CN107264769B

CN107264769B - Rigid multi-rotor aircraft merging system

Info

Publication number: CN107264769B
Application number: CN201710478299.5A
Authority: CN
Inventors: 侯明; 李擎; 柏森; 付兴建
Original assignee: Beijing Information Science and Technology University
Current assignee: Beijing Information Science and Technology University
Priority date: 2017-06-22
Filing date: 2017-06-22
Publication date: 2020-05-08
Anticipated expiration: 2037-06-22
Also published as: CN107264769A

Abstract

A rigid multi-rotor aircraft merging system is characterized in that a plurality of rotor aircraft are connected together by adopting components such as a rigid bracket and a connecting rod to form a larger aircraft structure and have larger flight load capacity. The independent flight or combined flight mode of the individual aircrafts is set through the combining module, and the master-slave mode is set to carry out master-slave machine signal interaction. The main controller completes the detection of flight attitude and the calculation of control signals of the power unit, and the main controller combines and controls the power unit of the main controller and transmits power signals of the slave to the slave. The slave machine completes the control of the power unit of the slave machine according to the power signal of the master machine and completes the flight attitude control together with the power unit of the master machine.

Description

Rigid multi-rotor aircraft merging system

Technical Field

The present invention relates to a mechatronic control system that combines multiple rotorcraft into a larger aircraft.

Background

The multi-rotor aircraft is an aircraft with high reliability, simple structure and low cost, and has a large number of applications in the fields of military affairs, agriculture and life. The main functional components of a typical single multi-rotor aircraft are the airframe, the electronic control system, and the power unit. The power unit is a rotor (propeller) driven by a motor, generally 3 to 8, and is distributed in a central symmetry way.

Aircraft typically have their rated load capacity. Typically, a large weight load requires a larger flight system and a smaller weight load employs a smaller flight system. Many rotor crafts simple structure, the reliability is high, if can merge a plurality of rotor crafts into a big aircraft, its payload can obtain the improvement of multiple. In an application occasion with flexible load requirement, the method can obtain the flight load requirement with heavy weight through the combination of small aircrafts, and can also split and independently deal with the flight load requirement with light weight, thereby saving the investment of the large aircrafts and greatly reducing the operation cost. The invention provides a mechano-electronic system combining a plurality of aircrafts, and provides a most core technical implementation method.

Disclosure of Invention

Fig. 1 is a mechanical block diagram of a combined system of a rigid multi-rotor aircraft. In fig. 1, the part 2 is a rigid connecting frame and is fixed with the part 3 through a connecting rod. Part 1 in fig. 1 is a single multi-rotor aircraft with attachment sockets (part 4 in fig. 2) and a combining module (part 5 in fig. 2) on its body. The connecting frame is fixedly connected with the connecting seats of the multi-rotor aircraft through the connecting rods, the rotor aircraft is fixedly connected with the connecting frame according to the central symmetry principle, and the four multi-rotor aircraft fixing method in the figure 1 is shown. And fixing the finished system, and combining the finished system into a large aircraft architecture. If the payload of each aircraft is g, the payload of a large aircraft is approximately N · g, and can carry a large flight load.

Each independent multi-rotor is provided with a merging module (part 5 in fig. 2) to fulfill the following functions: 1) determining whether it is in a standalone or a merged mode of flight. 2) It is determined whether its onboard controller will act as a master control unit or a slave control unit for the merging aircraft. 3) Control information is transferred.

The control system of each independent multi-rotor aircraft is provided with an independent flight mode and a combined flight mode, and can be identified through the arrangement of the combined unit. In the independent flight mode, the control system of each aircraft controls a plurality of power units of the aircraft independently, and the driving signal of each power unit is different so as to maintain the flight attitude of the aircraft. In the combined flight mode, a plurality of power units in each rotorcraft are synchronously driven by one path of control signals, the power units are combined into a single power unit, and the structure of the combined system is similar to a larger multi-rotor aircraft. And setting the control system of one aircraft as a master control unit and the control systems of other aircrafts as slave units. Because the merging system is structurally a rigid whole, the main control unit can be used as the attitude information of the merging system by utilizing the attitude information detected by sensors such as a gyroscope, an accelerometer, a GPS (global positioning system), a magnetometer and the like of the main control unit, real-time control signals in the flight process are transmitted to the slave aircraft through an algorithm through a merging module (a part 5 in fig. 2), and the slave aircraft drives a power unit of the slave aircraft according to the magnitude of the control signals to jointly complete various attitude control tasks of the merging aircraft.

