CN106297248A - A kind of remote motor control method and system - Google Patents
A kind of remote motor control method and system Download PDFInfo
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- CN106297248A CN106297248A CN201610835785.3A CN201610835785A CN106297248A CN 106297248 A CN106297248 A CN 106297248A CN 201610835785 A CN201610835785 A CN 201610835785A CN 106297248 A CN106297248 A CN 106297248A
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The disclosure is directed to a kind of remote motor control method and system.Including: pulse width signal generator, wireless transmitter module, wireless receiving module, single-chip microcomputer, described pulse-duration modulation signal generator is connected with wireless transmitter module, wireless transmitter module and wireless receiving module communicate wirelessly transmission pulse-width signal, wireless receiving module receives pulse-width signal, and pulse-width signal is sent to single-chip microcomputer be identified judging, this single-chip microcomputer is connected the control rotation direction of motor and the action of steering wheel with motor and steering wheel.The capacity of resisting disturbance of disclosure control signal is strong, it is achieved that the purpose of distant control motor, disclosure product with compact structure, and volume is little, the lightweight lift-launch being suitable for light-duty unmanned plane, and the jack remotely controlling gondola for light-duty unmanned plane provides technology guarantee.
Description
Technical field
It relates to unmanned air vehicle technique field, particularly relate to a kind of remote motor control method and system.
Background technology
Along with the development of science and technology, unmanned air vehicle technique has obtained great development, and unmanned air vehicle technique also begins to be applied to each
Field.Meanwhile, unmanned air vehicle technique also advances quickly, and various new technology occur and are progressively applied on unmanned plane.
At present, the control motor of unmanned plane is mostly wired remote control pattern or infrared remote control pattern, and is only limitted to
Applying on ground, wired or infrared remote control triggers practical for in-plant shutter, but cannot be aerial at height to flight
Distance ground takeoff point is controlled more than the motor on 1Km unmanned plane, and the motor unlikely realized outside over the horizon 10KM enters
Row controls.
Summary of the invention
For overcoming problem present in correlation technique, disclosure embodiment provides a kind of remote motor control method and is
System.
First aspect according to disclosure embodiment, it is provided that a kind of remote motor control system, including:
Pulse width signal generator, wireless transmitter module, wireless receiving module and single-chip microcomputer；
Described pulse-duration modulation signal generator is connected with wireless transmitter module；Wireless transmitter module and wireless receiving module
Communicate wirelessly and send pulse-width signal；Wireless receiving module receives described pulse-width signal, and by described pulsewidth
Modulated signal is identified by single-chip microcomputer I/O port, according to each cycle high level of described pulse-width signal
The low and high level of the size of pulsewidth and collection limit switch judges the rotation direction of motor and the action of steering wheel.
The triggering signal of described pulse-width signal is produced by ground-based computer；
The signal that triggers of described pulse-width signal passes through RS232 serial ports and the transmitting data transmission radio station of ground-based computer
Connect, the triggering signal of described pulse-width signal is sent to receiving data transmission radio station through wireless transmission method；
Described reception data transmission radio station is connected with described pulse width signal generator by RS232 serial ports.
Described pulse width signal generator is aviation-grade unmanned plane automatic pilot, preferably iFLY-F2A automatic pilot.
It is 20ms that described pulse-duration modulation signal generator produces the pulse width signal Cycle Length of pulse-width signal, high level
Pulsewidth is 0.5ms to 2.5ms.
Described pulse-duration modulation signal generator, wireless transmitter module are Futaba T14SG remote controller；Described wireless receiving
Module is R6014HS receiver；Described single-chip microcomputer is the single-chip microcomputer of STM32F103.
According to another aspect of the present disclosure, it is provided that a kind of remote motor control method, including:
Pulse-duration modulation signal generator produces pulse-width signal；
Wireless transmitter module wireless transmission pulse-width signal；
Pulse-width signal described in wireless receiving module wireless receiving, and by described pulse-width signal by single-chip microcomputer
One I/O port is identified；
The height electricity of the size of each cycle high level pulsewidth according to described pulse-width signal and collection limit switch
Put down and judge the rotation direction of motor and the action of steering wheel.
