CN107065911A - Quadrotor and its control method - Google Patents
Quadrotor and its control method Download PDFInfo
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- CN107065911A CN107065911A CN201710293800.0A CN201710293800A CN107065911A CN 107065911 A CN107065911 A CN 107065911A CN 201710293800 A CN201710293800 A CN 201710293800A CN 107065911 A CN107065911 A CN 107065911A
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- 125000002619 bicyclic group Chemical group 0.000 claims description 21
- 125000002950 monocyclic group Chemical group 0.000 claims description 15
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of quadrotor and its control method, wherein quadrotor includes body, motor and surface-mounted integrated circuit；Surface-mounted integrated circuit is fixed on body；Motor is four brushless electric machines, is individually fixed on four corners of body, propeller blade is mounted on the output shaft of motor；The diagonal direction of rotation of propeller blade is consistent, and adjacent direction of rotation is different；Integrated flight control system on the surface-mounted integrated circuit, the flight control system includes three-axis gyroscope, 3-axis acceleration sensor, digital gas pressure sensor, d GPS locating module, ultrasonic wave module, wireless module and electron speed regulator；The quadrotor also includes remote control, is communicated to connect by wireless module and flight control system.The present invention is in the case of antijamming capability and the speed identical that restores balance is ensured, cost is cheaper；Control algolithm is relatively low to hardware requirement, directly can be debugged in practical flight environment.
Description
Technical field
The present invention relates to aircraft field, more particularly to a kind of quadrotor and its control method.
Background technology
As science and technology is continued to develop, aircraft is increasingly popularized.Quadrotor belongs to one kind of aircraft, four rotors
Aircraft is to realize various actions by changing the speed of rotor, for other unmanned vehicles, four rotors nobody
Aircraft is driven by four groups of motors, the features such as with having a smooth flight flexible, without turning radius.Fixed point is suitably executed to scout, take the photograph
The tasks such as picture, aerial mapping.And at this stage, the traditional algorithm (cascade PID) of quadrotor needs suitable electronic compass, and
And on the problem of solving yaw angle, easily disturbed by motor magnetic effect, and complexity is higher.
The content of the invention
The goal of the invention of the present invention is that in the case of antijamming capability and the speed identical that restores balance is ensured there is provided one
Kind of cost is cheaper, by the relatively low control algolithm of hardware requirement can be debugged directly in practical flight environment four
Rotor craft and its control method.
The technical scheme that is used for achieving the above object of the present invention is：
A kind of quadrotor, including body, motor and surface-mounted integrated circuit are provided；The surface-mounted integrated circuit is fixed on institute
State on body；The motor is four brushless electric machines, is individually fixed on four corners of the body, the output of the motor
Propeller blade is mounted on axle；The diagonal direction of rotation of propeller blade is consistent, and adjacent direction of rotation is different；
Integrated flight control system on the surface-mounted integrated circuit, the flight control system includes three-axis gyroscope, three axles and accelerated
Spend sensor, digital gas pressure sensor, d GPS locating module, ultrasonic wave module, wireless module and electron speed regulator；Three axle
Gyroscope, the 3-axis acceleration sensor, the digital gas pressure sensor are connected by IIC communication interfaces and the master controller
Connect；The d GPS locating module is connected by the first serial communication interface with master controller；The wireless module is serial by second
Communication interface is connected with the master controller；The motor is connected by electron speed regulator with master controller；The three axis accelerometer
Instrument gathers the posture and speed data information of quadrotor；The 3-axis acceleration sensor collection quadrotor
Acceleration information information；The digital gas pressure sensor gathers the real-time flight altitude information information of quadrotor；It is described
Ultrasonic wave module is used to obtain precise height data message during low latitude；The longitude and latitude degrees of data of the GPS gathers quadrotor
Information；
The quadrotor also includes remote control, is communicated to connect by the wireless module and flight control system.
