CN106708077A - Quad-rotor aircraft - Google Patents
Quad-rotor aircraft Download PDFInfo
- Publication number
- CN106708077A CN106708077A CN201710067503.4A CN201710067503A CN106708077A CN 106708077 A CN106708077 A CN 106708077A CN 201710067503 A CN201710067503 A CN 201710067503A CN 106708077 A CN106708077 A CN 106708077A
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- CN
- China
- Prior art keywords
- driver
- quadrotor
- sensor
- signal
- power supply
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides a quad-rotor aircraft. The quad-rotor aircraft comprises a receiving machine (1), a processor (2), an auxiliary power supply (3), a communication serial interface (4), a tilt angle sensor (5), a height sensor (6), an angular velocity sensor (7), an industrial control computer (8), a signal input device (9), a signal output device (10) and a plurality of drivers, wherein the processor (2) is separately connected with the auxiliary power supply (3), the communication serial interface (4), the tilt angle sensor (5), the height sensor (6), the angular velocity sensor (7), the signal input device (9) and the signal output device (10). The quad-rotor aircraft provided by the invention is a product with the advantages of light weight, small size and low power consumption; by considering modularization and interface standardization and preserving an extensible port, the extendibility of an integral device is enhanced, the upgrading is facilitated, autonomous flight of the aircraft is realized, and tasks such as trajectory tracking and obstacle avoidance can be finished.
Description
Technical field
The present invention relates to a kind of quadrotor, belong to unmanned plane field.
Background technology
Microminiature quadrotor is a kind of electronic, is flown by radio ground remote control or/and autonomous control flight
Can VTOL（VTOL）Aircraft, belongs to rotor craft in structural form, functionally belongs to VTOL flight
Device.It overcomes own wt using air force, and simple structure, control are flexible, obtain increasing concern.
It is relatively fixed for wing unmanned plane, rotor unmanned aircraft development will be more slowly.Fixed-wing unmanned plane is in technology
On it is highly developed, and represent its superior operational performance in the local war in past more than 20 years, be the U.S., with color
Exploit [2] has been made in the triumph that army of Lie Deng states obtains war.But rotary wind type vertically taking off and landing flyer and fixed-wing unmanned plane
It is bigger compared to having the advantages that：VTOL, hovering, towards any direction flight, takeoff and anding place is small, environmental suitability
By force, height intellectuality etc..At military aspect, depopulated helicopter can perform various non-lethal tasks, and can perform various soft
Hard lethal task, including scouting, monitoring, target acquisition, bait, attack, communication relay etc..Civilian aspect, depopulated helicopter
It is with a wide range of applications at aspects such as atmospheric monitoring, traffic monitoring, resource exploration, power circuit monitoring, forest fire protections.
Quadrotor compared with conventional helicopters, tail-rotor control and rotor tilt problem can be ignored, this be because
For two pairs of direction of rotation of motor on diagonal conversely, just counteracting the torsional moment that they are produced.That is, four rotors
Aircraft is offset anti-twisted torque without tail-rotor and avoids complicated rotor inclination control from realizing various flight attitudes.Due to
Its unique symmetry and many rotors, flight attitude are realized by four rotor rotating speeds of adjustment.
On the other hand, quadrotor has the dynamic characteristic of height coupling, a change for rotor-speed
By the motion at least influence three degree of freedom direction.For example, reducing the rotating speed of right side rotor, left and right lift occurs in that injustice
Weighing apparatus, this will cause helicopter to scroll right；Left and right is produced for one group of rotor simultaneously torque and it is front and rear be one group of rotor
The torque of generation occurs in that imbalance, and this will cause helicopter to be gone off course to the right；Additionally, rolling movement will cause helicopter to the right
Translation, so as to change the direction of advance.
So far, microminiature quadrotor basic theory has obtained greater advance with experimental study, but real
Move to maturity and practicality, also need to face many key technology challenges.
The content of the invention
In view of above-mentioned the deficiencies in the prior art part, it is an object of the invention to provide a kind of quadrotor.
The invention provides a kind of quadrotor, including receiver, processor, accessory power supply, communication serial port, inclination angle
Sensor, height sensor, angular-rate sensor, industrial computer, signal input device, signal output device and multiple drivers, it is described
Processor respectively with accessory power supply, communication serial port, obliquity sensor, height sensor, angular-rate sensor, signal input device with
And signal output device is connected, the receiver is connected by signal input device with processor, and the industrial computer passes through communication serial port
It is connected with processor.