Described pulse-duration modulation signal generator produces a pulse-width signal, and this pulse-width signal is through wireless transmitter module
Transmitting and wireless receiving module reception after send to the I/O port of single-chip microcomputer, single-chip microcomputer starts to monitor I/O port letter in real time
Number；
When the high level time in one cycle of pulse width signal of the I/O port processing of described single-chip microcomputer is T0,800us ＜
T0 ＜ 1200us, and before the limit switch of direction of motor rotation does not trigger, this power supply signal is output as+12V, motor is just
Turn.
When the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer is T0,800us ＜ T0 ＜
1200us, and be triggered along the limit switch of direction of motor rotation, this power supply signal is output as 0V, motor stalling.
When the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer is T0,1400us ＜ T0
＜ 2200us, and rotate backward before the limit switch in direction do not triggers along motor, this power supply signal is output as-12V, motor
Reversion.
When the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer is T0,1400us ＜ T0
＜ 2200us, and be triggered along the limit switch of direction of motor rotation, this power supply signal is output as 0V, motor stalling.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
Have employed model plane level remote controller and receiver thereof or transceiving data radio station, it is achieved that remotely control the function of motor.
Have employed the instrument that transceiving data transmission radio station transmits as data, affected by barrier the least, can be in urban environment
Use, substantially increase the capacity of resisting disturbance of control signal.The cycle of the pulse width signal of design is 20ms, and high level pulsewidth is
0.5ms to 2.5ms, this kind of pulse-width signal is widely applied to unmanned plane or model plane field, highly versatile.Product structure is tight
Gathering, volume is little, the lightweight lift-launch being particularly suitable for light-duty unmanned plane, remotely controls motor for light-duty unmanned plane and realizes Mechanical course
Provide guarantee.Simple in construction, circuit are clear, the high and low power consumption of reliability, cost-effective.
It should be appreciated that it is only exemplary and explanatory, not that above general description and details hereinafter describe
The disclosure can be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the disclosure
Example, and for explaining the principle of the disclosure together with description.
Fig. 1 is according to a kind of remote motor Control system architecture schematic diagram shown in an exemplary embodiment.
Fig. 2 is according to a kind of remote motor control method principle flow chart shown in an exemplary embodiment.
Fig. 3 is according to the another kind of remote motor Control system architecture schematic diagram shown in an exemplary embodiment.
Fig. 4 is according to the another kind of remote motor Control system architecture schematic diagram shown in an exemplary embodiment.
Fig. 5 is according to the another kind of remote motor control method principle flow chart shown in an exemplary embodiment.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they are only with the most appended
The example of the apparatus and method that some aspects that described in detail in claims, the disclosure are consistent.
Fig. 1 is according to a kind of remote motor Control system architecture schematic diagram shown in an exemplary embodiment, including:
Pulse width signal generator, wireless transmitter module, wireless receiving module and single-chip microcomputer；
Described pulse-duration modulation signal generator is connected with wireless transmitter module；Wireless transmitter module and wireless receiving module
Communicate wirelessly and send pulse-width signal；Wireless receiving module receives described pulse-width signal, and by described pulsewidth
Modulated signal is identified by single-chip microcomputer I/O port, according to each cycle high level of described pulse-width signal
The low and high level of the size of pulsewidth and collection limit switch judges the rotation direction of motor and the action of steering wheel.
Here pulse width signal generator refers to the data according to input or manually changes frame for movement and produce
The change of detection voltage, according to the change of voltage, the electronic installation that the pulsewidth of output changes the most therewith.Wireless transmitter module is handle
The pulse width signal transmitter unit by wireless link.Wireless receiving module be receive transmitter unit send packet, then
Be converted to PWM pulse width signal.Single-chip microcomputer is that the high value to PWM pulse width signal is acquired then size according to pwm value
Judge.Meanwhile, also include motor, steering wheel, be carried out mechanism, single-chip microcomputer according to pwm value and limit switch comprehensive descision,
Produce motor forward and backward or the instruction of stall, the instruction of steering wheel turned position.