In quadrotor of the present invention, the body is centrosymmetric structure, including machine wall and undercarriage, institute
Machine wall is stated for engraved structure；The undercarriage is fixed on the bottom of the surface-mounted integrated circuit.
In quadrotor of the present invention, four brushless electric machines are arranged in X-type.
In quadrotor of the present invention, the undercarriage includes two semicircular parallel buffer bars and four
Parallel cross bar；Wherein two cross bars are fixed on the middle part of described two semicircular buffer bars, and the surface-mounted integrated circuit is fixed
In on two cross bars, and positioned at body center, another two cross bars are individually fixed in the bottom of described two buffer bars.
In quadrotor of the present invention, master controller is realized by main control chip MSP430F5438A；Three axles
Gyroscope and 3-axis acceleration sensor are realized by integrated attitude controller MPU6050.
Present invention also offers a kind of quadrotor control method based on claim 1, flight control system is led to
Cross single bicyclic PID concurrency control algorithms and gesture stability is carried out to quadrotor, single bicyclic PID concurrency control algorithms are four
The Z axis of rotor craft is adjusted using monocyclic PID, is adjusted on X, Y-axis using bicyclic PID；
The bicyclic PID regulations are specific to contrast actual value and desired value, and its difference is led to as PID error input quantity
The balance that angular speed PID control adjusts aircraft is crossed, while the angular speed being adjusted, Eulerian angles are continued and desired value pair
Than, and difference is inputted again, realize to X, the control of Y direction；
The monocyclic PID regulations are specific to contrast actual value and desired value, and its difference is used as PID error input quantity, warp
Pid data handles output motor PWM wave numbers, to adjust Z axis angular speed, meanwhile, Z axis sensor continues to measure actual corners angle value,
Contrasted with Z axis angular speed desired value, difference is inputted again, realize the control to Z-direction.
In control method of the present invention, the bicyclic PID regulations specifically include inner ring regulation and outer shroud regulation：
The inner ring regulation includes the regulation to tri- values of parameter P, I, D；
Parameter P regulation process is：
(1) parameter mono- less numerical value of P is assigned；
(2) current P values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination
Preset value is reached, new P values, i.e. P (n+1)=a*P (n) is obtained；
(3) by current P values divided by number 0.618 (golden ratio facilitates access to optimum parameter value), until aircraft
Chattering frequency is less than given threshold, obtains new P values, i.e. P (n+1)=P (n)/0.618；
(4) constantly the preceding new P values obtained twice are brought into P (n+1)=[max { P (n), P (n-1) }-min { P (n), P
(n-1) }] * 0.618+min { P (n), p (n-1) } are repeated up to aircraft low-frequency jitter do not occur just, the P values determined；
Parameter I regulation process：I values are used to eliminate static difference, take the numerical value between 0.01~0.1；
Parameter D regulation process：
(1) mono- less numerical value of D is assigned；
(2) current D values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination
Preset value is reached, new D values, i.e. D (n+1)=a*D (n) is obtained.
(3) by current D values divided by number 0.618 (golden ratio facilitates access to optimum parameter value), until aircraft
Chattering frequency is less than given threshold, obtains new D values, i.e. D (n+1)=D (n)/0.618.
(4) the preceding new D values obtained twice are brought into D (n+1)=[max { D (n), D (n-1) }-min { D (n), D (n-
1) }] * 0.618+min { D (n), D (n-1) }, is repeated up to aircraft and expected high dither occurs, obtain D values.
(5) obtained newest D values are multiplied by several b (9/10 to 1/5 typically being taken, mainly for eliminating system toning), obtained
The D values of determination, i.e. D (n+1)=D (n) * b.
The outer shroud regulation includes the regulation to two values of P, D, and outer shroud P, D regulation do not add with the regulation of inner ring P, D value, I values
Plus (outer shroud adds I values easily by mechanical disturbance, so as to cause system unstable).
