation quantity algorithm of bottom and the coding-decoded portion of communication protocol.
As shown in Figure 1, for a kind of SOC (system on a chip) and operation control schematic diagram thereof of embodiment, the processor 2 of SOC (system on a chip) 1 at least comprises first processor core 21 and the second processor core 22, described first processor core 21 realizes the computing of the master routine of Flight Control Algorithm, and described second processor core 22 realizes the computing of the communication scheduling function of top layer.
State on the invention in the specific implementation process of embodiment, the macrooperation quantity algorithm of bottom comprises regular extended Kalman filter and custom algorithm.Coding-the decoded portion of communication protocol comprises I2C generic communications modules, UART generic communications modules, CAN generic communications modules, SPI generic communications modules, and the coding-decoder module of PWM/PPM.
State on the invention in the specific implementation process of embodiment, described input/output interface comprises:
Configurable pulse-length modulation interface, for being connected with motor, telepilot or land station;
General compatible Generalized Communication Interface, the compatible following agreement of described communication interface: I2C, UART, SPI, CAN;
Self-defined I/O interface, this part of interface connects the self-defined IO of FPGA, can be used as self defined interface and connects external sensor;
Number-mode convertion interface: for monitoring the outside simulating signal such as voltage, air pressure;
Gps antenna interface;
USB interface, for being connected with host computer and other USB interface external units;
Network interface, for interconnecting and remote firmware updating with host computer;
Joint test working group interface, tests for chip internal.
Each technical characteristic of above-mentioned disclosure is not limited to that disclosed with combination that is further feature, other combination that those skilled in the art also can carry out between each technical characteristic according to the object of invention, is as the criterion with the object realizing the present invention.
Claims (9)
1. fly a parametric controller, it is characterized in that, comprising:
SOC (system on a chip), described system on chip processor and field programmable gate array; Described SOC (system on a chip) is utilized to realize the following control algorithm that flies: the master routine of Flight Control Algorithm, the communication scheduling function of top layer, the macrooperation quantity algorithm of bottom and the coding-decoded portion of communication protocol;
Flight controls sensor, and described flight controls sensor at least can obtain flying speed signal, flying height signal, present position signal, air pressure signal;
Input/output interface, described input/output interface is for connecting described SOC (system on a chip) and flight control sensor.
2. flight parametric controller according to claim 1, is characterized in that, the processor of SOC (system on a chip) realizes the following control algorithm that flies: the master routine of Flight Control Algorithm and the communication scheduling function of top layer; The field programmable gate array of SOC (system on a chip) realizes following computing: the macrooperation quantity algorithm of bottom and the coding-decoded portion of communication protocol.
3. flight parametric controller according to claim 2, it is characterized in that, the processor of SOC (system on a chip) at least comprises first processor core and the second processor core, described first processor core realizes the computing of the master routine of Flight Control Algorithm, and described second processor core realizes the computing of the communication scheduling function of top layer.
4. the flight parametric controller according to any one of claim 1-3, is characterized in that, the macrooperation quantity algorithm of bottom comprises regular extended Kalman filter and custom algorithm, can realize process in real time in the field programmable gate array part of SOC (system on a chip).
5. the flight parametric controller according to any one of claim 1-3, it is characterized in that, coding-the decoded portion of communication protocol comprises I2C generic communications modules, UART generic communications modules, CAN generic communications modules, SPI generic communications modules, and the coding-decoder module of PWM/PPM can realize process in real time in the field programmable gate array part of SOC (system on a chip).
6. flight parametric controller according to claim 4, it is characterized in that, coding-the decoded portion of communication protocol comprises I2C generic communications modules, UART generic communications modules, CAN generic communications modules, SPI generic communications modules, and the coding-decoder module of PWM/PPM can realize process in real time in the field programmable gate array part of SOC (system on a chip).
7. flight parametric controller according to claim 1, is characterized in that, described input/output interface comprises:
Configurable pulse-length modulation interface, for being connected with motor, telepilot or land station;
General compatible Generalized Communication Interface, the compatible following agreement of described communication interface: I2C, UART, SPI, CAN;
Self-defined I/O interface, this part of interface connects the self-defined IO of FPGA, can be used as self defined interface and connects external sensor;
Number-mode convertion interface: for monitoring the outside simulating signal such as voltage, air pressure;
Gps antenna interface;
USB interface, for being connected with host computer and other USB interface external units;
Network interface, for interconnecting and remote firmware updating with host computer;
Joint test working group interface, tests for chip internal.
8. flight parametric controller according to claim 1, is characterized in that, described flight controls sensor and utilizes GPS module to obtain present position signal, utilizes baroceptor to obtain air pressure signal.
9. flight parametric controller according to claim 1, is characterized in that, described flight parametric controller is the flight parametric controller of unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511000072.7A CN105487446A (en) | 2015-12-25 | 2015-12-25 | Flight control platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511000072.7A CN105487446A (en) | 2015-12-25 | 2015-12-25 | Flight control platform |
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| Publication Number | Publication Date |
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| CN105487446A true CN105487446A (en) | 2016-04-13 |
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| CN201511000072.7A Pending CN105487446A (en) | 2015-12-25 | 2015-12-25 | Flight control platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527261A (en) * | 2016-10-26 | 2017-03-22 | 湖北航天技术研究院总体设计所 | Four-core flight control computer based on dual-SoC architecture SiP modules |
| WO2018000183A1 (en) * | 2016-06-28 | 2018-01-04 | 深圳曼塔智能科技有限公司 | Aircraft |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203882149U (en) * | 2014-06-12 | 2014-10-15 | 天津大学 | Unmanned helicopter flight control system based on DSP and FPGA |
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2015
- 2015-12-25 CN CN201511000072.7A patent/CN105487446A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203882149U (en) * | 2014-06-12 | 2014-10-15 | 天津大学 | Unmanned helicopter flight control system based on DSP and FPGA |
Non-Patent Citations (2)
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| 江涛等: "基于DSP和FPGA的无人直升机飞行控制系统", 《计算机工程与设计》 * |
| 赵宇博等: "基于SOPC的飞行器控制系统的硬件设计", 《计算机测量与控制》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018000183A1 (en) * | 2016-06-28 | 2018-01-04 | 深圳曼塔智能科技有限公司 | Aircraft |
| CN106527261A (en) * | 2016-10-26 | 2017-03-22 | 湖北航天技术研究院总体设计所 | Four-core flight control computer based on dual-SoC architecture SiP modules |
| CN106527261B (en) * | 2016-10-26 | 2018-09-25 | 湖北航天技术研究院总体设计所 | A kind of four core flight control computers based on double SoC frameworks SiP modules |
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Application publication date: 20160413 |
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