CN105700540A - FPGA-based unmanned plane flight control circuit - Google Patents
FPGA-based unmanned plane flight control circuit Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The present invention provides an FPGA-based unmanned aerial vehicle flight control circuit, which comprises a controller module, a nine-axis measurement module, an attitude computation module, a PID control module and a remote control steering engine module. The nine-axis measurement module, the attitude computation module, the PID control module and the remote control steering engine module are electrically connected in sequence. The nine-axis measurement module is used for generating and outputting nine-axis data according to measurement data transmitted from an accelerometer, a gyroscope and a magnetometer. The attitude computation module is used for generating and outputting flight attitude data according to nine-axis data. The PID control module is used for calculating and generating motor control data according to nine-axis data and flight attitude data. The remote control steering engine module is used for generating a control signal to control an electronic speed governor according to a remote control signal and motor control data. According to the technical scheme of the invention, the FPGA-based unmanned aerial vehicle flight control circuit is used for conducting the parallel control of all the motors of the unmanned aerial vehicle. Based on the circuit, the motor control accuracy and the motor control real-time performance are improved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of UAV Flight Control circuit based on FPGA。
Background technology
The flight control circuit of general many rotor wing unmanned aerial vehicles includes the interfaces such as control chip, inertia measurement circuit, electronic compass, barometer, PWM input signal module, PWM output signal module, GPS module and serial ports RS232 or I2C。Wherein, control chip many employings MCU (MicrocontrollerUnit, micro-control circuit) or DSP (DigitalSignalProcessor, digital signal processor), even if some employs FPGA, FPGA also only in order to extend I/O interface。It is to say, Flight Control Algorithm is all adopt serial manner in current many rotor wing unmanned aerial vehicles, it is impossible to the motor controlling many rotor wing unmanned aerial vehicles of enough precision parallels, the precision and the real-times that control motor are poor。
Summary of the invention
In view of the present situation of prior art, it is an object of the invention to provide a kind of UAV Flight Control circuit based on FPGA, it is possible to parallel each motor controlling unmanned plane, thus improving precision and the real-time that motor controls。
For achieving the above object, the present invention adopts the following technical scheme that
A kind of UAV Flight Control circuit based on FPGA, including: controller module and the nine axle measurement modules, attitude algorithm module, pid control module and the remote-controlled steering engine module that electrically connect with described controller module respectively, wherein, described nine axle measurement modules, described attitude algorithm module, described pid control module and described remote-controlled steering engine module are sequentially connected electrically；
Described nine axle measurement modules are connected to accelerometer, gyroscope and magnetometer, generate and export nine number of axle evidences for the measurement data transmitted according to described accelerometer, described gyroscope and described magnetometer；
Described attitude algorithm module is used for according to described nine axle data genaration and exports flight attitude data；
Described pid control module connects described nine axle measurement modules, described pid control module includes the parallel arrangement of attitude angle control circuit of at least three, for according to described nine axle measurement modules transmit nine number of axle according to this and described flight attitude data calculate generate motor control data；
Described remote-controlled steering engine module connects remote control receiver and the electron speed regulator being connected with each motor of described unmanned plane, described remote-controlled steering engine module generates the control signal in order to control described electron speed regulator for the motor control data of the remote signal sent according to described remote controller, the output of described pid control module, and described control signal is fed back to described pid control module, run with parallel each motor controlling described unmanned plane。
In one embodiment of the invention, described nine axle measurement modules include interrupt control circuit and the data buffer circuit being sequentially connected electrically, data processing circuit, data strobe circuit, data convert circuit and synchronism output circuit；
Wherein, described data buffer circuit, described data processing circuit and described synchronous output module connect described controller module；Described interrupt control circuit is connected to described data strobe circuit and described data convert circuit, for controlling the on and off of described data strobe circuit；
Described data buffer circuit connects described accelerometer, described gyroscope and described magnetometer, in order to obtain the measurement data of described accelerometer, described gyroscope and described magnetometer, described data processing circuit is for being filtered described measurement data processing, described data convert circuit for carrying out number system transition and normalized to described measurement data, described synchronous output module connects described attitude algorithm module, described synchronism output circuit is used for synchronizing to generate described nine number of axle evidences, and by described nine number of axle according to being sent to described attitude algorithm module。
In one embodiment of the invention, described data processing circuit includes accelerometer data processing unit, gyro data processing unit and magnetometer data processing unit；
Described accelerometer data processing unit includes the first smoothing filter group and the first data strobe device that are sequentially connected electrically, for the measurement data of described accelerometer is carried out the disposal of gentle filter；
The second smoothing filter group that described gyro data processing unit includes being sequentially connected electrically, zero partially it is worth calculating-elimination circuit and the second data strobe device, for the measurement data of described gyroscope being carried out smothing filtering, eliminating the process of zero inclined value；
Described magnetometer data processes the 3rd smoothing filter group, calibration-normalization circuit and the 3rd data strobe device that circuit includes being sequentially connected electrically, for the measurement data of described magnetometer is carried out smothing filtering, calibration process；
Wherein, described first data strobe device, described second data strobe device and described 3rd data strobe device are respectively connecting to described controller module。
In one embodiment of the invention, described attitude algorithm module includes accelerometer error measuring circuit, magnetometer error measuring circuitry, gyro error measuring circuit, quaternary number more novel circuit, pose transformation matrix more novel circuit and attitude angle change-over circuit；
Described accelerometer error measuring circuit, described magnetometer error measuring circuitry are connected to described gyro error measuring circuit, and described gyro error measuring circuit is sequentially connected electrically described quaternary number more novel circuit, described pose transformation matrix more novel circuit and described attitude angle change-over circuit；
Described gyro error measuring circuit generates gyroscope correction data for the accelerometer error value generated according to described accelerometer error measuring circuit, the magnetometer error amount of described magnetometer error measuring circuitry generation and the measurement data of described gyroscope by complementary filter algorithm；