In control method of the present invention, the monocyclic regulation includes the regulation to two values of I, D, and I, D regulation are identical
It is as follows：
(1) mono- less numerical value of D is assigned；
(2) current D values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination
Preset value is reached, new D values, i.e. D (n+1)=a*D (n) is obtained；
(3) by current D values divided by number 0.618 (golden ratio facilitates access to optimum parameter value), until aircraft
Chattering frequency is less than given threshold, obtains new D values, i.e. D (n+1)=D (n)/0.618.
(4) the preceding new D values obtained twice are brought into D (n+1)=[max { D (n), D (n-1) }-min { D (n), D (n-
1) }] * 0.618+min { D (n), D (n-1) }, is repeated up to aircraft and gently estimated high dither occurs, obtain D values.
(5) obtained newest D values are multiplied by several b (9/10 to 1/5 typically being taken, mainly for eliminating system toning), obtained
The D values of determination, i.e. D (n+1)=D (n) * b.
In control method of the present invention, in addition to step：
When the flying height of quadrotor is more than 10 meters, digital gas pressure sensor gathers the reality of quadrotor
When altitude data information, digital gas pressure sensor output data directly as height parameter input pass through PID control system
Controlled motor throttle；
When the flying height of quadrotor is less than 2 meters, ultrasonic wave module obtains precise height data message, its
Output data passes through PID control system controlled motor throttle directly as height parameter input；
Quadrotor flying height when between 2 meters to 10 meters, altitude information during flight is with digital air pressure
Based on the collection information of sensor, it is grand as the data of average supplement digital gas pressure sensor that ultrasonic wave discontinuous obtains data
See error.
The beneficial effect comprise that：Flight control system collection three-axis gyroscope, the 3-axis acceleration of the present invention is passed
Sensor, digital gas pressure sensor, d GPS locating module, ultrasonic wave module, wireless module and electron speed regulator are integrated.Control is calculated
Method is based on surface-mounted integrated circuit, using single bicyclic PID parallel control, and Z axis angle is used as gesture stability foundation due to reducing, from
And reduce digital compass sensor to correct Z axis, so as to streamline procedures.The present invention is ensureing antijamming capability and restored balance
In the case of speed identical, cost is cheaper；Control algolithm is relatively low to hardware requirement, directly can enter in practical flight environment
Row debugging.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the monocyclic pid control algorithm flow chart of the embodiment of the present invention；
Fig. 2 is the bicyclic pid control algorithm flow chart of the embodiment of the present invention；
Fig. 3 is quadrotor control program flow chart of the embodiment of the present invention；
Fig. 4 is surface-mounted integrated circuit functional block diagram of the embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Quadrotor of the embodiment of the present invention, including body, motor and surface-mounted integrated circuit.Surface-mounted integrated circuit is fixed on machine
On body；Motor is four brushless electric machines, and four motors are individually fixed on four corners of body, is installed on the output shaft of motor
There is propeller blade；The diagonal direction of rotation of propeller blade is consistent, and adjacent direction of rotation is different.
Surface-mounted integrated circuit is provided with flight control system, and flight control system includes master controller, three-axis gyroscope, three axles
Acceleration transducer, digital gas pressure sensor, d GPS locating module, ultrasonic wave module, wireless module and electron speed regulator.
The workflow of aircraft such as Fig. 3, each device is initialized during start, and waits the instruction of remote control；Remote control
Device sends open out and taken off instruction, and aircraft motor is rotated and climbed upwards, while three-axis gyroscope, 3-axis acceleration sensor enter
Row posture numerical value is detected, single bicyclic posture PID regulations are carried out when posture is unstable, reaches and steadily then continues to detect remote control
Instruction；If remote control sends fixed high instruction, start ultrasonic wave, aircraft entry altitude stable mode；If remote control is sent out
Go out hovering instruction, then start ultrasonic wave and GPS, aircraft enters hovering pattern；If direction is adjusted, then aircraft XY shaft angles
Spend expectancy changes, Z axis angular speed expectancy changes, so that aircraft change of flight posture and moving direction.
