CN107145159A - One kind is vehicle-mounted to be tethered at many rotor control system frameworks and control method - Google Patents
One kind is vehicle-mounted to be tethered at many rotor control system frameworks and control method Download PDFInfo
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- CN107145159A CN107145159A CN201710541990.3A CN201710541990A CN107145159A CN 107145159 A CN107145159 A CN 107145159A CN 201710541990 A CN201710541990 A CN 201710541990A CN 107145159 A CN107145159 A CN 107145159A
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- 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
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Abstract
The present invention, which is provided, a kind of new vehicle-mounted is tethered at many rotor control system frameworks and control method, the traditional concept that flying vehicles control center is made of self-driving has been abandoned in the system architecture is described, in the air in subsystem traditional self-driving as one and the equivalent intelligent object of other peripheral hardwares, and powerful dual micro processor coordinated control system is made up of fiber optic communication with ground subsystem, non- it is tethered at using cheap mature and stable traditional of function single price with many rotor self-drivings, with existing identical tension retractable cable in being tethered at, earth station and vehicle-mounted mechanical equipment, the Traditional control technologies such as the preferred arbitration of double remote-control receiver link transmissions, and multi-dimension force sensor measuring apparatus is uniformly coordinated closed-loop control, also realize that being tethered at cable multidimensional force sensor measurement is tethered at cable inclination angle reckoning aircraft apart from the offset orientation of actinobacillus wheel and the method for bias size simultaneously, not enough and disadvantage of the prior art is efficiently solved in accurate autonomous takeoff and landing.
Description
Technical field
The invention belongs to be tethered at multi-rotor unmanned aerial vehicle technical field, it is related specifically to a kind of car (ship) load and is tethered at many rotor controls
System architecture and its control method processed.
Background technology
In current unmanned air vehicle technique field, there is a class to provide electric energy from ground to unmanned plane by being tethered at cable and have
Line（Optical fiber or carrier wave）Be tethered at unmanned plane, particularly a class for communication link is tethered in the such as movement such as car, ship of mobile carrier
On platform, can in the air hover or follow platform to move, can also at any time precision approach it is automatic on platform or from platform
The multi-rotor unmanned aerial vehicle system taken off.This kind of system of getting up early is basic to be tethered at many rotor systems or even non-by traditional ground fixed point
Many rotor repackings are tethered at, platform movement are followed by the destination track algorithm positioned based on conventional satellite in traditional self-driving,
Because positioning precision difference drift is big, can not meet precisely independently take off requirement with accurate Autonomous landing on carrier and mainly by
Manual remote control is operated, because landing is synchronous with the folding and unfolding of cable, and this just more exacerbates the technical difficulty of manual remote control and cumbersome,
And easily carelessness causes Frequent Troubles；Although a variety of automatic deploying and retracting line apparatus with advances in technology, have been invented, by detecting and protecting
Hold cable constant-tension and automatically control retractable cable（Such as CN201620919257.1,
CN201521023147.9CN201610489544.8 etc.）, but they are the independent devices of a comparison, are not had and nobody
What self-driving formed closed loop on machine automatically controls reponse system, and simply passive by tension force detection after unmanned plane is raised and lowered
Controlling cable folding and unfolding, therefore easily cause in autonomous takeoff and landing the drawbacks of folding and unfolding is inadequate or excessive；This just compels to be essential
Want energy each sensor of overall coordination and executing agency, the automatic control system of comprehensive unified progress closed-loop control.
For the orientation problem in the accurate takeoff and landing described in top, it is a kind of fixed using satellite difference to recently disclose
The technology such as CN106200656A patents of position, but its maximum deficiency is that the structure bulkies such as high, the big, antenna of volume of cost are installed
It is complicated and environmental requirement height is easily disturbed, and restricted by the security of satellite system；Also a kind of CN105629995A
Technology is followed using mechanical cross axle and gyrosensor disclosed in patent application, it is due to having used cross axle etc. to turn
Dynamic mechanical part makes the numerous and diverse fault rate of structure high, and inclination sensor is measured indirectly using gyro posture, brings gyro to consolidate
Some poor seismic behaviors, data processing algorithm is complicated, the disadvantage such as cumbersome is calibrated greatly in drift.
The content of the invention
For the present situation and deficiency in background technology, the present invention, which is provided, a kind of new vehicle-mounted is tethered at many rotor control systems
Framework.
The present invention is creative in the system architecture is described to introduce integrated controller Aerial parts 10, has abandoned prior art
It is middle that the traditional concept at flying vehicles control center is made of self-driving, and integrated controller Aerial parts 10 have been made qualified
" controller of control self-driving ", it is equal to traditional self-driving as one and other sensors and peripheral hardware the intelligent object of status,
And with using being tethered at power supply 11, airborne optical transmitter and receiver on cable multidimensional force sensor 16 and airborne standby remote-control receiver 12, machine
14 grade sensors and peripheral hardware constitute control sub-systems 1；Opened by integrated controller above ground portion 20 with existing perseverance in control is tethered at
Power retractable cable, optical fiber integrated communication, earth station and vehicle-mounted landing plant equipment, ground power supply etc. constitute ground subsystem 2；Pass through
It is tethered at optical fiber real-time Communication for Power to be connected control sub-systems with ground subsystem, the powerful dual micro processor of composition one coordinates control
System processed, non-is tethered at many rotor self-drivings and its logical using cheap mature and stable traditional of function single price in prior art
Believe that the technology unifications such as agreement, and the preferred arbitration of double remote-control receiver different type link transmissions coordinate the day of one closed loop of composition
The empty control reponse system being closely connected with ground, it is achieved thereby that being tethered at special self-driving without vehicle-mounted and can be achieved with vehicle-mounted be tethered at
The function of system, and do it is more preferable；Therefore the implementation of the present invention using vehicle-mounted with being tethered at special self-driving and each subsystem difference
The traditional scheme voluntarily controlled, which is compared, extremely strong superiority of effectiveness.