Described quaternary number more novel circuit is for the quaternary numerical value new according to described gyroscope correction data and the quaternary numerical generation of last time；Described pose transformation matrix more novel circuit is used for according to described new quaternary numerical generation attitude matrix, and by described new quaternary numeric feedback to described accelerometer errors measuring circuit and described magnetometer error measuring circuitry；Described attitude angle change-over circuit is for generating attitude angle according to described attitude matrix。
In one embodiment of the invention, described pid control module includes output control circuit and parallel arrangement of three described attitude angle control circuits, three described attitude angle control circuit respectively angle of pitch control circuits, roll angle control circuit and angle of drift control circuit；
Described angle of pitch control circuit, described roll angle control circuit and described angle of drift control circuit connect described attitude algorithm module, described nine axle measurement modules and described output control circuit respectively；Described output control circuit exports described motor control data, and described motor control data feeds back to described angle of pitch control circuit, described roll angle control circuit and described angle of drift control circuit。
In one embodiment of the invention, described angle of pitch control circuit, described roll angle control circuit and described angle of drift control circuit all adopt twin nuclei。
In one embodiment of the invention, described remote-controlled steering engine module includes receiving circuit, circuit for controlling motor and channel coding circuit；Described reception circuit connects described circuit for controlling motor and described channel coding circuit, and described circuit for controlling motor, described channel coding circuit connect described controller module；
Described reception circuit connects described remote control receiver, for receiving the remote signal comprising multiple channel data that remote controller sends, and respectively multiple channel datas of described remote signal is processed；Described channel coding circuit is for generating unmanned plane operating mode control signals according to described remote signal, and described unmanned plane mode of operation signal is sent to described controller module；
Described circuit for controlling motor connects described pid control module, motor control data that described circuit for controlling motor exports according to described pid control module and described unmanned plane mode of operation signal generate the passage numerical value of described motor, and are converted to control the control signal of described electron speed regulator by the passage numerical value of described motor。
In one embodiment of the invention, the barometer reading-compensating module being connected with barometer is also included；
Described barometer reading-compensating module includes the initializing circuit, data reading circuit, the 4th data strobe device, temperature-compensation circuit, AD coefficient normalization circuit and the number system transition circuit that electrically connect respectively with described controller module；
Described 4th data strobe device connects described barometer, described initializing circuit, described data reading circuit are connected to described 4th data strobe device, described data reading circuit, described temperature-compensation circuit, described AD coefficient normalization circuit and described number system transition circuit are sequentially connected electrically, and described number system transition circuit is used for output pressure value and temperature value。
In one embodiment of the invention, GPS module and data fusion module are also included；
Described barometer reading-compensating module, described GPS module are connected to described data fusion module, and described data fusion module electrically connects with described remote-controlled steering engine module, described attitude algorithm module；
Described GPS module is for obtaining the location information of described unmanned plane, and described data fusion module is for motor control data according to the atmospheric pressure value of described barometer reading-compensating module output, temperature value, the location information of described GPS module output and the flight attitude data genaration of described attitude algorithm module generation。
In one embodiment of the invention, the timer module, reseting module and the key-press module that electrically connect with described controller module are also included；
Described key-press module is connected with control button and the display lamp of peripheral hardware, and described display lamp is for indicating the duty of described unmanned plane。
In one embodiment of the invention, the described UAV Flight Control circuit based on FPGA and host computer communication connection。
The invention has the beneficial effects as follows:
The UAV Flight Control circuit based on FPGA of the present invention, by adopting FPGA as microcontroller, and be provided with attitude algorithm module and obtain the flight attitude data of unmanned plane in real time, pid control module generates motor control data for nine number of axle transmitted according to flight attitude data and nine axle measurement modules according to calculating, remote-controlled steering engine module generates control signal according to motor control data, to realize the parallel control of each motor to unmanned plane, simultaneously, owing to the parallel processing speeds of FPGA is far above the serial process speed of microcontroller, therefore, by the parametric controller of FPGA, shorten the calculating time of flight control circuit, thus improve degree of accuracy and the real-time that motor controls, the exploitation flying control chip for unmanned plane is laid a good foundation。
Accompanying drawing explanation
Fig. 1 is the theory diagram of UAV Flight Control circuit one embodiment based on FPGA of the present invention；
Fig. 2 be the present invention flight control circuit in the theory diagram of nine axle measurement module one embodiments；
Fig. 3 be the present invention flight control circuit in the operation chart of reading measurement data of nine axle measurement module one embodiments；
Fig. 4 be the present invention flight control circuit in the theory diagram of attitude algorithm module one embodiment；
Fig. 5 be the present invention flight control circuit in the theory diagram of pid control module one embodiment；
Fig. 6 be the present invention flight control circuit in the control procedure chart of pid control module one embodiment；
Fig. 7 be the present invention flight control circuit in the theory diagram of remote-controlled steering engine module one embodiment；
Fig. 8 be the present invention flight control circuit in the theory diagram of barometer reading-compensating module one embodiment；
Fig. 9 be the present invention flight control circuit in the operational flowchart of the initialization of barometer reading-compensating module and digital independent。
Detailed description of the invention
In order to make technical scheme clearly, below in conjunction with accompanying drawing, the UAV Flight Control circuit based on FPGA of the present invention is described in further detail。Should be appreciated that specific embodiment described herein is only in order to explain that the present invention is not intended to limit the present invention。It should be noted that when not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined。
As it is shown in figure 1, the invention provides a kind of UAV Flight Control circuit based on FPGA, it is possible to the flight for unmanned planes such as many rotor wing unmanned aerial vehicles or fixed-wing unmanned planes controls。Should based on the UAV Flight Control circuit of FPGA。The flight control circuit of the present invention adopts fpga chip as main micro-control unit, including controller module 100, nine axle measurement module 200, attitude algorithm module 300, pid control module 400, remote-controlled steering engine module 500, barometer reading-compensating module 600, GPS module 700, data fusion module 800, timer module 110, reseting module 120 and key-press module 900。