The chip used model MSP430F5438A of master controller；Using attitude controller MPU6050, it has merged three axles
Gyroscope and 3-axis acceleration sensor.As shown in figure 4, three-axis gyroscope gathers the posture and speed data of quadrotor
Information；3-axis acceleration sensor gathers the acceleration information information of quadrotor, and gathered data passes through amplitude limit low pass filtered
Ripple becomes relatively accurate data, then inputs bicyclic PID control system, is output as four road PWM ripple controlled motor postures；Digital gas
Pressure sensor gathers the real-time flight altitude information information of quadrotor；When height is more than 10 meters, its output data is straight
Connect and pass through PID control system controlled motor throttle as height parameter input；Ultrasonic wave module is used to obtain at highly less than 2 meters
Precise height data message；Its output data passes through PID control system controlled motor throttles directly as height parameter input；
Between 2 meters to 10 meters, altitude information during flight is based on the collection information of digital gas pressure sensor, ultrasonic wave discontinuous
Obtain the macroscopical error of data that data supplement digital gas pressure sensor as average；The warp of data GPS gathers quadrotor
Latitude data information, by being contrasted with aircraft takeoff origin point data, its difference is expected as the posture of aircraft, and leads to
Cross gesture stability change of flight device flight position；Wireless module is used to send Various types of data information to host computer in real time；Three axle tops
Spiral shell instrument, 3-axis acceleration sensor, digital gas pressure sensor are connected by IIC communication interfaces with master controller；D GPS locating module
It is connected by the first serial communication interface with master controller；Wireless module is connected by the second serial communication interface and master controller
Connect；Motor is connected by electron speed regulator with master controller.
The quadrotor of the present embodiment includes machine wall and undercarriage, and plastic bar is engraved structure, light weight but intensity
It is high；Its four corners are connected with four plastic bars respectively, and undercarriage is fixed on the bottom of pcb board；Undercarriage is fixed on circuit board
Bottom, rise cushioning effect；The lines such as circuit board integrated power supply, electricity tune, improve the security of invention.In the present embodiment, rise
Falling frame can be prepared using engineering plastics, and its is lightweight, and pliability is good, can bear very big deformation, can be alleviated in landing
Substantial amounts of impulsive force；
Undercarriage includes two semicircular buffer bars and four cross bars；Mutually put down between two semicircular buffer bars
OK, two cross bars in four cross bars are fixed on the middle part of two semicircular buffer bars, and pcb board is fixed in the middle part of buffer bar
On two cross bars, and circuit board is caused to be located at body center, another two cross bars are individually fixed in the bottom of two buffer bars, and four
It is parallel to each other between root cross bar；
Motor is four, and four motors are individually fixed on machine wall, and propeller blade is respectively and fixedly provided with the output shaft of motor
Piece.
The road brshless DC motors of quadrotor fuselage Nei tetra- can be arranged by the way of X words, flexibility and adjustable
Property it is high.
Quadrotor is used using MSP430F5438A as main control chip, and integrated three-axis gyroscope, 3-axis acceleration are passed
The self-control that sensor, digital gas pressure sensor, d GPS locating module, ultrasonic wave module, wireless module etc. are integrated flies control plate；Use
The control algolithm parallel bicyclic PID of list simple in construction, to realize gesture stability.Single bicyclic PID concurrency control algorithms, which refer to, to fly
Row device Z axis is adjusted using monocyclic PID, and X, Y-axis are adjusted using bicyclic PID.
Self-control flies the resource that control plate takes full advantage of MSP430F5438A chips, reduces flight power consumption；Its hommization
Interface arrangement, it is convenient to be provided to new hand's autonomous assembling.And be that effective gesture stability can be achieved using only MPU6050 modules,
The scheme of more traditional use multiple module, reduces development cost.