The ultimate principle of the present embodiment is: produced the pulse-width signal of a certain pulses width by pulse-width signal,
Pulse-width signal is sent to wireless receiving module through wireless transmitter module, and wireless receiving module is logical after receiving pulse-width signal
The I/O port crossing single-chip microcomputer sends the central processing unit of single-chip microcomputer to, central processing unit pulse-width be identified, and identifies
After confirmation, another I/O port of single-chip microcomputer produces a high level signal and controls metal-oxide-semiconductor conducting, then by another I/O port controlling
Relay output forward or reverse voltage signal, export power supply to motor then.
This system include pulse-duration modulation signal generator, wireless transmitter module, wireless receiving module, single-chip microcomputer, motor and
Steering wheel, frame for movement, described pulse-duration modulation signal generator produces a pulse-width signal, this pulse-duration modulation signal generator with
Wireless transmitter module connects, and pulse-width signal is sent by wireless transmitter module, wireless transmitter module and wireless receiving module without
Line communication, wireless receiving module receives pulse-width signal, and will by an I/O port of single-chip microcomputer by pulse-width signal
Pulse width signal is sent to the central processing unit identification of single-chip microcomputer and is judged, a road power supply output of single-chip microcomputer is connected with motor, finally electricity
Machine drives frame for movement action.
In one embodiment, the triggering signal of pulse-width signal is produced by ground-based computer；
The signal that triggers of described pulse-width signal passes through RS232 serial ports and the transmitting data transmission radio station of ground-based computer
Connect, the triggering signal of described pulse-width signal is sent to receiving data transmission radio station through wireless transmission method；
Described reception data transmission radio station is connected with described pulse width signal generator by RS232 serial ports,
In one embodiment, pulse width signal generator is aviation-grade unmanned plane automatic pilot, preferably iFLY-F2A
Automatic pilot.
In one embodiment, the pulse width signal cycle of described pulse-duration modulation signal generator generation pulse-width signal is long
Degree is 20ms, and high level pulsewidth is 0.5ms to 2.5ms.
In one embodiment, described pulse-duration modulation signal generator, wireless transmitter module are Futaba T14SG remote control
Device；Described wireless receiving module is R6014HS receiver；Described single-chip microcomputer is the single-chip microcomputer of STM32F103.
Further, as in figure 2 it is shown, be according to a kind of remote motor control method principle shown in an exemplary embodiment
Flow chart, wherein,
Step 21, pulse-duration modulation signal generator produces pulse-width signal；
Step 22, wireless transmitter module wireless transmission pulse-width signal；
Step 23, pulse-width signal described in wireless receiving module wireless receiving, and described pulse-width signal is passed through
One I/O port of single-chip microcomputer is identified；
Step 24, according to the size of each cycle high level pulsewidth of described pulse-width signal with gather limit switch
Low and high level judges the rotation direction of motor and the action of steering wheel.
In one embodiment, described pulse-duration modulation signal generator produces a pulse-width signal, and this pulsewidth modulation is believed
Number sending to the I/O port of single-chip microcomputer after the transmitting of wireless transmitter module and the reception of wireless receiving module, single-chip microcomputer starts reality
Time monitoring I/O port signal；
In one embodiment, when the high level in one cycle of pulse width signal of the I/O port processing of described single-chip microcomputer
Time is T0,800us ＜ T0 ＜ 1200us, and before the limit switch of direction of motor rotation does not trigger, this power supply signal
Being output as+12V, motor rotates forward.
In one embodiment, when the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer
For T0,800us ＜ T0 ＜ 1200us, and being triggered along the limit switch of direction of motor rotation, this power supply signal is output as
0V, motor stalling.
In one embodiment, when the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer
For T0,1400us ＜ T0 ＜ 2200us, and rotate backward before the limit switch in direction do not triggers along motor, this power supply signal
It is output as-12V, motor reversal.
In one embodiment, when the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer
For T0,1400us ＜ T0 ＜ 2200us, and being triggered along the limit switch of direction of motor rotation, this power supply signal is output as
0V, motor stalling.