Introducing for creativeness is tethered at cable multidimensional force sensor 16 and passed through with it the present invention in the system architecture is described
Measurement is tethered at cable inclination angle and calculates aircraft apart from the offset orientation of actinobacillus wheel and the method for bias size, autonomous accurate
Take off and efficiently solved when precisely landing in existing background technology and positioned and realized using gyrosensor using satellite difference
The various not enough and disadvantages of the technology followed, also solve and use ultrasound, laser, infrared, microwave radar or light in the prior art
Learn other active active sensors such as image checking outdoor maintenance is difficult to environmental requirement height and be easily disturbed and unpractical lack
Point；
Meanwhile, the invention also discloses the control method for having more advantage than prior art using the realization of above-mentioned novel system framework：
It defines manual mode in system, three kinds of mode of operations of automatic mode and earth station's pattern, is defined again in automatic mode
Independently take off, it is Autonomous landing, automatic with four kinds of working conditions such as amiable ground static, and in different working modes and working condition
Using different control strategy and method, the deficiency overcome in above-mentioned prior art is concisely and efficiently, realizes the present invention's
Purpose.
Apparent go deep into is carried out to present invention below by the detailed description and specific embodiment of control accompanying drawing
Illustrate.
Brief description of the drawings：
Fig. 1 is the present invention with a kind of vehicle-mounted overall composition schematic diagram for being tethered at many rotor control system frameworks；
In figure, the part representated by each label is：
1 control sub-systems；10 integrated controller Aerial parts；Power supply on 11 machines；
12 airborne standby remote-control receivers；13 multi-rotor aerocraft automatic pilots；14 airborne optical transmitter and receivers；
15 cable inner fibers；16 are tethered at cable multidimensional force sensor；
100 casing on-board controllers are used；101 on-board circuitry plates；102 microprocessor A;
103 airborne control firmwares；Board mounted power on 104 machines；Remote control input port on 105 machines；
Remote control delivery outlet on 106 machines；First serial on 107 machines；Second serial on 108 machines；
Sensor interface on 109 machines；
2 ground subsystems；20 integrated controller above ground portions；21 ground power supplies；
22 line wheel motor servo drivers；23 photoelectricity slip rings；24 ground optical transmitter and receivers；
25 earth stations and Vehicle Controller；26 ground remote control receivers；27 are tethered at cable strain sensor；
200 casing ground controllers are used；201 land circuit plates；202 microprocessor B；
203 ground control firmware；204 ground board mounted powers；205 ground first serials；
206 ground second serials；The serial ports of 207 ground the 3rd；208 ground remote control input ports
209 ground transaucer interfaces.
Describe including and interconnected relationship between each part in detail below in conjunction with the accompanying drawings：
It is described it is vehicle-mounted be tethered at many rotor control system frameworks, be divided into control sub-systems 1 and the two large divisions of ground subsystem 2, they
Between be connected by cable inner fiber 15.
Wherein, control sub-systems 1 include：Power supply 11, airborne standby remote control on integrated controller Aerial parts 10, machine
Receiver 12, multi-rotor aerocraft automatic pilot 13, airborne optical transmitter and receiver 14, cable inner fiber 15 and it is tethered at cable multidimensional
Force sensor 16 is constituted；
Described integrated controller Aerial parts 10, including casing 100 and the on-board circuitry plate 101 inside it；
Described on-board circuitry plate 101, is including following on the PCB that one or more is connected by connector, pcb board
Circuit：Board mounted power 104 on the airborne control firmware 103 of microprocessor A102 and its inside solidification, machine, on machine remote control it is defeated
Remote control delivery outlet 106 on entrance 105, machine, first serial 107 on machine, sensor interface on second serial 108 and machine on machine
109 。
Wherein, ground subsystem 2 includes：Integrated controller above ground portion 20, ground power supply 21, line wheel servomotor
Driver 22, photoelectricity slip ring 23, ground optical transmitter and receiver 24, earth station and Vehicle Controller 25, ground remote control receiver 26,
Cable strain sensor 27 is tethered to constitute；
Described integrated controller above ground portion 20, including casing 200 and the land circuit plate 201 inside it；
Described land circuit plate 201, is including following on the PCB that one or more is connected by connector, pcb board
Circuit：The ground control firmware 203 of microprocessor B202 and its inside solidification, ground board mounted power 204, ground first are gone here and there
Mouth 205, ground second serial 206, the serial ports 207 of ground the 3rd, ground remote control input port 208 and ground transaucer interface
209 。
Circuit connecting relation between above-mentioned each part, has been understood with connecting line and indicated, illustrated one again below in Fig. 1
Under：
On on-board circuitry plate 101, board mounted power 104 on machine, remote control input port 105 on machine, remote control delivery outlet 106, machine on machine
Second serial 108 on upper first serial 107, machine, sensor interface 109 connects with the circuitry phases of microprocessor A 102 respectively on machine
Connect.
On land circuit plate 201, ground board mounted power 204, ground first serial 205, ground second serial 206
, the serial ports 207 of ground the 3rd, ground remote control input port 208 and ground transaucer interface 209 respectively with the phases of microprocessor B 202
Circuit is connected.
It should be noted that with the development of microprocessor chip technology, some circuits on the circuit board described in top
External components may be already integrated into chip internal, therefore these circuits and connection are also likely to be to lie in microprocessor A
Inside 102 or microprocessor B 202；Fig. 1 clearly draws the above-mentioned peripheral interface unit being joined directly together with microprocessor
The annexation of apparent elaboration system architecture is intended merely to, is not meant to that these parts are necessarily present in electricity with discrete form
On the plate of road, they are also fully integratable to chip internal；This integrated can be clearly defined by the technology of chip and
Do not influence scope of the presently claimed invention.