Single bicyclic pid control algorithm, X, Y-axis are adjusted using bicyclic PID, adjusted in Z axis using monocyclic PID.Bicyclic PID
Control, which refers to, contrasts actual value and desired value, and its difference is adjusted by angular speed PID control and flown as PID error input quantity
The balance of row device, while the angular speed being adjusted, Eulerian angles are continued to contrast with desired value, and difference is inputted again, real
Now to X of the present invention, the control of Y direction.Z axis angle is used as gesture stability foundation due to reducing, so as to reduce numeral
Compass detector corrects Z axis, so as to streamline procedures.
As shown in figure 1, monocyclic PID control refers to actual angular speed value with expecting magnitude of angular velocity contrast, its difference is used as PID
Error input quantity, through pid data handle output motor PWM wave numbers, to adjust Z axis angular rates, meanwhile, three-axis gyroscope after
Continuous measurement actual corners angle value, contrasts with Z axis angular speed desired value, difference is inputted again, realize the control to Z-direction of the present invention
System.
As shown in Fig. 2 followed traditional bicyclic PID regulation in the control of X-axis and Y-axis, by the regulation of angular speed inner ring and
Angle outer shroud regulation composition.But more traditional X-axis and Y-axis one-dimensional space is distinguished setting method and innovated on parameter tuning, adopts
With XY axles two-dimensional space together setting mode, X, Y-axis parameter are consistent.
Inner ring regulation includes the regulation to tri- values of parameter P, I, D；
Parameter P regulation process is：
(1) parameter mono- less numerical value of P is assigned；
(2) current P values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination
Preset value is reached, new P values, i.e. P (n+1)=a*P (n) is obtained；
(3) by current P values divided by number 0.618 (golden ratio facilitates access to optimum parameter value), until aircraft
Chattering frequency is less than given threshold, obtains new P values, i.e. P (n+1)=P (n)/0.618；
(4) constantly the preceding new P values obtained twice are brought into P (n+1)=[max { P (n), P (n-1) }-min { P (n), P
(n-1) }] * 0.618+min { P (n), p (n-1) } are repeated up to aircraft low-frequency jitter do not occur just, the P values determined；
Parameter I regulation process：I values are used to eliminate static difference, take the numerical value between 0.01~0.1；
Parameter D regulation process：
(1) mono- less numerical value of D is assigned；
(2) current D values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination
Preset value is reached, new D values, i.e. D (n+1)=a*D (n) is obtained.
(3) by current D values divided by number 0.618 (golden ratio facilitates access to optimum parameter value), until aircraft
Chattering frequency is less than given threshold, obtains new D values, i.e. D (n+1)=D (n)/0.618.
(4) the preceding new D values obtained twice are brought into D (n+1)=[max { D (n), D (n-1) }-min { D (n), D (n-
1) }] * 0.618+min { D (n), D (n-1) }, is repeated up to aircraft and expected high dither occurs, obtain D values.
(5) obtained newest D values are multiplied by several b (9/10 to 1/5 typically being taken, mainly for eliminating system toning), obtained
The D values of determination, i.e. D (n+1)=D (n) * b.
The outer shroud regulation includes the regulation to two values of P, D, and outer shroud P, D regulation do not add with the regulation of inner ring P, D value, I values
Plus (outer shroud adds I values easily by mechanical disturbance, so as to cause system unstable).
Monocyclic regulation includes the regulation to two values of I, D, and I, D regulation are identical as follows：
(1) mono- less numerical value of D is assigned；
(2) current D values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination
Preset value is reached, new D values, i.e. D (n+1)=a*D (n) is obtained；
(3) by current D values divided by number 0.618, until the chattering frequency of aircraft is less than predetermined threshold value, new P is obtained
Value, i.e. D (n+1)=D (n)/0.618；
(4) the preceding new D values obtained twice are brought into D (n+1)=[max { D (n), D (n-1) }-min { D (n), D (n-
1) }] * 0.618+min { D (n), D (n-1) }, is repeated up to aircraft and gently estimated high dither occurs, obtain D values.