According to the principle, the rigid multi-rotor aircraft merging system is characterized as follows:

1. a rigid multi-rotor aircraft merging system is characterized in that a plurality of small aircrafts are fixed into a whole through a rigid support, a connecting rod and a connecting seat to form a merging aircraft framework.

2. The small aircraft as described in 1 has a merging module to complete the setting of independent flight and merged flight, the setting of the master controller and the slave controller, and the transmission of control signals of the master and slave controllers.

3. The small aircraft individual as described in 1, wherein the control system has a function of identifying the setting mode of the merging module, and needs to have a program of merging flight modes in addition to a normal program of independent flight modes; in the combined flight mode, a program can distinguish the working modes of a host and a slave, the host detects the attitude and the position information of the combined aircraft, receives an external working instruction, calculates the power control quantity, combines and controls the power unit of the host, and transmits the control information of the slave to the slave through a combining module to complete the flight control of the aircraft; the slave machine is mainly used for controlling the slave power unit of the slave machine in a combined mode according to the control information transmitted by the master machine.

Drawings

FIG. 1 is a schematic view of an integrated system for a rigid multi-rotor aircraft

FIG. 2 is a schematic view of the connection of a small individual aircraft to a rigid support

Detailed Description

Detailed description of the preferred embodiment 1

Adopt 4 aircrafts to merge, the rigid fixing frame is circular, four connecting rods are installed in central symmetry, and are connected with four multi-gyroplanes. The merging module consists of 2-bit switches and a plurality of (at least 5 lines) signal lines, wherein 1 2-bit switch is connected with a switching value interface of the controller, and an independent/merged flight mode is set; the other 2-bit switch is connected with the switching value interface of the controller to set a master/slave mode. The host can detect the attitude and the position information of the combined aircraft, receive an external working instruction and calculate the control quantity of the power unit through an algorithm according to the instruction. And outputting information to each motor driving module by using the high-precision PWM signal. On one hand, the power units of the slave machines are combined and controlled, and on the other hand, the control information of the slave machines is transmitted to other three slave machines through a plurality of strands of wires of the combining module, so that the flight control of the aircraft is completed; the slave machine mainly controls the slave machine power unit according to the control information transmitted by the master machine, and completes the flight attitude control together with the master machine power unit, and the mode is the simplest.

Specific example 2

The merging module in embodiment 1 is composed of 2-bit switches and a wireless transmission module, the switch function is the same as that in embodiment 1, and the wireless transmission module is used for signal interaction between the master and the slave. The master machine needs to transmit signal protocol to the slave machine through the wireless module, and the slave machine needs to have corresponding software to process wireless signals. The host computer and the slave computer are not connected, so that the installation is more convenient, and other useful information is transmitted between the host computer and the slave computer.

Specific example 3

The merging module in embodiment 1 is composed of 2-bit switches and a high-speed communication line, and high-speed digital semaphores are used for signal interaction between a master and a slave. The master computer needs to transmit signal protocol to the slave computer through a high-speed signal wire, and the slave computer needs to have corresponding software to process high-speed protocol digital signals. The typical high speed digital signal lines are 2 to 3 copper core wires, fewer than the number of signal lines used in embodiment 1, and convey other useful information between the master and slave.

Claims

1. A rigid multi-rotor aircraft merging system is characterized in that a plurality of small aircrafts are fixed into a whole through a rigid support, a connecting rod and a connecting seat to form a merging aircraft framework;

the small aircraft is provided with a merging module, the setting of independent flight and merged flight is completed, the setting of a master controller and a slave controller is completed, and the control signal transmission of the master and slave controllers is completed;

the control system of the small aircraft individual has the function of identifying the setting mode of the merging module, and needs to have a program of the merging flight mode in addition to a normal independent flight mode program; in the combined flight mode, a program can distinguish the working modes of a host and a slave, the host detects the attitude and the position information of the combined aircraft, receives an external working instruction, calculates the power control quantity, combines and controls the power unit of the host, and transmits the control information of the slave to the slave through a combining module to complete the flight control of the aircraft; the slave machine is mainly used for controlling the slave power unit of the slave machine in a combined mode according to the control information transmitted by the master machine.