In the air in subsystem 1, it is tethered at cable multidimensional force sensor 16 and is connected with sensor interface on machine 109；
Power supply 11 is connected with board mounted power on machine 104 on machine；The phase of remote control input port 105 on airborne standby remote-control receiver 12 and machine
Connection；Multi-rotor aerocraft automatic pilot 13 is connected with first serial 107 on remote control delivery outlet 106 on machine, machine respectively；
Airborne optical transmitter and receiver 14 is connected with second serial on machine 108.
In ground subsystem 2, line wheel motor servo driver 22 is connected with ground first serial 205；Ground electricity
Source 21 is connected with ground board mounted power 204；Ground optical transmitter and receiver 24 is connected with ground second serial 206；Earth station and car
Set controller 25 is connected with the serial ports 207 of ground the 3rd；Ground remote control receiver 26 is connected with ground remote control input port 208
Connect；Cable strain sensor 27 is tethered at ground transaucer interface 209 to be connected；
In addition to power on signal annexation, ground optical transmitter and receiver 24 is also by optical fiber via light in the connection cables of photoelectricity slip ring 23
The ground surface end of fibre 15, the aerial end of cable inner fiber 15 connects airborne optical transmitter and receiver 14, so as to complete to connect control sub-systems 1
With the optical communication link of ground subsystem 2.
Also having in embodiments needs the place further illustrated to carry out explanatory note explanation in accompanying drawing.
Specific embodiment：
The specific embodiment that the invention will now be described in detail with reference to the accompanying drawings：
Cable multidimensional force sensor 16 is tethered at described in accompanying drawing 1, it is a three-dimensional pulling force sensor and its supporting pick-up
The combination of device, its static fixed pedestal is rigidly attached to the bottom of multi-rotor aerocraft, and dynamometry end is connected with being tethered at cable
Device is rigidly connected, so that when being tethered at cable and having some tension to tighten, this pulling force sensor is orthogonal several
The proportionate relationship of force component can calculate the direction vector for being tethered at cable stress, and integrated controller Aerial parts 10 pass through it
The azimuth for being tethered at cable in space is perceived to measure when flying height is less than cable tilt sensitive height Hj so as to provide one kind
The means of aircraft and Ground Mooring point direction of displacement and bias size；
When cable is tightened to a certain degree, the direction vector of cable stress can be regarded as angle of inclination of the cable in space,
And aircraft can in real time be measured apart from the height of line wheel wire dispenser and obtained, because being tethered at cable multidimensional force sensor 16
It is that rigidity is connected with aircraft, its x, y, the posture of tri- reference axis of z and aircraft is fixed known relation, is particularly worked as
Aircraft can regard the angle of pitch and roll angle as and all be essentially 0 when hovering, yaw angle can also pass through magnetic sieve on automatic pilot
The sensors such as disk are obtained, therefore pass through simple space geometry relational calculus, so that it may calculate aircraft apart from the inclined of actinobacillus wheel
From orientation and bias size.
But above-mentioned calculating in force some limit, it is ponderable, and the degree that it is tightened on the one hand to be tethered at cable
Influenceed by aircraft maximum lift, in addition the also influence of wind, this make it that error becomes big and spirit when length of cable is long
Sensitivity is deteriorated and impracticable, but when length of cable is shorter or effectively, we according to practical experience set one this
The threshold value that algorithm can be used is planted, because this algorithm is only in landing or extreme low-altitude with just using at any time of precisely taking off, and at this moment
Control targe is all that i.e. cable is tried one's best vertically directly over aircraft arrival line wheel to be allowed, therefore we just use the height of aircraft
Be exactly cable tilt sensitive height Hj recited above to define this threshold value, this is an actually measured empirical value, it and pass
The factors such as sensor precision itself, hundred meters of weight of cable, cable softness and the tension force and wind speed of cable are relevant, typically 5
Rice is to 30 meters or so.
Be tethered at cable strain sensor 27 described in accompanying drawing 1, it be pulley-type more than one cotton rope tension sensor and
The combination of its supporting transmitter, it is arranged on Ground Mooring cable wheel front end and is used for measuring the real-time strain for being tethered at cable, comprehensive
Controller above ground portion 20 perceives the level of tightness of tether cable by it；
Line wheel motor servo driver 22 described in accompanying drawing 1, it, which is one, has the Intelligent servo motor of serial communication interface
Driver is controlled, the parameter setting to servomotor and control, integrated controller in real time can be received according to serial communication protocol
Above ground portion 20 controls folding and unfolding direction, speed and the torque of line wheel by it in real time；
Multi-rotor aerocraft automatic pilot 13 described in accompanying drawing 1, it is individual with Remote Control Interface and serial communication interface, tool
There are general many rotor automatic pilots of autonomous spot hover ability, but its Remote Control Interface is not directly to connect remote-control receiver,
But the telecommand of integrated controller Aerial parts 10 is received by remote control delivery outlet 106 on machine, its serial communication connects
Mouthful be not by the telecommunication equipment ground plane such as similar data radio station station, but by first serial 107 on connection machine with it is comprehensive
The microprocessor A102 two-way interactive information of hop controller Aerial parts 10, this attachment structure causes integrated controller aerial
Part 10 can substitute manual automatic control multi-rotor aerocraft automatic pilot 13 completely, can also be fully transparent turn
Send out control instruction and feedback information artificial.
Ground remote control receiver 26 and airborne standby remote-control receiver 12 described in accompanying drawing 1, are general unmanned planes
Wireless remote receiver, the two receivers use identical or compatible model so that both can be while and same remote control
Device receives telecommand simultaneously to frequency；
The telecommand that airborne standby remote-control receiver 12 is received by remote control input port 105 on connected machine is transmitted
Give microprocessor A102；
The telecommand that ground remote control receiver 26 is received by connected ground remote control input port 208 sends to micro-
Processor B202, and by microprocessor B202 be wrapped into optical fiber transmit packet in be forwarded to microprocessor A102；
Microprocessor A102 obtains the same remote control received through the different transmission channels of two-way by foregoing circuit annexation simultaneously
Instruct and to its preferably rear further processing.