(5) obtained newest D values are multiplied by several b (9/10 to 1/5 typically being taken, mainly for eliminating system toning), obtained
The D values of determination, i.e. D (n+1)=D (n) * b.
Traditional PID adjustment：Using the tactile method of extreme examination, first try out a Pmax, select a Pmin, after bring formula into
P=(Pmax-Pmin) * 0.618+Pmin obtain new P values, then pass through formula P (n+1)=[max { P (n), p (n-1) }-min
{ P (n), p (n-1) }] * 0.618+min { P (n), p (n-1) } calculating, repeatedly, finally give P values.Traditional PID adjustment,
Pmax exploration can make aircraft be subjected to larger shake, easy damaged aircraft, it is therefore desirable to external auxiliary, and external auxiliary side
The addition of formula makes debugging enironment different from real flight conditions, and it is frequently not flight optimization parameter to cause tuning parameter, makes debugging week
Phase increases.
Single bicyclic adjusting method is compared with traditional regulation method：(1) slightly observation aircraft shake feelings are only needed during parameter tuning
Condition, it is shaken by without to having, therefore does not damage aircraft；(2) without external auxiliary mode, such as：Suspension method, roasting four axles etc..Regulation ring
Border is flight actual environment, the extremely short general front and rear 30min of regulating time.
Pulse duty factor produced by remote control changes receiver by wireless signal is communicated with attitude controller,
Remote control be mainly used in assigning take off, rise, declining, advancing, retreating, moving to left, moving to right, left-handed, dextrorotation, the order such as landing；This
In embodiment, remote control exports 4 road pwm signals using the passage FUTABA remote manipulators of 2.4GHz six, by attitude controller
Pulse capture unit (eCAP) obtains and is scaled desired height, the angle of pitch, roll angle and yaw angle.
This aircraft drives two pairs of propellers in opposite direction to produce thrust by four road brshless DC motors, using PID
Control theory adjusts the proportionate relationship of motor speed, aircraft is flown by desired posture.
PID control refers to by by speed data information, acceleration information information, real-time flight altitude information information and reality
When course data information with expect flight attitude contrasted, to existing error passing ratio, integrate and micro- grading mode
It is adjusted, handles output motor PWM wave numbers through pid data, aircraft is adjusted, is flown by expectation.
Improved cas PID control algorithm, on steady direction, using inner and outer ring bunch grade adjustment, inherits traditional tandem
PID regulation sensitivity is high, recovers stabilized speed soon, the advantage of strong antijamming capability；In terms of driftage is controlled, with angular speed
Monocyclic PID regulations control Z axis driftage, has broken away from the dependence traditionally to digital compass, has reduced program redundancy, inherited monocyclic
PID it is simple and practical the characteristics of.
PID debugging process is:Inner ring regulation is first carried out, then carries out outer shroud regulation, the wherein monocyclic regulation of Z axis is adjusted with inner ring
Carry out simultaneously, and keep X, Y-axis parameter consistent during regulation.Inner ring parameter is adjusted, until aircraft can guarantee that basic appearance
State is constant, when running into strong jamming, can keep lateral attitude, and does not return to statokinetic, that is, completes inner ring and Z axis is monocyclic
Regulation.Premised on not influenceing the holding of flight attitude, outer loop parameter, increase P, D parameter value are adjusted until aircraft is in just
It is good not shake.When aircraft can be resisted compared with strong jamming, and can comparatively fast it be restored balance after unbalance, i.e. outer shroud regulation is completed.
Filtering, filtering, using limit filtration by the way of LPF is combined, with traditional average filter are added in a program
Ripple is compared, and improves the real-time of data and the efficiency of data processing, while make data continuous, no saltus step.To four-axle aircraft
The Posture acquisition numerical value filtering mode of taking limit filtration to be combined with LPF carry out data processing.