Further, as it is shown on figure 3, be to tie according to the another kind of remote motor control system shown in an exemplary embodiment
Structure schematic diagram, wherein,
Described pulse-duration modulation signal generator, wireless transmitter module are model plane level remote controllers, specifically can be selected for Japan
Futaba T14SG remote controller, it is 20ms that this remote controller can produce a cycle, and high level lasting time is 0.5ms's to 2.5ms
Pulse width signal；Pulse width signal sends in wireless signal mode through ovennodulation, and receiver is selected and joined with Futaba T14SG remote controller
The R6014HS receiver of set, the pulse-width signal that remote controller sends is received by R6014HS receiver, R6014HS receiver
Outfan is connected with the I/O mouth of single-chip microcomputer, and this pulse-width signal is sent to the central processing unit of single-chip microcomputer, described single-chip microcomputer
Selecting the single-chip microcomputer of STM32F103 model, the CPU of single-chip microcomputer is pre-set by the way of software programming to be wanted
The pulse width range of detection, and by the high-level pulse width of the pulse width signal of detection input during input I/O cause for gossip, work as list
In each cycle that sheet machine gathers, the pulse width values of high level is in 800us to 1200us or 1400us to 2200us, single
Sheet machine will control the control pin of metal-oxide-semiconductor and relay respectively according to pwm value in-scope at control another two I/O mouth, then
Control power output end to power to motor, it is achieved the control to frame for movement.In the present embodiment, effective shutter triggers distance is 1 public affairs
About in.
Further, as shown in Figure 4, for tying according to the another kind of remote motor control system shown in an exemplary embodiment
Structure schematic diagram, wherein,
This example increases a pulse-width signal trigger, is one and the earth station's calculating controlling operation software is installed
Machine, described pulse-duration modulation signal generator is unmanned plane automatic pilot, and wireless transmitter module selects data transmission radio station.Ground
Computer of standing sends the triggering signal controlling motor, this is believed by the data transmission radio station being connected with computer RS232 serial ports
Number wirelessly send after ovennodulation；Described wireless receiving module is another data transmission radio station, data transmission radio station
Being demodulated after receiving this wireless signal, then by RS232 interface, signal is sent to unmanned plane autopilot, autopilot connects
Receiving this signal and the cycle that produces is 20ms, high level lasting time is 0.5ms to 2.5ms, the outfan of autopilot and single-chip microcomputer
I/O be connected, pulse width signal is sent to the central processing unit of single-chip microcomputer, when high level in each cycle that single-chip microcomputer gathers
Pulse width values is in 800us to 1200us or 1400us to 2200us, and single-chip microcomputer will be according to pwm value in-scope
Control another two I/O mouth controls the control pin of metal-oxide-semiconductor and relay respectively, then controls power output end and powers to motor, real
The now control to frame for movement.The effective control distance of the present embodiment is 60KM, and is affected the least by barrier.Can be
Use under urban environment, substantially increase the capacity of resisting disturbance of the present embodiment.
Further, as it is shown in figure 5, be former according to the another kind of remote motor control method shown in an exemplary embodiment
Reason flow chart, wherein,
Pulse-duration modulation signal generator produces a pulse-width signal, this pulse-width signal sending out through wireless transmitter module
Penetrating and send to after the reception of wireless receiving module the I/O port of single-chip microcomputer, single-chip microcomputer starts to monitor I/O port signal in real time；
When the high level time in one cycle of pulse width signal of the I/O port processing of described single-chip microcomputer is T0,800us ＜
T0 ＜ 1200us, and before the limit switch of direction of motor rotation does not trigger, this power supply signal is output as+12V, motor is just
Turn.
When the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer is T0,800us ＜ T0 ＜
1200us, and be triggered along the limit switch of direction of motor rotation, this power supply signal is output as 0V, motor stalling.
When the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer is T0,1400us ＜ T0
＜ 2200us, and rotate backward before the limit switch in direction do not triggers along motor, this power supply signal is output as-12V, motor
Reversion.
When the high level time in one cycle of pulse width signal of the I/O port processing of single-chip microcomputer is T0,1400us ＜ T0
＜ 2200us, and be triggered along the limit switch of direction of motor rotation, this power supply signal is output as 0V, motor stalling.
Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modification, purposes or
Person's adaptations is followed the general principle of the disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (10)
1. a remote motor control system, it is characterised in that including:
Pulse width signal generator, wireless transmitter module, wireless receiving module and single-chip microcomputer；
Described pulse-duration modulation signal generator is connected with wireless transmitter module；Wireless transmitter module is carried out with wireless receiving module
Wireless telecommunications also send pulse-width signal；Wireless receiving module receives described pulse-width signal, and by described pulsewidth modulation
Signal is identified by single-chip microcomputer I/O port, according to each cycle high level pulsewidth of described pulse-width signal
Size and gather limit switch low and high level judge the rotation direction of motor and the action of steering wheel.
System the most according to claim 1, it is characterised in that the triggering signal of described pulse-width signal is calculated by ground
Machine produces；
The signal that triggers of described pulse-width signal is connected with launching data transmission radio station by the RS232 serial ports of ground-based computer
Connect, the triggering signal of described pulse-width signal is sent to receiving data transmission radio station through wireless transmission method；
Described reception data transmission radio station is connected with described pulse width signal generator by RS232 serial ports.
System the most according to claim 2, it is characterised in that described pulse width signal generator is that aviation-grade unmanned plane is automatic
Pilot, preferably iFLY-F2A automatic pilot.
System the most according to claim 1, it is characterised in that described pulse-duration modulation signal generator produces pulsewidth modulation letter
Number pulse width signal Cycle Length be 20ms, high level pulsewidth is 0.5ms to 2.5ms.
System the most according to claim 1, it is characterised in that described pulse-duration modulation signal generator, wireless transmitter module
For Futaba T14SG remote controller；Described wireless receiving module is R6014HS receiver；Described single-chip microcomputer is STM32F103's
Single-chip microcomputer.
6. a remote motor control method, it is characterised in that including:
Pulse-duration modulation signal generator produces pulse-width signal；
Wireless transmitter module wireless transmission pulse-width signal；
Pulse-width signal described in wireless receiving module wireless receiving, and described pulse-width signal is passed through one of single-chip microcomputer
I/O port is identified；
The low and high level of the size of each cycle high level pulsewidth according to described pulse-width signal and collection limit switch is sentenced
The rotation direction of power machine and the action of steering wheel.
Method the most according to claim 6, it is characterised in that described pulse-duration modulation signal generator produces a pulsewidth modulation
Signal, this pulse-width signal sends to the I/O of single-chip microcomputer after the transmitting of wireless transmitter module and the reception of wireless receiving module
Port, single-chip microcomputer starts to monitor I/O port signal in real time；
When the high level time in one cycle of pulse width signal of the I/O port processing of described single-chip microcomputer is T0,800us ＜ T0 ＜
1200us, and before the limit switch of direction of motor rotation does not trigger, this power supply signal is output as+12V, motor rotates forward.
Method the most according to claim 7, it is characterised in that when the pulse width signal one of the I/O port processing of single-chip microcomputer
High level time in cycle is T0,800us ＜ T0 ＜ 1200us, and has touched along the limit switch of direction of motor rotation
Sending out, this power supply signal is output as 0V, motor stalling.
9. according to the method described in claim 7 or 8, it is characterised in that when the pulse width signal one of the I/O port processing of single-chip microcomputer
High level time in the individual cycle is T0,1400us ＜ T0 ＜ 2200us, and rotates backward the limit switch in direction along motor
Before not triggering, this power supply signal is output as-12V, motor reversal.
10. according to the method described in claim 7 or 8, it is characterised in that when the pulse width signal of the I/O port processing of single-chip microcomputer
High level time in one cycle is T0,1400us ＜ T0 ＜ 2200us, and along direction of motor rotation limit switch
Being triggered, this power supply signal is output as 0V, motor stalling.
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| CN201610835785.3A CN106297248A (en) | 2016-09-20 | 2016-09-20 | A kind of remote motor control method and system |
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| CN201610835785.3A CN106297248A (en) | 2016-09-20 | 2016-09-20 | A kind of remote motor control method and system |
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| CN108216583A (en) * | 2018-01-17 | 2018-06-29 | 潍坊工程职业学院 | A kind of control method and device of unmanned plane motor |
| CN112891961A (en) * | 2021-02-02 | 2021-06-04 | 曹金波 | Method and device for linking model airplane remote controller and electric vehicle controller |
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