Wherein, timer module 110, reseting module 120 and key-press module 900 are connected to controller module 100；In the present embodiment, the beat frequency of timer module 110 can be 5ms, to provide stable timing beat。Reseting module 120 provides stable reset signal and clock signal for each circuit module for this flight control circuit, and wherein, the frequency of clock signal can reach 100MHz。GPS module 700 is for obtaining the real-time positioning information of this unmanned plane。Controller module 100, as the top-level module of this flight control circuit, for regulating and controlling the input and output of all modules under the beat of timer module 110, controls the initialization of modules。
Nine axle measurement modules 200, attitude algorithm module 300, pid control module 400 electrically connect with controller module 100, controller module 100 is for controlling the operations such as the initialization of above-mentioned modules, the measurement data that nine axle measurement modules 200, attitude algorithm module 300, pid control module 400 can output it feeds back to controller module 100, in order to controller module 100 controls its flight attitude in real time according to the flight parameter of unmanned plane。Specifically, nine axle measurement modules 200, attitude algorithm module 300, pid control module 400 and remote-controlled steering engine module 500 are sequentially connected electrically, nine axle measurement modules 200 are connected to accelerometer, gyroscope and magnetometer, generate and export nine number of axle evidences for the measurement data transmitted according to accelerometer, gyroscope and magnetometer。
In the present embodiment, accelerometer is three axis accelerometer, and gyroscope is three-axis gyroscope, and magnetic force is calculated as three axle magnetometers, and therefore, nine axle measurement module 200 outputs are nine number of axle evidences。Wherein, three axis accelerometer is for perception unmanned plane acceleration on three direction of principal axis of body axis system, mainly for detection of the three-axis moving situation of unmanned plane。Three-axis gyroscope is for according to the angle between vertical axis and the unmanned plane of the gyrorotor of its inside, calculate unmanned plane angular velocity on three direction of principal axis of body axis system, to differentiate that unmanned plane is at three axial kinestates, three axis accelerometer and three-axis gyroscope are mainly used in determining the angle of pitch of unmanned plane and roll angle。The spin that three axle magnetometers produce in order to modifying factor gyroscope drift, is mainly used in revising the Z axis measurement data of gyroscope, i.e. the measurement data of angle of drift, therefore, three axle magnetometers are mainly used in determining the pointing direction of unmanned plane。Nine axle measurement modules 200 connect accelerometer, gyroscope and magnetometer by I2C bus, in order to read the measurement data of the sensors such as accelerometer, gyroscope and magnetometer。
In the present embodiment, before gathering measurement data, it is necessary to the sensors such as accelerometer, gyroscope and magnetometer are carried out initial configuration, such as the frequency acquisition etc. of the power parameter of default sensor, reset parameter or sensor。Owing to the accelerometer in the present embodiment, gyroscope and magnetometer are both connected in I2C bus, therefore, the initialization operation of operation and sensor that nine axle measurement modules 200 read measurement data shares an I2C interface, and the initialization operation of the operation and sensor of reading measurement data needs serial to perform。As it is shown on figure 3, nine axle measurement modules 200 first pass through I2C bus, corresponding initiation parameter is write in each sensor, to realize the initialization of each sensor, start the cycle over the measurement data reading each sensor afterwards。
Attitude algorithm module 300, for nine number of axle evidences transmitted according to nine axle measurement modules 200, utilizes navigation principle to generate and exports flight attitude data, and flight attitude data are sent to pid control module 400。Here flight attitude data are used for three axles of record-setting flight device aloft relative to the state between certain reference line or certain reference plane or certain coordinate system fixed。Pid control module 400 connects nine axle measurement modules 200 and attitude algorithm module 300, including the parallel arrangement of attitude angle control circuit of at least three, for nine number of axle that transmit according to nine axle measurement modules 200 according to this and the flight attitude data that transmit of attitude algorithm module 300 calculate and generate motor control data, and motor control data is sent to remote-controlled steering engine module 500。Wherein, each attitude angle control circuit correspondence controls an attitude angle, and the attitude angle of this unmanned plane includes the angle of pitch, roll angle and angle of drift etc.。At least three attitude angle control circuit is separate, concurrent working, to shorten the calculating time of this flight control circuit, by adopting the parallel processing manner of FPGA, it is possible to improve the precision controlling data。The motor control data of pid control module 400 output is for controlling the operation of each motor, including throttle coefficient, the angle of pitch, roll angle, angle of drift etc.。
Remote-controlled steering engine module 500, as the input of the control signal of unmanned plane and output execution equipment, connects remote controller and the electron speed regulator that is connected with each motor of unmanned plane, and remote-controlled steering engine module 500 controls the operation of each motor by electron speed regulator。Specifically, remote-controlled steering engine module 500 connects receiver by I/O interface, and remote controller and receiver are correspondingly arranged。Remote signal is sent after control information being encoded by remote controller by manipulator in the form of an electromagnetic wave, after remote signal is demodulated by receiver, remote signal after demodulation is sent to remote-controlled steering engine module 500, remote-controlled steering engine module 500 is for generating the control signal in order to control electron speed regulator according to the motor control data of the remote signal received, pid control module 400 output, and control signal is fed back to pid control module 400, with the operation of parallel each motor controlling unmanned plane。
In one embodiment of the invention, as shown in Figure 2, nine axle measurement modules 200 include interrupt control circuit 260 and the data buffer circuit 210 being sequentially connected electrically, data processing circuit 220, data strobe circuit 230, data convert circuit 240 and synchronism output circuit 250, synchronous output module 250 connects attitude algorithm module 300, synchronism output circuit 250 is used for synchronizing to generate nine number of axle evidences, and by nine number of axle according to being sent to attitude algorithm module 300, for calculating the flight attitude data of unmanned plane。
Wherein, data buffer circuit 210, data processing circuit 220 and synchronism output circuit 250 connect controller module 100, and controller module 100 processes circuit 220 for gated data and controls the output of synchronism output circuit 250。Interrupt control circuit 260 is connected to data strobe circuit 230 and data convert circuit 240, and interrupt control circuit 260 controls the gating of data strobe circuit 230 or the execution sequence of closedown and data convert circuit 240 for the interrupt signal by exporting。In the present embodiment, data strobe circuit 230 can be data strobe device。