Implement as follows：
Three kinds of data participate in processing measurement value sensor, interim register value, and (interim register value is last sensor measurement
Value) and filter output value：
1. if sensors measure that the absolute value of value and the deviation of a preceding filtering output value is less than standard deviation value
An output valve * 0.7 before filtering output value=measurement value sensor * 0.3+ wave filters；
2. else if the absolute value of the deviation of measurement value sensor and interim register value is less than standard deviation value
An output valve * 0.7 before filtering output value=measurement value sensor * 0.3+ wave filters；
3. if it is above-mentioned be unsatisfactory for if filter output value remain last time output valve.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (9)
1. a kind of quadrotor, it is characterised in that including body, motor and surface-mounted integrated circuit；The surface-mounted integrated circuit is consolidated
It is scheduled on the body；The motor is four brushless electric machines, is individually fixed on four corners of the body, the motor
Output shaft on be mounted on propeller blade；The diagonal direction of rotation of propeller blade is consistent, and adjacent direction of rotation is different；
Integrated flight control system on the surface-mounted integrated circuit, the flight control system includes three-axis gyroscope, 3-axis acceleration and passed
Sensor, digital gas pressure sensor, d GPS locating module, ultrasonic wave module, wireless module and electron speed regulator；The three axis accelerometer
Instrument, the 3-axis acceleration sensor, the digital gas pressure sensor are connected by IIC communication interfaces with the master controller；
The d GPS locating module is connected by the first serial communication interface with master controller；The wireless module is serial logical by second
Letter interface is connected with the master controller；The motor is connected by electron speed regulator with master controller；The three-axis gyroscope
Gather the posture and speed data information of quadrotor；The 3-axis acceleration sensor gathers adding for quadrotor
Speed data information；The digital gas pressure sensor gathers the real-time flight altitude information information of quadrotor；It is described super
Sound wave module is used to obtain precise height data message during low latitude；The longitude and latitude degrees of data letter of the GPS gathers quadrotor
Breath；
The quadrotor also includes remote control, is communicated to connect by the wireless module and flight control system.
2. quadrotor according to claim 1, it is characterised in that the body is centrosymmetric structure, including
Machine wall and undercarriage, the machine wall are engraved structure；The undercarriage is fixed on the bottom of the surface-mounted integrated circuit.
3. quadrotor according to claim 1, it is characterised in that four brushless electric machines are arranged in X-type.
4. quadrotor according to claim 2, it is characterised in that the undercarriage is semicircular flat including two
The row buffering bar cross bar parallel with four；Wherein two cross bars are fixed on the middle part of described two semicircular buffer bars, described
Surface-mounted integrated circuit is fixed on two cross bars, and positioned at body center, another two cross bars are individually fixed in described two
The bottom of buffer bar.
5. quadrotor according to claim 1, it is characterised in that master controller passes through main control chip
MSP430F5438A is realized；Three-axis gyroscope and 3-axis acceleration sensor are realized by integrated attitude controller MPU6050.
6. a kind of quadrotor control method based on claim 1, it is characterised in that flight control system passes through Dan Shuan
Ring PID concurrency control algorithms carry out gesture stability to quadrotor, and single bicyclic PID concurrency control algorithms fly in four rotors
The Z axis of row device is adjusted using monocyclic PID, is adjusted on X, Y-axis using bicyclic PID；
The bicyclic PID regulations are specific to contrast actual value and desired value, and its difference passes through angle as PID error input quantity
Speed by PID controls to adjust the balance of aircraft, while the angular speed being adjusted, Eulerian angles are continued to contrast with desired value, and
Difference is inputted again, realized to X, the control of Y direction；
The monocyclic PID regulation is specific to contrast actual value and desired value, its difference as PID error input quantity, through PID numbers
According to processing output motor PWM wave numbers, to adjust Z axis angular speed, meanwhile, Z axis sensor continues to measure actual corners angle value, with Z axis
Angular speed desired value is contrasted, and difference is inputted again, realizes the control to Z-direction.