The embodiment of the system is described in detail from the angle of system architecture above, face is again from control method angle
Implementation to the present invention carries out the specification specified of a deeper level：
The described vehicle-mounted multi-rotor aerocraft automatic pilot (13) being tethered in many rotor control systems has been not required to control in itself
It is tethered at the function that many rotor following vehicles are flown and independently precisely taken off, land and synchronously automatic deploying and retracting is tethered at cable, above-mentioned work(
Can be communicated with and intelligent by the serial ports on automatic pilot (13) and remote control mouth by integrated controller Aerial parts (10)
It is controlled, while realized by optical fiber and integrated controller above ground portion (20) real-time Communication for Power cooperative cooperating, specific controlling party
Method is：
Integrated controller Aerial parts (10) have manual mode, three kinds of mode of operations of automatic mode and earth station's pattern, automatic
Be divided into again under pattern independently take off, it is Autonomous landing, automatic with four kinds of working conditions such as amiable ground static, above-mentioned mode of operation with
Working condition can be by monitoring that the value for two both routings that remote control is inputted is set by remote control：A third gear on remote control is opened
Closing K1 respective channels is used to switch manual mode, automatic mode and earth station's pattern, and another third gear switch K2 respective channels are used
In switching independently take off, Autonomous landing and follow automatically working condition (ground static state be system electrification initialization completion
Or after the completion of Autonomous landing automatically into）, only when K1 is automatic mode, K2 just works, and in aircraft just in the air
It is switched to during flight and independently takes off invalid, it is invalid to be just switched to Autonomous landing in ground static state, is losing remote signal
When acquiescence K1 in earth station's pattern；
Under described manual mode, the telecommand after forwarding arbitration preferably transparent microprocessor A (102) is to automatic Pilot
Instrument (13), the communication data of transparent two-way converting earth station to automatic pilot (13), so as to realize purely manual artificial behaviour
Pending flight device is controlled, now integrated controller above ground portion (20) basis is tethered at the value of cable strain sensor (27) by constant
The synchronous folding and unfolding cable of power control algolithm；
Under described earth station's pattern, microprocessor B (202) roll, pitching, driftage and the oil for being received from earth station's rocking bar
The respective channel data that the data of door substitute ground remote-control receiver (26) are sent to microprocessor A (102) by optical fiber
And directly transparent forwarding is to automatic pilot (13), so as to realize with the purely manual manual control pending flight of earth station's rocking bar
Device, other same manual modes；
Under described automatic mode, microprocessor A (102) presses the shape of some cycles dynamic queries third gear switch K2 respective channels
State value, when the state value for finding this inquiry is different from last time inquiry, just switches into the corresponding work shape of this Query Value
State；
Under described automatic mode, microprocessor A (102) flies oneself emulation with many rotors by serial ports for an earth station
Row device automatic pilot (13) two-way exchange data, obtain current self-driving state and send such as setting object height, target position
Put, switching destination, the ground station control such as make a return voyage instruction be set and result data feedback is received, while being one also oneself emulation
Individual remote-control receiver, the telecommand reality automatically generated according to certain algorithm is sent to the remote control reception mouthful of automatic pilot (13)
Existing fine setting of a small range to position of aircraft posture, so as to realize the following vehicle flight of control aircraft and independently precisely rise
Fly, land；
While height and location following control is carried out by microprocessor A (102), line is tethered at by microprocessor B (202) bases
The data of cable tension sensor (27) collection, using traditional constant tensile control algorithm, the synchronous retractable cable of control line wheel makes to be tethered at
Cable is tightened and maintains some tension.
Calculate aircraft apart from actinobacillus wheel by cable angle of inclination described in top due to having used in automatic mode
Offset orientation and the algorithm for deviateing size, under set Hj, generally tension force is bigger, measurement cable angle of inclination precision
It is higher；Because independently taking off, low latitude with amiable Autonomous landing when have different requirements to this estimation precision, while being also contemplated for receiving
The influence of line, the speed of unwrapping wire to tension force, different cables can be set when implementing this programme in different working condition
Tension force is tightened, they are respectively：Low latitude with it is amiable maintain hovering when cable strain Fx, in the autonomous working condition line such as take off
The tension force Ff during wheel unwrapping wire and tension force Fs in the working condition line wheel take-up such as Autonomous landing, these three values are needed in reality
Apply many factors such as the middle empirical value determined according to experimental data, and cable characteristic, actinobacillus wheel mechanical structure, aircraft power situation
It is related.
The specific control flow and method of each working condition under automatic mode are highlighted below：
Flow and control method into autonomous takeoff operation are：
First judge whether what is entered from ground static state, if not former working condition is just directly returned, if just to ground
Face station and Vehicle Controller (25), which send instructions, the mobile unit initializationization before being taken off and obtains the point coordinates that takes off, flight mesh
The parameters of taking off such as absolute altitude degree, acquiescence climbing speed, while obtaining the parameters such as GPS location situation with automatic pilot (13) communication；
After mobile unit and self-driving all meet takeoff condition, to automatic pilot (13) hair telecommand unblock, and it is switched to
Autonomous hovering pattern, is then gradually increased throttle, makes aircraft takeoff, and dynamically adjust according to the height and climbing speed fed back to
Fuel throttle amount keeps aircraft steadily to rise, while line wheel Synchronous Radio line is controlled by line wheel motor servo driver (22), and
Cable is set to tighten holding laying tension Ff, while the information gathered by being tethered at cable multidimensional force sensor (16) is calculated and judged
The vertical extent of cable is tethered at, the pitching of fine tuning remote controlled output or roll channel value make aircraft fine setting hovering if inclination is too big
Horizontal level makes its vertical；
After monitoring that aircraft is increased beyond cable tilt sensitive height Hj, close cable inclination and judge to aircraft water prosposition
The fine setting put, after monitoring that aircraft rises to set airbound target height, control line wheel stops unwrapping wire, while finely tuning oil
The size of door, makes to be tethered at cable and tightens and maintain the tension force Fx that hovers, complete independently to take off after aircraft hovering is stable, be switched to
Automatically working condition is followed.