Data buffer circuit 210 connects three axis accelerometer, three-axis gyroscope and three axle magnetometers, in order to read and to store the measurement data of three axis accelerometer, three-axis gyroscope and three axle magnetometers, and the raw measurement data of the sensor is sent to data processing circuit 220。Data processing circuit 220 for being filtered the operations such as process, data calibration to measurement data, and through data strobe circuit 230, the measurement data through pretreatment is sent to data convert circuit 240。
Data convert circuit 240 for carrying out number system transition and normalized to measurement data, the i.e. AD conversion coefficient according to each sensor, the actual value of reduction measurement data, wherein, data convert circuit 240 is the common circuit of nine number of axle evidences, including the coefficient normalization unit 241 being sequentially connected electrically and numeral system converting unit 242。In the present embodiment, the serial execution sequence of coefficient normalization unit 241 and numeral system converting unit 242 is controlled by interrupt control circuit 260。Coefficient normalization unit 241 may be used for the normalized of measurement data, and number system transition unit 242 may be used for computer number system transition。
Last synchronism output circuit 250 is according to the attitude algorithm module 300 requirement to nine number of axle evidences, one step completed nine number of axle of pending buffer are according to after (including three axis accelerometer measurement data, three-axis gyroscope measurement data and three axle magnetometer measures data), draw high indication signal, and export nine number of axle according to attitude algorithm module 300。
Specifically, data processing circuit 220 includes parallel arrangement of accelerometer data processing unit, gyro data processing unit and magnetometer data processing unit。Wherein, accelerometer data processing unit includes the first smoothing filter group 221 and the first data strobe device 222 being sequentially connected electrically, for the measurement data of accelerometer is carried out the disposal of gentle filter。First data strobe device 222 is connected to controller module 100 and data strobe circuit 300, and controller module 100 is for controlling gating or the closedown of the first data strobe device。When controller module 100 sends smoothness gating signal according to the demand of user to the first data strobe device 222, the three-axis measurement data of accelerometer output, after the smothing filtering of the first smoothing filter group 221, enter data convert circuit 240 either directly through data strobe circuit 300。
The second smoothing filter group 223, zero that gyro data processing unit includes being sequentially connected electrically is worth calculating-elimination circuit and the second data strobe device 229 partially, for the measurement data of gyroscope carrying out smothing filtering, eliminating the process of zero inclined value。Wherein the second data strobe device 229 is connected to controller module 100 and data strobe circuit 230, and controller module 100 is for controlling gating or the closedown of the second data strobe device 229。Further, in one embodiment, zero is worth calculating-elimination circuit partially includes zero inclined value computing unit 224 and zero inclined value elimination unit 225, second smoothing filter group 223 is connected simultaneously to zero inclined value computing unit 224 and zero inclined value eliminates unit 225, and zero inclined value computing unit 224 connect zero inclined value eliminate unit 225, zero is worth the output eliminating unit 225 partially connects the input of the second data strobe device 229, is partially worth for eliminating the zero of gyroscope, it is ensured that the degree of accuracy controlled of flying。
When controller module 100 sends smoothness gating signal according to the demand of user to the second data strobe device 229, after the gyroscope three-axis measurement data of gyroscope output first pass around the smothing filtering of the second smoothing filter group 223, enter going out of zero inclined value computing unit 224 computing gyroscope zero to be partially worth, eliminated zero being partially worth of three-axis measurement data of gyroscope afterwards by zero inclined value elimination unit 225, enter data convert circuit 240 finally by data strobe circuit 230。Or, after the gyroscope three-axis measurement data of gyroscope output first pass around the smothing filtering of the second smoothing filter group 223, eliminate unit 225 either directly through zero inclined value and eliminate zero being partially worth of three-axis measurement data of gyroscope, enter data convert circuit 240 finally by data strobe circuit 230。
Magnetometer data processes the 3rd smoothing filter group 226, calibration-normalization circuit and the 3rd data strobe device 201 that circuit includes being sequentially connected electrically, for the measurement data of magnetometer is carried out smothing filtering, calibration process。Wherein, the 3rd data strobe device 201 is respectively connecting to controller module 100 and data strobe circuit 230, and controller module 100 is for controlling gating or the closedown of the 3rd data strobe device 201。Further, in one embodiment, calibration-normalization circuit includes data calibration unit 227 and data normalization unit 228,3rd smoothing filter group 226 is connected simultaneously to data calibration unit 227 and data normalization unit 228, and data calibration unit 227 electrically connects with data normalization unit 228, the output of data normalization unit 228 connects the input of the 3rd data strobe device 201, for the calibration of magnetometer three-axis measurement data, it is ensured that the accuracy that flight controls。
Namely when controller module 100 sends smoothness gating signal according to the demand of user to the 3rd data strobe device 201, after the magnetometer three-axis measurement data of magnetometer output first pass around the smothing filtering of the 3rd smoothing filter group 226, enter data calibration unit 227 to be calibrated, by data normalization unit 228, the coefficient of the three-axis measurement data of magnetometer is normalized afterwards, enters data convert circuit 240 finally by data strobe circuit 230。Or, after the magnetometer three-axis measurement data of magnetometer output first pass around the smothing filtering of the 3rd smoothing filter group 226, the three-axis measurement data carrying out magnetometer either directly through data normalization unit 228 carry out coefficient normalization, enter data convert circuit 240 finally by data strobe circuit 230。
In one embodiment of the invention, as shown in Figure 4, attitude algorithm module 300 includes accelerometer error measuring circuit 310, magnetometer error measuring circuitry 320, gyro error measuring circuit 330, quaternary number more novel circuit 340, pose transformation matrix more novel circuit 350 and attitude angle change-over circuit 360。Wherein, accelerometer error measuring circuit 310, magnetometer error measuring circuitry 320 are connected to gyro error measuring circuit 330, gyro error measuring circuit 330 is sequentially connected electrically quaternary number more novel circuit 340, pose transformation matrix more novel circuit 350 and attitude angle change-over circuit 360, attitude angle change-over circuit 360 is connected to pid control module 400, for the flight attitude data of unmanned plane are sent to pid control module 400。