7. control method according to claim 6, it is characterised in that the bicyclic PID regulations specifically include inner ring regulation
With outer shroud regulation：
The inner ring regulation includes the regulation to tri- values of parameter P, I, D；
Parameter P regulation process is：
(1) parameter mono- less numerical value of P is assigned；
(2) current P values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination and reach
Preset value, obtains new P values, i.e. P (n+1)=a*P (n)；
(3) by current P values divided by number 0.618 (golden ratio facilitates access to optimum parameter value), until the shake of aircraft
Frequency is less than given threshold, obtains new P values, i.e. P (n+1)=P (n)/0.618；
(4) constantly the preceding new P values obtained twice are brought into P (n+1)=[max { P (n), P (n-1) }-min { P (n), P (n-
1) }] * 0.618+min { P (n), p (n-1) } are repeated up to aircraft low-frequency jitter do not occur just, the P values determined；
Parameter I regulation process：I values are used to eliminate static difference, take the numerical value between 0.01~0.1；
Parameter D regulation process：
(1) mono- less numerical value of D is assigned；
(2) current D values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination and reach
Preset value, obtains new D values, i.e. D (n+1)=a*D (n).
(3) by current D values divided by number 0.618 (golden ratio facilitates access to optimum parameter value), until the shake of aircraft
Frequency is less than given threshold, obtains new D values, i.e. D (n+1)=D (n)/0.618.
(4) the preceding new D values obtained twice are brought into D (n+1)=[max { D (n), D (n-1) }-min { D (n), D (n-1) }] *
0.618+min { D (n), D (n-1) }, is repeated up to aircraft and expected high dither occurs, obtain D values.
(5) obtained newest D values are multiplied by several b (9/10 to 1/5 typically being taken, mainly for eliminating system toning), determined
D values, i.e. D (n+1)=D (n) * b.
The outer shroud regulation includes the regulation to two values of P, D, and outer shroud P, D regulation are with the regulation of inner ring P, D value, and I values are without (outer
Ring adds I values easily by mechanical disturbance, so as to cause system unstable).
8. control method according to claim 6, it is characterised in that the monocyclic regulation includes the tune to two values of I, D
Section, I, D regulation is identical as follows：
(1) mono- less numerical value of D is assigned；
(2) current D values are multiplied by several a (typically taking between 3 to 6), are repeated up to aircraft recovery capability in inclination and reach
Preset value, obtains new D values, i.e. D (n+1)=a*D (n)；
(3) by current D values divided by number 0.618 (golden ratio facilitates access to optimum parameter value), until the shake of aircraft
Frequency is less than given threshold, obtains new D values, i.e. D (n+1)=D (n)/0.618.
(4) the preceding new D values obtained twice are brought into D (n+1)=[max { D (n), D (n-1) }-min { D (n), D (n-1) }] *
0.618+min { D (n), D (n-1) }, is repeated up to aircraft and gently estimated high dither occurs, obtain D values.
(5) obtained newest D values are multiplied by several b (9/10 to 1/5 typically being taken, mainly for eliminating system toning), determined
D values, i.e. D (n+1)=D (n) * b.
9. control method according to claim 6, it is characterised in that also including step：
When the flying height of quadrotor is more than 10 meters, real-time the flying of digital gas pressure sensor collection quadrotor
Row altitude information information, digital gas pressure sensor output data is inputted directly as height parameter and controlled by PID control system
Motor throttle；
When the flying height of quadrotor is less than 2 meters, ultrasonic wave module obtains precise height data message, and it is exported
Data pass through PID control system controlled motor throttle directly as height parameter input；
Quadrotor flying height when between 2 meters to 10 meters, altitude information during flight is with digital air pressure sensing
Based on the collection information of device, ultrasonic wave discontinuous obtains data as average and supplements the data macroscopic view of digital gas pressure sensor by mistake
Difference.
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