Flow and control method into Autonomous landing working condition are：
First judge whether from ground static state enter, if just remaining in that ground static state is constant, otherwise just to
Earth station and Vehicle Controller (25) send instructions the mobile unit before being landed prepare and obtain landing point coordinates, level point it is high
The landing parameters such as journey, acquiescence fall off rate；
After mobile unit meets automatic drop conditions, throttle is gradually reduced to automatic pilot (13) hair telecommand, makes to fly
Row device declines, and keeps aircraft steadily to fall after rise according to the height and fall off rate dynamic regulation throttle amount fed back to, leads to simultaneously
Wire-crossing wheel motor servo driver (22) controls the synchronous take-up of line wheel, and now cable still keeps hovering tension force Fx；
After monitoring that aircraft drops below cable tilt sensitive height Hj, open cable inclination and judge to aircraft level
The fine setting of position, and cable is further tightened holding takeup tension Fs, while by being tethered at cable multidimensional force sensor
(16) information of collection calculates the vertical extent for judging to be tethered at cable, the pitching or roll of fine tuning remote controlled output if inclination is too big
Channel value makes aircraft fine setting hovering horizontal level make its vertical；
In the case where keeping cable vertical as possible, continuation finely tunes Throttle Opening Control aircraft and presses the reduction of setting fall off rate highly, directly
Zero is continuously to fall off rate is detected, and mobile unit is sent after feedback in place of landing, and sends out distant to automatic pilot (13)
Control instruction receives oily dead stick locking and completes Autonomous landing, is switched to ground static state.
It is into the flow and control method for following working condition automatically：
Taken off or Autonomous landing is not completed and entered in advance by switching K2 if autonomous, then capture present level as new
Airbound target height, stops to take off originally or flow of landing is transferred to follows working condition automatically in advance；
It is following its flight altitude control method of working condition automatically：
Automatic pilot (13) is maintained at the mode of operation independently hovered, and maintains aircraft flying automatically by automatic pilot (13)
Row object height hovers, the actual height value that microprocessor A (102) monitorings are fed back to, when discovery actual height and airbound target
Height tolerance exceedes fine setting throttle remote control amount after set value and is modified；
Its location following control method is：
When practical flight is highly more than cable tilt sensitive height Hj, mainly using traditional gps coordinate locating and tracking method,
I.e. every some cycles by earth station and Vehicle Controller (25) obtain car gps coordinate and via microprocessor B (202) by
Fiber channel is transmitted to microprocessor A (102), as the new target location of aircraft, and the current GPS of aircraft obtained from self-driving
Coordinate is original position, by microprocessor A (102) by traditional algorithm calculate roll and pitching should to remote control amount, control flies
Row device is moved in the case where keeping altitudes to the position of car；
When practical flight is highly not more than cable tilt sensitive height Hj, main tilted using cable is judged to aircraft level
Position is adjusted, and the information at this moment gathered by being tethered at cable multidimensional force sensor (16) calculates the inclination for judging to be tethered at cable
Direction and the relative size of horizontal direction power, the pitching exported according to empirical value adjustment remote control actually measured in an experiment,
The controlled quentity controlled variable of roll passage, control aircraft is tilted to cable is tethered to be seen just as flight on the direction movement of reduction, macro-effect
Device, which is tethered at cable and pulls Following Car, to fly.
From two angle detailed description of the present invention of system architecture and control method the present invention is can be seen that by above-mentioned
Implementation, the shortcoming and defect from background technology is solved on basic framework and principle.
It is contemplated that it is open a kind of it is vehicle-mounted be tethered at many rotor control system frameworks and its control method, without being entangled with being
In system framework some part how type selecting, certain line program code how to write, so that certain screw copper or aluminium etc. this
Little detail problem in the implementation of sample, because for the system architecture and control method of the present invention, different developers may root
According to the device and software programming style of a variety of concrete models of experience and technological reserve selection of oneself, and new sensor and
The devices such as microprocessor, which also make rapid progress, to emerge in an endless stream, It is not necessary to be also impossible to enumerate its particular type one by one in this explanation
Number.Obviously, those skilled in the art can not depart from the system architecture and control method of the present invention at the micro- place of a variety of concrete models
Manage device, sensor and perform plant equipment so that these aspect selection combinations of programming code spice, man-machine interface picture
Go out many a variety of embodiments, similar this kind of situation does not constitute the limitation to scope of the invention as claimed；
Especially statement in addition, although the present invention is the elaboration based on onboard system, and other carriers were not carried out yet（Such as
Warship/ship）On implementation experiment, if but those skilled in the art do not carry out any other inventive improvements and directly this
Scheme is implemented on other carriers and effective, then the difference of this carrier should not also be constituted changes to essential technology of the invention
Become.
Pass through the disclosure of this explanation, it is believed that have and be engaged in the vehicle-mounted this area research staff for being tethered at many rotor development abilities and obtained
Obtain the technical information in the range of sufficiently implementation patent claims.