Preferably, above-mentioned multiple drivers include that the first driver, the second driver, the 3rd driver and the 4th drive
Device, first driver, the second driver, the 3rd driver and fourth drive are connected with signal output device respectively.
Preferably, above-mentioned first driver, the second driver, the 3rd driver and fourth drive have been connected respectively
Rotor.
Preferably, above-mentioned flight system is powered and selects lithium battery, and accessory power supply is used for being powered to air environment.
Preferably, above-mentioned flight system has communicating portion, for receiving ground remote control signal, show that flight refers to
Order.
Preferably, above-mentioned obliquity sensor can carry out the inclination angle detection on X, Y orthogonal direction, and detection range is ± 90 °,
Accuracy of detection is 0.0025 °, and sensing element is exported using overdamp frequency response, and shock resistance is strong, and chip is powered using 5V, is possessed
Simulation and two kinds of output interfaces of SPI, exportable inclination angle and temperature information.
Preferably, above-mentioned height sensor detects the atmospheric pressure of different height, then according to height ----pressure it is right
Should be related to, pressure signal is converted into altitude signal；The chip power supply voltage is 2.4V-3.3V, and measurement range is 30kPa-
120kPa, precision 3Pa, built-in temperature sensor can be by SPI interface output pressure information and temperature information.
Preferably, above-mentioned angular-rate sensor includes angular velocity detection piezolectric gyroscope, orthogonal with inspection two-by-two during installation
The angular speed surveyed on tri- directions of X, Y, Z；, supply voltage is 2.7V-5.25V, maximum detection angular speed be ± 300deg./
Sec., offset output voltage is 1.35V, and scale factor is 0.67mV/deg./sec., and frequency response is 50Hz to the maximum.
Compared to existing technology, the quadrotor that the present invention is provided, lightweight, small volume, product low in energy consumption；Consider
Modularization, nuclear interface standardizing, reserve expansible port, enhance the scalability of single unit system, are easy to upgrading, realize aircraft
Autonomous flight, and the tasks such as track following and avoidance can be completed.
Brief description of the drawings
Fig. 1 is quadrotor structural representation of the present invention；
Fig. 2 is quadrotor control flow schematic diagram of the present invention.
Reference：1- receivers；2- processors；3- accessory power supplys；4- communication serial ports；5- obliquity sensors；6- is highly
Sensor；7- angular-rate sensors；8- industrial computers；9- signal input devices；10- signal output devices；The drivers of 11- first；12-
Two drivers；The drivers of 13- the 3rd；14- fourth drives.
Specific embodiment
The present invention provides a kind of quadrotor, to make the purpose of the present invention, technical scheme and effect clearer, bright
Really, developing simultaneously referring to the drawings, the present invention is described in more detail for embodiment.It should be appreciated that specific implementation described herein
Example is only used to explain the present invention, is not intended to limit the present invention.
As shown in figure 1, the quadrotor that the present invention is provided, including receiver 1, processor 2, accessory power supply 3, communication
Serial ports 4, obliquity sensor 5, height sensor 6, angular-rate sensor 7, industrial computer 8, signal input device 9, signal output device 10
With multiple drivers, the processor 2 respectively with accessory power supply 3, communication serial port 4, obliquity sensor 5, height sensor 6, angle
Velocity sensor 7, signal input device 9 and signal output device 10 are connected, and the receiver 1 is by signal input device 9 and treatment
Device 2 is connected, and the industrial computer 8 is connected by communication serial port 4 with processor 2.
Wherein, multiple drivers include the first driver 11, the second driver 12, the 3rd driver 13 and fourth drive
14, first driver 11, the second driver 12, the 3rd driver 13 and fourth drive 14 respectively with signal output device 10
Connection.First driver 11, the second driver 12, the 3rd driver 13 and fourth drive 14 have been connected respectively rotor.
Flight system is powered and selects lithium battery, and accessory power supply 3 is used for being powered to air environment.Flight system has wireless communication section
Point, for receiving ground remote control signal, draw flight directive.
In embodiment, the present invention specifically includes accessory power supply part, wireless communication section, signal acquisition part, signal
Treatment and control strategy decision part.Additionally, also including body, motor driver, motor, rotor and unillustrated battery etc.