Owing in the actual environment, the data of MEMS sensor output are usually present certain error, so being the accuracy ensureing subsequent calculations, it should the measurement data of MEMS sensor output is carried out the process such as noise-removed filtering, to ensure the operational precision of system。In the present embodiment, adopt complementary filter algorithm that the measurement data of each sensor carries out noise-removed filtering etc. and process。Wherein, accelerometer error measuring circuit 310 is connected to nine axle measurement modules 200, for calculating the relative error between itself and the reference specific force preset according to the measurement data of the accelerometer in nine number of axle evidences, generates accelerometer error value。Magnetometer error measuring circuitry 320 is connected to nine axle measurement modules 200, for calculating the relative error between itself and the reference magnetic force preset according to the measurement data of the magnetometer in nine number of axle evidences, generates magnetometer error amount。
Gyro error measuring circuit 300 is also connected to nine axle measurement modules 200, and the measurement data of the gyroscope in the magnetometer error amount generated for the accelerometer error value generated according to accelerometer error measuring circuit 310, magnetometer error measuring circuitry 320 and nine number of axle evidence generates gyroscope correction data by complementary filter algorithm。Gyro error measuring circuit in the present embodiment can adopt complementary filter etc. to realize。Owing to gyroscope exists certain drift, can cause that the data of its measurement are more and more inaccurate, in the present embodiment, employing complementary filter algorithm is exactly the measurement data of reference gyroscope more at short notice, and increase over time, by the measurement data of accelerometer and magnetometer, the measurement data of gyroscope is compensated correction。That is, owing to the dynamic response of accelerometer is slower, therefore there is error at high band, its high frequency error can be suppressed by low pass filter, and gyroscope due to constant value drift thus there is bigger error in low-frequency range, so needing high frequency filter to suppress its low frequency aberration, by complementary filter complementary characteristic on its frequency domain, to suppress mushing error, to improve the accuracy of measurement data, meet the user demand of subsequent conditioning circuit, thus improving the control accuracy of this flight control circuit。
Quaternary number more novel circuit 340 is for the quaternary numerical value new according to the quaternary numerical generation of gyroscope correction data and last time, in the present embodiment, quaternary number more novel circuit 340 uses single order Runge-Kutta algorithm (i.e. euler algorithm) that quaternary number is updated, and exports the new quaternary numerical value of this renewal。It should be understood that, quaternary number is a kind of simple supercomplex, quaternary number is all made up of on real add three plural numbers, it is possible to understand that be a real number and a vectorial combination, it is understood that for four-dimensional vector。In combination rotation, the best results that quaternary number represents。Certainly, in other embodiments, attitude algorithm module 300 can also be represented by matrix, Eulerian angles represent or the mode such as shaft angle expression represents rotation。
Pose transformation matrix is the novel circuit 350 new quaternary numerical generation attitude matrix for exporting according to quaternary number more novel circuit 340 more, and by new quaternary numeric feedback to accelerometer errors measuring circuit 310 and magnetometer error measuring circuitry 320；Attitude angle change-over circuit 360 is for generating attitude angle according to attitude matrix, and the Flight Condition Data such as attitude angle are sent to pid control module 400。
In one embodiment of the invention, as shown in Figure 5, pid control module 400 includes output control circuit 440 and parallel arrangement of three attitude angle control circuits, each attitude angle control circuit correspondence controls an attitude angle, three attitude angle control circuits are divided into the angle of pitch control circuit 410, roll angle control circuit 420 and the angle of drift control circuit 430 that electrically connect with output control circuit 440, so the carrying out that the attitude angle data of attitude algorithm module 300 output is parallel can be processed, thus shortening the operation time of system, improve operation efficiency。
Angle of pitch control circuit 410, roll angle control circuit 420 and angle of drift control circuit 430 are respectively connecting to attitude algorithm module 300 and nine axle measurement modules 200, for obtaining the status signal of the flight attitude data (i.e. the attitude angle data of unmanned plane) of attitude algorithm module 300 output, nine axle measurement data of nine axle measurement modules 200 outputs and the external data such as remote signal of remote controller transmission and each sensor。Output control circuit 440 generates according to the signal that three attitude angle control circuits transmit and output motor controls data, to be controlled the operation of each motor respectively by electron speed regulator, it is achieved the parallel control of each motor。Meanwhile, motor control data is fed back to angle of pitch control circuit 410, roll angle control circuit 420 and angle of drift control circuit 430 by output control circuit 440。
Specifically, the angle of pitch control circuit 410 of the present embodiment, roll angle control circuit 420 and angle of drift control circuit 430 all adopt twin nuclei, and its outer-loop is used for controlling angle, and internal ring is used for pilot angle speed。The detailed process of pid control algorithm is described for roll angle below in conjunction with Fig. 6:
Outer shroud controls: the remote signal of the measurement data of the gyroscope of acquisition, remote controller locked, to ensure accuracy and the control accuracy of data, and in conjunction with the gyroscope of acquisition and the status signal of remote controller, measurement data and the remote signal of gyroscope are carried out the pretreatment such as data filtering, to reduce the noise interference to system。Afterwards, measurement data and remote signal to pretreated gyroscope carry out PID operation (can also is that PI operation, PD operation), generate and export the internal ring PID expected value controlled。
Internal ring controls: the flight attitude data of the internal ring PID of the acquisition expected value controlled with the output of attitude algorithm module locked, to ensure accuracy and the control accuracy of data, and control the status signal of module output and the status signal of attitude algorithm module output to pretreatment such as the internal ring PID expected value controlled and flight attitude data are filtered in conjunction with outer shroud, to reduce the noise interference to system。Afterwards, the expected value that pretreated flight attitude data and internal ring PID are controlled carries out PID operation (can also is that PI operation, PD operation), generates and output motor controls data, to control the roll angle of each motor。Additionally, the PID of the angle of pitch and angle of drift controls basically identical with the control process of roll angle, repeat no more herein。
In one embodiment of the invention, as it is shown in fig. 7, remote-controlled steering engine module 500 includes receiving circuit 510, circuit for controlling motor 530 and channel coding circuit 520；Receiving circuit 510 and connect circuit for controlling motor 530 and channel coding circuit 520, circuit for controlling motor 530, channel coding circuit 520 connect controller module 100, and controller module 100 is for controlling initialization and the running status of modules circuit。
Wherein, receive reception verification unit 511 and pretreatment unit 512 that circuit 510 includes being sequentially connected electrically, wherein, receive verification unit 511 and be connected to remote controller by the receiver of peripheral hardware, for receiving the remote signal comprising multiple channel data that remote controller sends, after each channel data of the remote signal of its reception is filtered process by reception verification unit 511 respectively, the remote signal after processing is sent to pretreatment unit 512。Pretreatment unit 512 is connected to pid control module 400, operate for the remote signal after Filtering Processing being carried out linear restriction and form conversion etc. by the requirement of channel data according to pid algorithm, afterwards, by data feedbacks such as the remote signals after pretreatment to pid control module 400, namely pretreatment unit 512 connects the input of pid control module 400。