Claims (7)
1. one kind is vehicle-mounted to be tethered at many rotor control system frameworks, it is characterised in that：
It is described it is vehicle-mounted be tethered at many rotor control system frameworks, be divided into control sub-systems (1) and ground subsystem (2) two large divisions,
It is connected between them by cable inner fiber (15)；
Wherein, control sub-systems (1) include：Power supply (11), airborne standby remote control connect on integrated controller Aerial parts (10), machine
Receipts machine (12), multi-rotor aerocraft automatic pilot (13), airborne optical transmitter and receiver (14), cable inner fiber (15) and to be tethered at cable more
Tie up force sensor (16) composition；
Described integrated controller Aerial parts (10), including casing (100) and the on-board circuitry plate (101) inside it；
Described on-board circuitry plate (101), is included on one piece of (or polylith is connected by connector) PCB, pcb board
Circuits below：Board mounted power (104) on the airborne control firmware (103) of microprocessor A (102) and its inside solidification, machine, on machine
Remote control delivery outlet (106) on remote control input port (105), machine, first serial (107) on machine, on machine on second serial (108) and machine
Sensor interface (109)；
Wherein, ground subsystem (2) includes：Integrated controller above ground portion (20), ground power supply (21), line wheel servomotor drive
Dynamic device (22), photoelectricity slip ring (23), ground optical transmitter and receiver (24), earth station and Vehicle Controller (25), ground remote control receiver
(26), it is tethered at cable strain sensor (27) composition；
Described integrated controller above ground portion (20), including casing (200) and the land circuit plate (201) inside it；
Described land circuit plate (201), is included on one piece of (or polylith is connected by connector) PCB, pcb board
Circuits below：The ground control firmware (203) of microprocessor B (202) and its inside solidification, ground board mounted power (204), ground
First serial (205), ground second serial (206), the serial ports (207) of ground the 3rd, ground remote control input port (208) and ground are passed
Sensor interface (209)；
On circuit board described above each interface circuit connect is joined directly together with microprocessor A (102) or microprocessor B (202)
Part, it is also possible to be integrated into the inside of the microprocessor chip and realize same interface function；
Described is tethered at cable multidimensional force sensor (16), and it is the group of a three-dimensional pulling force sensor and its supporting transmitter
Close, its static fixed pedestal is rigidly attached to the bottom of multi-rotor aerocraft, and dynamometry end is firm with being tethered at wire and cable connector part
Property links together, so that when being tethered at cable and thering is some tension to tighten, the orthogonal several force components of this pulling force sensor
Proportionate relationship can calculate the direction vector for being tethered at cable stress, integrated controller Aerial parts (10) pass through it and perceive system
Cable is stayed to measure aircraft when flying height is less than cable tilt sensitive height Hj at the azimuth in space so as to provide one kind
With Ground Mooring point direction of displacement and the means of bias size；
Described is tethered at cable strain sensor (27), and it is the cotton rope tension sensor and its supporting pick-up of pulley-type more than one
The combination of device, it is arranged on Ground Mooring cable wheel front end and is used for measuring the real-time strain for being tethered at cable, integrated controller ground
Partly (20) perceive the level of tightness of tether cable by it；
Described line wheel motor servo driver (22), it is that an Intelligent servo motor control with serial communication interface is driven
Dynamic device, can receive the parameter setting to servomotor and control, integrated controller floor portion in real time according to serial communication protocol
(20) are divided to pass through folding and unfolding direction, speed and torque that it controls line wheel in real time.
2. vehicle-mounted many rotor control system frameworks are tethered at according to claim 1, it is characterised in that：
Described multi-rotor aerocraft automatic pilot (13), it is individual with Remote Control Interface and serial communication interface, with certainly
General many rotor automatic pilots of main spot hover ability, but its Remote Control Interface is not directly to connect remote-control receiver, but
The telecommand of integrated controller Aerial parts (10), its serial communication interface are received by remote control delivery outlet (106) on machine
Be not by the telecommunication equipment ground plane such as similar data radio station station, but by first serial (107) on connection machine with it is comprehensive
Microprocessor A (102) two-way interactive information of hop controller Aerial parts (10), this attachment structure causes integrated controller empty
Middle part (10) can substitute manual automatic control multi-rotor aerocraft automatic pilot (13) completely, can also be fully transparent
The artificial control instruction of forwarding and feedback information.
3. vehicle-mounted many rotor control system frameworks are tethered at according to claim 1 or 2, it is characterised in that：
Described ground remote control receiver (26) and airborne standby remote-control receiver (12), is that general unmanned plane wireless remote control connects
Receipts machine, the two receivers use identical or compatible model so that both can simultaneously and same remote control to frequency simultaneously
Receive telecommand；
Airborne standby remote-control receiver (12) passes through remote control input port (105) are received on connected machine telecommand
Send microprocessor A (102) to；
The telecommand that ground remote control receiver (26) is received by connected ground remote control input port (208) is transmitted
Give microprocessor B (202), and be wrapped into by microprocessor B (202) being forwarded to microprocessor in the packet that transmits to optical fiber
A(102)；
Microprocessor A (102) is obtained through the same distant of the different transmission channel receptions of two-way simultaneously by foregoing circuit annexation
Control is instructed and to its preferably rear further processing.