Part.Body is powered and selects lithium battery, and accessory power supply part is used for being powered to air environment；Communicating portion is used for connecing
Ground remote control signal is received, flight directive is drawn；Signal acquisition part mainly include various kinds of sensors, for collect flight needed for
The information such as various attitudes, position；Signal processing is used for for sensor signal being modulated to the letter that can be directly read by DSP
Number；Control decision part synthesis telecommand and various kinds of sensors information draw flight control strategy, and control four rotors turn
Speed, so that aircraft flies according to predetermined instruction.Dotted portion is the control circuit part of system in figure.Control system is four
Rotary-wing flight control core, it collects sensor collection information, and then providing control according to current flight state determines
Plan, regulation motor is run by desired speed, so as to complete the flight control of quadrotor.Wanted according to quadrotor
The flight function of realization, the task that control system is undertaken is as follows：
(1) control decision, output motor rotating speed control signal are drawn；
(2) attitude of flight vehicle detection is carried out, accurate flight attitude information is drawn；
(3) height detection is carried out, accurate elevation information is drawn；
(4) remote control input signal is received；
(5) the debugging interface function of being communicated with computer.
Accessory power supply part is mainly used to be powered to the process chip on controller, and fuselage is powered and entered by 3S lithium batteries
OK, supply voltage is 11.1V.Voltage needed for control panel is 5V and 3.3V, 5V voltage by electron speed regulator and control plate interface
5V power supplys are provided, and 3.3V is obtained by monolithic linear power conversion chip LM3940 on control panel.
The pressure transducer that height detection is used has high-precision pressure-sensing capabilities and temperature compensation function.It is at this
In system, the atmospheric pressure of different height is detected by the sensor, then according to height --- the corresponding relation of-pressure, by pressure
Signal is converted to altitude signal.The chip power supply voltage is 2.4V-3.3V, and measurement range is 30kPa-120kPa, precision 3Pa,
Built-in temperature sensor, can be by SPI interface output pressure information and temperature information.
The double-shaft tilt angle sensor that inclination angle detection is used, the chip can carry out the inclination angle detection on X, Y orthogonal direction, inspection
It is ± 90 ° to survey scope, and accuracy of detection is 0.0025 °.Sensing element is exported using overdamp frequency response, and shock resistance is strong, chip
Powered using 5V, possess simulation and two kinds of output interfaces of SPI, exportable inclination angle and temperature information.
The angular velocity detection piezolectric gyroscope orthogonal angular speed to detect on tri- directions of X, Y, Z two-by-two.The chip
Supply voltage is 2.7V-5.25V, and maximum detection angular speed is ± 300deg./sec., and offset output voltage is 1.35V, ratio
The factor is 0.67mV/deg./sec., and frequency response is 50Hz to the maximum.
As shown in Fig. 2 being controlled rule design using position, attitude double-closed-loop control method in the present embodiment, taste respectively
Examination is controlled using PD control, Backstepping, sliding-mode control is controlled rule design and is emulated.Controller is by aircraft
Control is divided into inner ring gesture stability and outer shroud position control, and inner ring gesture stability is used for maintaining the balance of aircraft, outer shroud control
To realize that aircraft reaches specified location.
Compared to existing technology, the quadrotor that the present invention is provided, lightweight, small volume, product low in energy consumption；Consider
Modularization, nuclear interface standardizing, reserve expansible port, enhance the scalability of single unit system, are easy to upgrading, realize aircraft
Autonomous flight, and the tasks such as track following and avoidance can be completed.
It is understood that for those of ordinary skills, can be with technology according to the present invention scheme and its invention structure
Think of is subject to equivalent or change, and all these changes or replacement should all belong to the protection model of appended claims of the invention
Enclose.
Claims (8)
1. a kind of quadrotor, it is characterised in that：The quadrotor includes receiver（1）, processor（2）, it is auxiliary
Help power supply（3）, communication serial port（4）, obliquity sensor（5）, height sensor（6）, angular-rate sensor（7）, industrial computer（8）、
Signal input device（9）, signal output device（10）With multiple drivers, the processor（2）Respectively with accessory power supply（3）, communication
Serial ports（4）, obliquity sensor（5）, height sensor（6）, angular-rate sensor（7）, signal input device（9）And signal output
Device（10）Connection, the receiver（1）By signal input device（9）With processor（2）Connection, the industrial computer（8）By logical
Letter serial ports（4）With processor（2）Connection.
2. quadrotor as claimed in claim 1, it is characterised in that：The multiple driver includes the first driver
（11）, the second driver（12）, the 3rd driver（13）And fourth drive（14）, first driver（11）, second drive
Dynamic device（12）, the 3rd driver（13）And fourth drive（14）Respectively with signal output device（10）Connection.