In the present embodiment, remote controller inputs the remote signal with 7 channel datas by receiver to receiving circuit, accordingly, receives verification unit and is also equipped with 7 verification passages, be respectively directed to 7 channel datas and be filtered processing, to improve the efficiency that data process。Afterwards, the remote signal after Filtering Processing is sent to general pretreatment unit 512, completes the preliminary treatment of remote signal。Finally, the function according to each passage, adopt corresponding treatment mechanism。Wherein, 7 channel datas of remote signal can be flying height, the angle of pitch, angle of drift, roll angle, flight speed, throttle coefficient and state of flight etc.。Such as:
One of them channel data of remote signal is for controlling the angle of pitch of unmanned plane, then it is filtered processing by angle of pitch verification passage corresponding in reception verification unit 511, then, the input of the angle of pitch control circuit 410 to pid control module 400 will be exported after the preprocessed unit of angle of pitch channel data after Filtering Processing, angle of pitch control circuit 410 is according to angle of pitch channel data, the measurement data of gyroscope and the measurement data of accelerometer carry out PID operation (PI/PD/PID computing), output is for controlling the motor control data of the angle of pitch of unmanned plane。
Channel coding circuit 520 is as the coding circuit of the data such as remote signal, for generating unmanned plane operating mode control signals according to remote signal, and unmanned plane mode of operation signal is sent to controller module 100, operate in different mode of operations controlling unmanned plane。In the present embodiment, the mode of operation of unmanned plane includes debugging mode, locking mode and PID control model。
In the present embodiment, unmanned plane is before starting flight, it is generally required to remote controller carries out the operation such as throttle calibration or electric programming, when system electrification starts, remote controller must lock, in case there is false touch operation。Aloft during flight, if meeting emergency situations, it is necessary to lock body at once, suspend the work of UAS, to ensure the flight safety of unmanned plane。Channel coding circuit 520 for according to above-mentioned different mode of operation, carries out channel coding process according to the remote signal received, and sends corresponding mode of operation signal to controller module so that unmanned plane can the flight of safety or debugging。
Circuit for controlling motor 530 connects pid control module 400, motor control data that circuit for controlling motor 530 exports according to pid control module 400 and the unmanned plane mode of operation signal of controller module 100 output generate the passage numerical value of motor, and are converted to control the pwm control signal of electron speed regulator by the passage numerical value of motor。Specifically, circuit for controlling motor 530 includes converting unit the 531, the 5th data strobe device 532 that is sequentially connected electrically and electricity adjusts control unit 533。Wherein, converting unit 531 is connected to pid control module 400, specifically, converting unit 531 is connected to the outfan (i.e. output control circuit 440) of pid control module 400, for reading motor control data from pid control module, and motor control data is converted to the channel signal of steering wheel。
The input of the 5th data strobe device 532 is respectively connecting to converting unit 531, the reception verification unit 511 receiving circuit 510 and controller module 100, the outfan of the 5th data strobe device 532 is connected to electricity and adjusts control unit 533, electricity to adjust control unit 533 to connect the electron speed regulator of controller module 100 and peripheral hardware。Electricity adjusts control unit 533 generate the passage numerical value of motor for the unmanned plane mode of operation signal that the channel signal according to steering wheel and controller module 100 transmit and be converted into pwm signal and export to electron speed regulator, in order to control the operation of each motor。
The control principle of circuit for controlling motor is described for four rotor wing unmanned aerial vehicles below:
Four rotor wing unmanned aerial vehicles are by four the motor-driven unmanned planes being connected on rigidity criss-cross construction, and the speed discrepancy controlling four motors that moves through of unmanned plane is controlled, according to its rotor arrangement can be divided into " X " pattern and "+" pattern。
If this four rotor wing unmanned aerial vehicle is " X " pattern, then the transformational relation of the motor control data of pid control module 400 output and the channel value of four motors is:
Wherein, M1～M4Being respectively used to represent the passage numerical value of four motors, Thr is used for representing throttle coefficient, and Ptich is used for representing that the angle of pitch, Roll are used for representing that roll angle, Yaw are used for representing angle of drift。
If this four rotor wing unmanned aerial vehicle be "+" pattern, then the motor control data of pid control module 400 output and the transformational relation of channel value of four motors are:
Wherein, M1～M4Being respectively used to represent the passage numerical value of four motors, Thr is used for representing throttle coefficient, and Ptich is used for representing that the angle of pitch, Roll are used for representing that roll angle, Yaw are used for representing angle of drift。
In one embodiment of the invention, as shown in Figure 8, barometer reading-compensating module 600 is connected by the barometer of SPI interface peripheral hardware, barometer is for the atmospheric pressure of the environment high residing for the real time measure unmanned plane, the atmospheric pressure measured by barometer can calculate the relative flying height etc. of unmanned plane, such that it is able to revise the navigation data of unmanned plane, improve the control accuracy of unmanned plane。
Barometer reading-compensating module 600 includes the initializing circuit 610, data reading circuit the 630, the 4th data strobe device 620, temperature-compensation circuit 640, AD coefficient normalization circuit 650 and the number system transition circuit 660 that electrically connect respectively with controller module 100。4th data strobe device 620 connects barometer, initializing circuit 610, data reading circuit 630 are connected to the 4th data strobe device 620, data reading circuit 630, temperature-compensation circuit 640, AD coefficient normalization circuit 650 and number system transition circuit 660 are sequentially connected electrically, and number system transition circuit 660 is for output pressure value and temperature value。
When, after system reset, first controller module 100 starts initializing circuit 610, initializing circuit 610 passes through SPI interface and sends reset command and barometer parameter reading order to barometer。When initialization circuit 610 has returned signal to controller module 100, controller module 100 controls the barometrical atmospheric pressure value of reading and the temperature value that data reading circuit 630 repeats。The atmospheric pressure value every time read and temperature value export after sequentially passing through temperature-compensation circuit 640, AD coefficient normalization circuit 650 and numeral system change-over circuit 660。
Initialization and the data read process of this barometer reading-compensating module are described below in conjunction with Fig. 9:
Initializing circuit 610 first passes through SPI interface and sends reset command (Reset order) to barometer, after waiting the first Preset Time (can be 2.8ms) afterwards, initializing circuit 610 sends barometer parameter reading order by SPI interface to barometer, reads barometrical major parameter。In the present embodiment, barometrical mainly include six parameters: pressure-sensitivity, counteracted by pressure, temperature, pressure sensitivity coefficient, the counteracted by pressure of temperature coefficient, reference temperature, temperature coefficient sensitivity etc.。Initialization circuit 610 completes aforesaid operations, has returned signal to controller module 100。
Then, first controller module 100 sends AD1 conversion command to barometer, waits that the second Preset Time (can be 8.22ms) sends ADC reading order afterwards, controls data read module 630 and reads atmospheric pressure value。The reading process of temperature value is similar with the reading process of atmospheric pressure value, controller module 100 sends AD2 conversion command to barometer, wait that the second Preset Time (can be 8.22ms) sends ADC reading order afterwards, control data read module 630 and read temperature value。In the present embodiment, the read operation of atmospheric pressure value and the read operation of temperature value are alternately repeated and carry out, constantly to read new atmospheric pressure value and temperature value, it is achieved the real-time control to unmanned plane during flying state。
Further, barometer reading-compensating module 600, GPS module 700 are connected to data fusion module 800, and data fusion module 800 electrically connects with remote-controlled steering engine module 500, attitude algorithm module 300。GPS module 700 is for obtaining the location information of unmanned plane, data fusion module 800 is for according to the atmospheric pressure value of barometer reading-compensating module 600 output, temperature value, the flight attitude data genaration motor control data that the location information of GPS module 700 output and attitude algorithm module 300 generate, and the motor control data of generation is sent to remote-controlled steering engine module 500, better to control the operation of each motor, adjust the state of flight of unmanned plane。
Key-press module 900 is connected with control button and the display lamp of peripheral hardware, for receiving the push button signalling of externally input。Control button and may be used for setting the mode of operation of this flight control circuit, it is also possible to realize the reset of this flight control circuit by arranging reset key。Display lamp can be LED display lamp etc., and for indicating the duty of unmanned plane, e.g., red light represents that unmanned plane is operated in debugging mode, and amber light represents that unmanned plane is operated in locking mode, and green light represents that unmanned plane is operated in PID mode etc.。
In one embodiment of the present of invention, should be communicated to connect by UART interface and host computer 130 based on the UAV Flight Control circuit of FPGA, for the control information of this flight control circuit and configuration information etc. are sent to host computer。
The UAV Flight Control circuit based on FPGA of the present invention, by adopting FPGA as microcontroller, and be provided with attitude algorithm module and obtain the flight attitude data of unmanned plane in real time, pid control module generates motor control data for nine number of axle transmitted according to flight attitude data and nine axle measurement modules according to calculating, remote-controlled steering engine module generates control signal according to motor control data, to realize the parallel control of each motor to unmanned plane, simultaneously, owing to the parallel processing speeds of FPGA is far above the serial process speed of microcontroller, therefore, by the parametric controller of FPGA, shorten the calculating time of flight control circuit, thus improve degree of accuracy and the real-time that motor controls, the generation flying control chip for unmanned plane is laid a good foundation。
Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention。It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention。Therefore, the protection domain of patent of the present invention should be as the criterion with claims。
Claims (11)
1. the UAV Flight Control circuit based on FPGA, it is characterized in that, including: controller module and the nine axle measurement modules, attitude algorithm module, pid control module and the remote-controlled steering engine module that electrically connect with described controller module respectively, wherein, described nine axle measurement modules, described attitude algorithm module, described pid control module and described remote-controlled steering engine module are sequentially connected electrically；
Described nine axle measurement modules are connected to accelerometer, gyroscope and magnetometer, generate and export nine number of axle evidences for the measurement data transmitted according to described accelerometer, described gyroscope and described magnetometer；
Described attitude algorithm module is used for according to described nine axle data genaration and exports flight attitude data；
Described pid control module connects described nine axle measurement modules, described pid control module includes the parallel arrangement of attitude angle control circuit of at least three, for according to described nine axle measurement modules transmit nine number of axle according to this and described flight attitude data calculate generate motor control data；
Described remote-controlled steering engine module connects remote control receiver and the electron speed regulator being connected with each motor of described unmanned plane, described remote-controlled steering engine module generates the control signal in order to control described electron speed regulator for the motor control data of the remote signal sent according to described remote controller, the output of described pid control module, and described control signal is fed back to described pid control module, run with parallel each motor controlling described unmanned plane。
2. the UAV Flight Control circuit based on FPGA according to claim 1, it is characterized in that, described nine axle measurement modules include interrupt control circuit and the data buffer circuit being sequentially connected electrically, data processing circuit, data strobe circuit, data convert circuit and synchronism output circuit；
Wherein, described data buffer circuit, described data processing circuit and described synchronous output module connect described controller module；Described interrupt control circuit is connected to described data strobe circuit and described data convert circuit, for controlling the on and off of described data strobe circuit；
Described data buffer circuit connects described accelerometer, described gyroscope and described magnetometer, in order to obtain the measurement data of described accelerometer, described gyroscope and described magnetometer, described data processing circuit is for being filtered described measurement data processing, described data convert circuit for carrying out number system transition and normalized to described measurement data, described synchronous output module connects described attitude algorithm module, described synchronism output circuit is used for synchronizing to generate described nine number of axle evidences, and by described nine number of axle according to being sent to described attitude algorithm module。
3. the UAV Flight Control circuit based on FPGA according to claim 2, it is characterised in that described data processing circuit includes accelerometer data processing unit, gyro data processing unit and magnetometer data processing unit；
Described accelerometer data processing unit includes the first smoothing filter group and the first data strobe device that are sequentially connected electrically, for the measurement data of described accelerometer is carried out the disposal of gentle filter；