4. one kind is vehicle-mounted to be tethered at many rotor control system control methods, it is characterised in that：
The described vehicle-mounted multi-rotor aerocraft automatic pilot (13) being tethered in many rotor control systems has been not required to control in itself
It is tethered at the function that many rotor following vehicles are flown and independently precisely taken off, land and synchronously automatic deploying and retracting is tethered at cable, above-mentioned work(
Can be communicated with and intelligent by the serial ports on automatic pilot (13) and remote control mouth by integrated controller Aerial parts (10)
It is controlled, while realized by optical fiber and integrated controller above ground portion (20) real-time Communication for Power cooperative cooperating, specific controlling party
Method is：
Integrated controller Aerial parts (10) have manual mode, three kinds of mode of operations of automatic mode and earth station's pattern, automatic
Be divided into again under pattern independently take off, it is Autonomous landing, automatic with four kinds of working conditions such as amiable ground static, above-mentioned mode of operation with
Working condition can be by monitoring that the value for two both routings that remote control is inputted is set by remote control：A third gear on remote control is opened
Closing K1 respective channels is used to switch manual mode, automatic mode and earth station's pattern, and another third gear switch K2 respective channels are used
In switching independently take off, Autonomous landing and follow automatically working condition (ground static state be system electrification initialization completion
Or after the completion of Autonomous landing automatically into）, only when K1 is automatic mode, K2 just works, and in aircraft just in the air
It is switched to during flight and independently takes off invalid, it is invalid to be just switched to Autonomous landing in ground static state, is losing remote signal
When acquiescence K1 in earth station's pattern；
Under described manual mode, the telecommand after forwarding arbitration preferably transparent microprocessor A (102) is to automatic Pilot
Instrument (13), the communication data of transparent two-way converting earth station to automatic pilot (13), so as to realize purely manual artificial behaviour
Pending flight device is controlled, now integrated controller above ground portion (20) basis is tethered at the value of cable strain sensor (27) by constant
The synchronous folding and unfolding cable of power control algolithm；
Under described earth station's pattern, microprocessor B (202) roll, pitching, driftage and the oil for being received from earth station's rocking bar
The respective channel data that the data of door substitute ground remote-control receiver (26) are sent to microprocessor A (102) by optical fiber
And directly transparent forwarding is to automatic pilot (13), so as to realize with the purely manual manual control pending flight of earth station's rocking bar
Device, other same manual modes；
Under described automatic mode, microprocessor A (102) presses the shape of some cycles dynamic queries third gear switch K2 respective channels
State value, when the state value for finding this inquiry is different from last time inquiry, just switches into the corresponding work shape of this Query Value
State；
Under described automatic mode, microprocessor A (102) flies oneself emulation with many rotors by serial ports for an earth station
Row device automatic pilot (13) two-way exchange data, obtain current self-driving state and send such as setting object height, target position
Put, switching destination, the ground station control such as make a return voyage instruction be set and result data feedback is received, while being one also oneself emulation
Individual remote-control receiver, the telecommand reality automatically generated according to certain algorithm is sent to the remote control reception mouthful of automatic pilot (13)
Existing fine setting of a small range to position of aircraft posture, so as to realize the following vehicle flight of control aircraft and independently precisely rise
Fly, land；
While height and location following control is carried out by microprocessor A (102), line is tethered at by microprocessor B (202) bases
The data of cable tension sensor (27) collection, using traditional constant tensile control algorithm, the synchronous retractable cable of control line wheel makes to be tethered at
Cable is tightened and maintains some tension.
5. vehicle-mounted many rotor control system control methods are tethered at according to claim 4, it is characterised in that：
Flow and control method into autonomous takeoff operation are：
First judge whether what is entered from ground static state, if not former working condition is just directly returned, if just to ground
Face station and Vehicle Controller (25), which send instructions, the mobile unit initializationization before being taken off and obtains the point coordinates that takes off, flight mesh
The parameters of taking off such as absolute altitude degree, acquiescence climbing speed, while obtaining the parameters such as GPS location situation with automatic pilot (13) communication；
After mobile unit and self-driving all meet takeoff condition, to automatic pilot (13) hair telecommand unblock, and it is switched to
Autonomous hovering pattern, is then gradually increased throttle, makes aircraft takeoff, and dynamically adjust according to the height and climbing speed fed back to
Fuel throttle amount keeps aircraft steadily to rise, while line wheel Synchronous Radio line is controlled by line wheel motor servo driver (22), and
Cable is set to tighten holding laying tension Ff, while the information gathered by being tethered at cable multidimensional force sensor (16) is calculated and judged
The vertical extent of cable is tethered at, the pitching of fine tuning remote controlled output or roll channel value make aircraft fine setting hovering if inclination is too big
Horizontal level makes its vertical；
After monitoring that aircraft is increased beyond cable tilt sensitive height Hj, close cable inclination and judge to aircraft water prosposition
The fine setting put, after monitoring that aircraft rises to set airbound target height, control line wheel stops unwrapping wire, while finely tuning oil
The size of door, makes to be tethered at cable and tightens and maintain the tension force Fx that hovers, complete independently to take off after aircraft hovering is stable, be switched to
Automatically working condition is followed.
6. vehicle-mounted according to claim 4 or 5 is tethered at many rotor control system control methods, it is characterised in that：
Flow and control method into Autonomous landing working condition are：
First judge whether from ground static state enter, if just remaining in that ground static state is constant, otherwise just to
Earth station and Vehicle Controller (25) send instructions the mobile unit before being landed prepare and obtain landing point coordinates, level point it is high
The landing parameters such as journey, acquiescence fall off rate；
After mobile unit meets automatic drop conditions, throttle is gradually reduced to automatic pilot (13) hair telecommand, makes to fly
Row device declines, and keeps aircraft steadily to fall after rise according to the height and fall off rate dynamic regulation throttle amount fed back to, leads to simultaneously
Wire-crossing wheel motor servo driver (22) controls the synchronous take-up of line wheel, and now cable still keeps hovering tension force Fx；
After monitoring that aircraft drops below cable tilt sensitive height Hj, open cable inclination and judge to aircraft level
The fine setting of position, and cable is further tightened holding takeup tension Fs, while by being tethered at cable multidimensional force sensor
(16) information of collection calculates the vertical extent for judging to be tethered at cable, the pitching or roll of fine tuning remote controlled output if inclination is too big
Channel value makes aircraft fine setting hovering horizontal level make its vertical；
In the case where keeping cable vertical as possible, continuation finely tunes Throttle Opening Control aircraft and presses the reduction of setting fall off rate highly, directly
Zero is continuously to fall off rate is detected, and mobile unit is sent after feedback in place of landing, and sends out distant to automatic pilot (13)
Control instruction receives oily dead stick locking and completes Autonomous landing, is switched to ground static state.