3. quadrotor as claimed in claim 1, it is characterised in that：First driver（11）, the second driver
（12）, the 3rd driver（13）And fourth drive（14）It has been connected respectively rotor.
4. quadrotor as claimed in claim 1, it is characterised in that：The flight system is powered and selects lithium battery, auxiliary
Help power supply（3）For being powered to air environment.
5. quadrotor as claimed in claim 1, it is characterised in that：The flight system has communicating portion,
For receiving ground remote control signal, flight directive is drawn.
6. quadrotor as claimed in claim 1, it is characterised in that：The obliquity sensor（5）X, Y can carried out just
The inclination angle detection on direction is handed over, detection range is ± 90 °, and accuracy of detection is 0.0025 °, and sensing element is defeated using overdamp frequency response
Go out, shock resistance is strong, and chip is powered using 5V, possess simulation and two kinds of output interfaces of SPI, exportable inclination angle and temperature are believed
Breath.
7. quadrotor as claimed in claim 1, it is characterised in that：The height sensor（6）Detection different height
Atmospheric pressure, then according to the corresponding relation of height-pressure, pressure signal is converted into altitude signal；Chip power supply electricity
It is 2.4V-3.3V to press, and measurement range is 30kPa-120kPa, and precision 3Pa, built-in temperature sensor can be exported by SPI interface
Pressure information and temperature information.
8. quadrotor as claimed in claim 1, it is characterised in that：The angular-rate sensor（7）Including angular speed
Detection piezolectric gyroscope, during installation, the orthogonal angular speed to detect on tri- directions of X, Y, Z two-by-two；Supply voltage is 2.7V-
5.25V, maximum detection angular speed is ± 300deg./sec., and offset output voltage is 1.35V, and scale factor is 0.67mV/
Deg./sec., frequency response is 50Hz to the maximum.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997876 | 2016-11-14 | ||
| CN2016109978767 | 2016-11-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106708077A true CN106708077A (en) | 2017-05-24 |
Family
ID=58908999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710067503.4A Pending CN106708077A (en) | 2016-11-14 | 2017-02-07 | Quad-rotor aircraft |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204229233U (en) * | 2014-10-21 | 2015-03-25 | 湖北省机电研究设计院股份公司 | A kind of many rotor wing unmanned aerial vehicles automatic flight control system |
| CN204613745U (en) * | 2015-01-09 | 2015-09-02 | 浙江师范大学 | A kind of multifunctional small-size quadrotor |
| US20150370258A1 (en) * | 2014-06-23 | 2015-12-24 | Thomson Licensing | Method for controlling a path of a rotary-wing drone, a corresponding system, a rotary-wing drone implementing this system and the related uses of such a drone |
| CN105353762A (en) * | 2015-09-25 | 2016-02-24 | 南京航空航天大学 | Six-rotor unmanned plane on the basis of dual-redundancy attitude sensor and control method thereof |
| CN105607640A (en) * | 2016-01-20 | 2016-05-25 | 南京工业大学 | Pose controller for four-rotor aircraft |
| CN206451046U (en) * | 2016-11-14 | 2017-08-29 | 钟玲珑 | Quadrotor |
-
2017
- 2017-02-07 CN CN201710067503.4A patent/CN106708077A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150370258A1 (en) * | 2014-06-23 | 2015-12-24 | Thomson Licensing | Method for controlling a path of a rotary-wing drone, a corresponding system, a rotary-wing drone implementing this system and the related uses of such a drone |
| CN204229233U (en) * | 2014-10-21 | 2015-03-25 | 湖北省机电研究设计院股份公司 | A kind of many rotor wing unmanned aerial vehicles automatic flight control system |
| CN204613745U (en) * | 2015-01-09 | 2015-09-02 | 浙江师范大学 | A kind of multifunctional small-size quadrotor |
| CN105353762A (en) * | 2015-09-25 | 2016-02-24 | 南京航空航天大学 | Six-rotor unmanned plane on the basis of dual-redundancy attitude sensor and control method thereof |
| CN105607640A (en) * | 2016-01-20 | 2016-05-25 | 南京工业大学 | Pose controller for four-rotor aircraft |
| CN206451046U (en) * | 2016-11-14 | 2017-08-29 | 钟玲珑 | Quadrotor |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |
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| RJ01 | Rejection of invention patent application after publication |