The second smoothing filter group that described gyro data processing unit includes being sequentially connected electrically, zero partially it is worth calculating-elimination circuit and the second data strobe device, for the measurement data of described gyroscope being carried out smothing filtering, eliminating the process of zero inclined value；
Described magnetometer data processes the 3rd smoothing filter group, calibration-normalization circuit and the 3rd data strobe device that circuit includes being sequentially connected electrically, for the measurement data of described magnetometer is carried out smothing filtering, calibration process；
Wherein, described first data strobe device, described second data strobe device and described 3rd data strobe device are respectively connecting to described controller module。
4. the UAV Flight Control circuit based on FPGA according to claim 1, it is characterized in that, described attitude algorithm module includes accelerometer error measuring circuit, magnetometer error measuring circuitry, gyro error measuring circuit, quaternary number more novel circuit, pose transformation matrix more novel circuit and attitude angle change-over circuit；
Described accelerometer error measuring circuit, described magnetometer error measuring circuitry are connected to described gyro error measuring circuit, and described gyro error measuring circuit is sequentially connected electrically described quaternary number more novel circuit, described pose transformation matrix more novel circuit and described attitude angle change-over circuit；
Described gyro error measuring circuit generates gyroscope correction data for the accelerometer error value generated according to described accelerometer error measuring circuit, the magnetometer error amount of described magnetometer error measuring circuitry generation and the measurement data of described gyroscope by complementary filter algorithm；
Described quaternary number more novel circuit is for the quaternary numerical value new according to described gyroscope correction data and the quaternary numerical generation of last time；Described pose transformation matrix more novel circuit is used for according to described new quaternary numerical generation attitude matrix, and by described new quaternary numeric feedback to described accelerometer errors measuring circuit and described magnetometer error measuring circuitry；Described attitude angle change-over circuit is for generating attitude angle according to described attitude matrix。
5. the UAV Flight Control circuit based on FPGA according to claim 1, it is characterized in that, described pid control module includes output control circuit and parallel arrangement of three described attitude angle control circuits, three described attitude angle control circuit respectively angle of pitch control circuits, roll angle control circuit and angle of drift control circuit；
Described angle of pitch control circuit, described roll angle control circuit and described angle of drift control circuit connect described attitude algorithm module, described nine axle measurement modules and described output control circuit respectively；Described output control circuit exports described motor control data, and described motor control data feeds back to described angle of pitch control circuit, described roll angle control circuit and described angle of drift control circuit。
6. the UAV Flight Control circuit based on FPGA according to claim 5, it is characterised in that described angle of pitch control circuit, described roll angle control circuit and described angle of drift control circuit all adopt twin nuclei。
7. the UAV Flight Control circuit based on FPGA according to claim 1, it is characterised in that described remote-controlled steering engine module includes receiving circuit, circuit for controlling motor and channel coding circuit；Described reception circuit connects described circuit for controlling motor and described channel coding circuit, and described circuit for controlling motor, described channel coding circuit connect described controller module；
Described reception circuit connects described remote control receiver, for receiving the remote signal comprising multiple channel data that remote controller sends, and respectively multiple channel datas of described remote signal is processed；Described channel coding circuit is for generating unmanned plane operating mode control signals according to described remote signal, and described unmanned plane mode of operation signal is sent to described controller module；
Described circuit for controlling motor connects described pid control module, motor control data that described circuit for controlling motor exports according to described pid control module and described unmanned plane mode of operation signal generate the passage numerical value of described motor, and are converted to control the control signal of described electron speed regulator by the passage numerical value of described motor。
8. the UAV Flight Control circuit based on FPGA according to claim 1-7 any one claim, it is characterised in that also include the barometer reading-compensating module being connected with barometer；
Described barometer reading-compensating module includes the initializing circuit, data reading circuit, the 4th data strobe device, temperature-compensation circuit, AD coefficient normalization circuit and the number system transition circuit that electrically connect respectively with described controller module；
Described 4th data strobe device connects described barometer, described initializing circuit, described data reading circuit are connected to described 4th data strobe device, described data reading circuit, described temperature-compensation circuit, described AD coefficient normalization circuit and described number system transition circuit are sequentially connected electrically, and described number system transition circuit is used for output pressure value and temperature value。
9. the UAV Flight Control circuit based on FPGA according to claim 8, it is characterised in that also include GPS module and data fusion module；
Described barometer reading-compensating module, described GPS module are connected to described data fusion module, and described data fusion module electrically connects with described remote-controlled steering engine module, described attitude algorithm module；
Described GPS module is for obtaining the location information of described unmanned plane, and described data fusion module is for motor control data according to the atmospheric pressure value of described barometer reading-compensating module output, temperature value, the location information of described GPS module output and the flight attitude data genaration of described attitude algorithm module generation。
10. the UAV Flight Control circuit based on FPGA according to claim 8, it is characterised in that also include the timer module, reseting module and the key-press module that electrically connect with described controller module；
Described key-press module is connected with control button and the display lamp of peripheral hardware, and described display lamp is for indicating the duty of described unmanned plane。
11. the UAV Flight Control circuit based on FPGA according to claim 8, it is characterised in that the described UAV Flight Control circuit based on FPGA and host computer communication connection。
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| CN111141283A (en) * | 2020-01-19 | 2020-05-12 | 杭州十域科技有限公司 | Method for judging advancing direction through geomagnetic data |
| WO2022160436A1 (en) * | 2021-01-29 | 2022-08-04 | 航天科工微电子系统研究院有限公司 | Soc chip structure applied to gyroscope control system |
| CN113268070A (en) * | 2021-05-18 | 2021-08-17 | 哈尔滨理工大学 | Unmanned aerial vehicle attitude angle tracking system based on multisensor |
| CN113359867A (en) * | 2021-06-07 | 2021-09-07 | 合肥工业大学 | Unmanned aerial vehicle self-stabilizing cradle head and control method |
| CN113359867B (en) * | 2021-06-07 | 2022-01-28 | 合肥工业大学 | Unmanned aerial vehicle self-stabilizing cradle head and control method |
| CN114355965A (en) * | 2022-03-21 | 2022-04-15 | 华中科技大学 | Control system of fixed-wing unmanned aerial vehicle and fixed-wing unmanned aerial vehicle equipment |
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