7. vehicle-mounted according to claim 4 or 5 or 6 is tethered at many rotor control system control methods, it is characterised in that：
It is into the flow and control method for following working condition automatically：
Taken off or Autonomous landing is not completed and entered in advance by switching K2 if autonomous, then capture present level as new
Airbound target height, stops to take off originally or flow of landing is transferred to follows working condition automatically in advance；
It is following its flight altitude control method of working condition automatically：
Automatic pilot (13) is maintained at the mode of operation independently hovered, and maintains aircraft flying automatically by automatic pilot (13)
Row object height hovers, the actual height value that microprocessor A (102) monitorings are fed back to, when discovery actual height and airbound target
Height tolerance exceedes fine setting throttle remote control amount after set value and is modified；
Its location following control method is：
When practical flight is highly more than cable tilt sensitive height Hj, mainly using traditional gps coordinate locating and tracking method,
I.e. every some cycles by earth station and Vehicle Controller (25) obtain car gps coordinate and via microprocessor B (202) by
Fiber channel is transmitted to microprocessor A (102), as the new target location of aircraft, and the current GPS of aircraft obtained from self-driving
Coordinate is original position, by microprocessor A (102) by traditional algorithm calculate roll and pitching should to remote control amount, control flies
Row device is moved in the case where keeping altitudes to the position of car；
When practical flight is highly not more than cable tilt sensitive height Hj, main tilted using cable is judged to aircraft level
Position is adjusted, and the information at this moment gathered by being tethered at cable multidimensional force sensor (16) calculates the inclination for judging to be tethered at cable
Direction and the relative size of horizontal direction power, the pitching exported according to empirical value adjustment remote control actually measured in an experiment,
The controlled quentity controlled variable of roll passage, control aircraft is tilted to cable is tethered to be seen just as flight on the direction movement of reduction, macro-effect
Device, which is tethered at cable and pulls Following Car, to fly.
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|---|---|---|---|
| CN201710541990.3A CN107145159A (en) | 2017-07-07 | 2017-07-07 | One kind is vehicle-mounted to be tethered at many rotor control system frameworks and control method |
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| CN201710541990.3A CN107145159A (en) | 2017-07-07 | 2017-07-07 | One kind is vehicle-mounted to be tethered at many rotor control system frameworks and control method |
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| CN107831782A (en) * | 2017-10-30 | 2018-03-23 | 北京航空航天大学 | One kind is tethered at unmanned plane near-earth recovery position controller design method |
| CN108459619A (en) * | 2018-03-21 | 2018-08-28 | 深圳臻迪信息技术有限公司 | Unmanned plane lands locking method, device, flight control system and remote controler |
| CN111650949A (en) * | 2020-06-30 | 2020-09-11 | 深圳高度创新技术有限公司 | Mooring unmanned aerial vehicle control system and method |
| CN112224437A (en) * | 2020-10-16 | 2021-01-15 | 中国直升机设计研究所 | Vehicle-mounted cabled rotorcraft system |
| CN112416014A (en) * | 2019-08-23 | 2021-02-26 | 杭州海康机器人技术有限公司 | Flight control method and device for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
| CN113671972A (en) * | 2021-07-02 | 2021-11-19 | 深圳市视晶无线技术有限公司 | Long-endurance mooring unmanned aerial vehicle control device |
| CN114460971A (en) * | 2022-04-07 | 2022-05-10 | 山东欧龙电子科技有限公司 | Interactive platform integrating aircraft control and platform data identification processing method |
| CN115291643A (en) * | 2022-08-22 | 2022-11-04 | 中国船舶集团有限公司系统工程研究院 | Constant tension control method and system for resistance reduction cable of shipborne mooring unmanned aerial vehicle |
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| CN107831782B (en) * | 2017-10-30 | 2021-03-09 | 北京航空航天大学 | Design method for near-ground recovery position controller of tethered unmanned aerial vehicle |
| CN107831782A (en) * | 2017-10-30 | 2018-03-23 | 北京航空航天大学 | One kind is tethered at unmanned plane near-earth recovery position controller design method |
| CN108459619A (en) * | 2018-03-21 | 2018-08-28 | 深圳臻迪信息技术有限公司 | Unmanned plane lands locking method, device, flight control system and remote controler |
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| CN112416014A (en) * | 2019-08-23 | 2021-02-26 | 杭州海康机器人技术有限公司 | Flight control method and device for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
| CN111650949A (en) * | 2020-06-30 | 2020-09-11 | 深圳高度创新技术有限公司 | Mooring unmanned aerial vehicle control system and method |
| CN112224437A (en) * | 2020-10-16 | 2021-01-15 | 中国直升机设计研究所 | Vehicle-mounted cabled rotorcraft system |
| CN113671972A (en) * | 2021-07-02 | 2021-11-19 | 深圳市视晶无线技术有限公司 | Long-endurance mooring unmanned aerial vehicle control device |
| CN113671972B (en) * | 2021-07-02 | 2024-06-21 | 深圳市视晶无线技术有限公司 | Long-endurance mooring unmanned aerial vehicle control device |
| CN114460971B (en) * | 2022-04-07 | 2022-07-12 | 山东欧龙电子科技有限公司 | Interactive platform integrating aircraft control and platform data identification processing method |
| CN114460971A (en) * | 2022-04-07 | 2022-05-10 | 山东欧龙电子科技有限公司 | Interactive platform integrating aircraft control and platform data identification processing method |
| CN115291643A (en) * | 2022-08-22 | 2022-11-04 | 中国船舶集团有限公司系统工程研究院 | Constant tension control method and system for resistance reduction cable of shipborne mooring unmanned aerial vehicle |
| CN115291643B (en) * | 2022-08-22 | 2024-05-03 | 中国船舶集团有限公司系统工程研究院 | Constant tension control method and system for drag reduction cable of shipborne mooring unmanned aerial vehicle |
| CN118394113A (en) * | 2024-07-01 | 2024-07-26 | 北京翼动科技有限公司 | Unmanned aerial vehicle navigation positioning system |
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