CN107526361A - A kind of built-in type 4 axis air vehicle experimental device - Google Patents
A kind of built-in type 4 axis air vehicle experimental device Download PDFInfo
- Publication number
- CN107526361A CN107526361A CN201610446814.7A CN201610446814A CN107526361A CN 107526361 A CN107526361 A CN 107526361A CN 201610446814 A CN201610446814 A CN 201610446814A CN 107526361 A CN107526361 A CN 107526361A
- Authority
- CN
- China
- Prior art keywords
- module
- aircraft
- control circuit
- circuit plate
- sensor module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims 1
- 230000033228 biological regulation Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
The present invention relates to vehicle technology field, especially a kind of built-in type 4 axis air vehicle experimental device, including aircraft, auxiliary accessories and remote controller, aircraft includes first control circuit plate and four rotors for being used for VTOL, first control circuit plate includes microcontroller, power module, angle-sensor module, angular-rate sensor module, motor drive block and wireless receiving module, wireless connection module, angle-sensor module, angular-rate sensor module and motor drive block are connected with microcontroller, connected between aircraft and remote control by wireless telecommunications between wireless transmitter module and wireless receiving module.There are multiple rotors in the present invention, multiple rotors can lift the power of taking off of aircraft, pass through the regulation and control between each rotor, the stability of aircraft is can ensure that, the hardware of aircraft is miniature in addition, can mitigate aircraft own wt, energy resource consumption is reduced, while there is very strong practicality.
Description
Technical field
The present invention relates to vehicle technology field, especially a kind of built-in type 4 axis aircraft experiment
Device.
Background technology
Intelligent built-in type 4 axis aircraft is typical embedded product, and its core technology is mainly wrapped
Include embedded technology, automatic control technology, computer technology, Aircraft flight dynamics, dish
The semi-autonomous flight control system of shape aircraft.It is more due to having used due to using disc-shaped flying craft
Individual rotor, property difference is not only existed between rotor, and disturbance between each other be present, be one
The individual system extremely dissipated, therefore introduce angular transducer and angular speed simultaneously in the controls
On the one hand gyro attitude stabilization inner looping, intelligent built-in type 4 axis aircraft have multiple rotors,
On the other hand belong to minute vehicle, very big difference be present with conventional aircraft, and at present to low
Minute vehicle under Reynolds number there is no mathematical modeling.
The content of the invention
The present invention seeks to overcome deficiency of the prior art, there is provided a kind of built-in type 4 axis
Air vehicle experimental device.
In order to solve the above-mentioned technical problem, the present invention is to be achieved through the following technical solutions：
A kind of built-in type 4 axis air vehicle experimental device, including aircraft, auxiliary accessories and shake control
Device, the aircraft include first control circuit plate and four rotors for being used for VTOL, institute
Stating first control circuit plate includes microcontroller, power module, angle-sensor module, angle speed
Degree sensor assembly, motor drive block and wireless receiving module, the wireless connection module,
Angle-sensor module, angular-rate sensor module and motor drive block are and microcontroller
Connection, the power module are respectively microcontroller, angle-sensor module, angular speed sensing
Device module, motor drive block and wireless receiving module provide electric energy；
The remote control includes second control circuit plate, and the second control circuit plate includes wireless
Transmitter module, display screen, function button, indicator lamp, on ＆ off switch and port, the aircraft
It is connected between remote control by wireless telecommunications between wireless transmitter module and wireless receiving module.
Preferably, battery pack is additionally provided with the remote control, the battery pack is the second control
Circuit board provides power supply, be additionally provided with the first control circuit plate, motor master switch,
First debugging mouth and first downloads mouth.
Preferably, the port includes the second debugging mouth, the second download mouth and USB interface, institute
Stating auxiliary accessories includes TTL serial ports, charger and downloader.
Because using above-mentioned technical proposal, the present invention has multiple rotors, multiple rotors can carry
The power of taking off of aircraft is risen, by the regulation and control between each rotor, can ensure that the stability of aircraft, separately
The hardware of outer aircraft is miniature, can mitigate aircraft own wt, reduces energy resource consumption, institute
To need to use small volume, the component of light weight, and level of integrated system is as much as possible improved,
There is very strong practicality simultaneously.
Brief description of the drawings
Fig. 1 is the structure schematic diagram of the present invention；
Fig. 2 is the control system schematic diagram of the embodiment of the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be with
The multitude of different ways for being defined by the claims and covering is implemented.
Such as Fig. 1 and with reference to shown in Fig. 2, including aircraft 1, auxiliary accessories and remote controller, institute
Stating aircraft 1 includes first control circuit plate 2 and four rotors 3 for being used for VTOL, institute
Stating first control circuit plate 2 includes microcontroller 4, power module 5, angle-sensor module
6th, angular-rate sensor module 7, motor drive block 8 and wireless receiving module 9, it is described
Wireless connection module 9, angle-sensor module 6, angular-rate sensor module 7 and motor drive
Dynamic model block 8 is connected with microcontroller 4.
The major function of microcontroller 4 be will receive telecommand, angle information and
Angle rate signal, through PID and fuzzy control operation, the control rate of motor drive block 8 is drawn,
Simultaneously motor is exported in a manner of PWM.Because aircraft space is limited, it is contemplated that installation side
Just.
Power module 5 is respectively microcontroller 4, angle-sensor module 6, angular speed sensing
Device module 7, motor drive block 8 and wireless receiving module 9 provide electric energy；It is main to provide
Voltage have 2.5V, 3.3V, 5.0 V and 7.5V, wherein 2.5V voltages are signal amplifier
Power supply is provided, 3.3V is that microcontroller 4 provides power supply, and 5.0V is angle-sensor module 6
Power supply is provided with angular-rate sensor module 7 and wireless receiving module 9,7.5V is motor
Drive module 8 provides power supply.
The remote control includes second control circuit plate, and the second control circuit plate includes wireless
Transmitter module, display screen, function button, indicator lamp, on ＆ off switch and port, the aircraft
It is connected between remote control by wireless telecommunications between wireless transmitter module and wireless receiving module 9, its
Middle display screen can show simulated flight interface, can show relevant parameter.
Wireless receiving module 9 is mainly used to realize the remote operating of people, shares the letter of four passages
Number, respectively aircraft 1 provides lifting, front and rear winged, left and right flies and rotation instruction.In order to
The degree of intelligence and operability of aircraft are improved, therefore is aircraft setting angle sensor assembly
6 as gesture feedback sensor, the angle signal collected by angle-sensor module 6,
The current pose of aircraft 1 can be perceived, and compared with targeted attitude, forms closed-loop control.
Because four oar disc-shaped flying crafts 1 are a systems extremely dissipated, to improve its flight stability
Property, therefore add angular rate gyroscope feedback loop.
Further, battery pack is additionally provided with the remote control, the battery pack is the second control
Circuit board processed provides power supply, be additionally provided with the first control circuit plate motor master switch,
First debugging mouth and first downloads mouth；First debugging mouth and the first download mouth are used for transmitting data.
Further, the port includes the second debugging mouth, the second download mouth and USB interface,
Wherein the second debugging mouth, the second download mouth and USB interface are also used for transmitting data, the auxiliary
Accessory includes TTL serial ports, charger and downloader, and downloader can exist the download program of setting
On the first control circuit plate 2 of aircraft 1.
The preferred embodiments of the present invention are the foregoing is only, not thereby limit the patent of the present invention
Scope, every equivalent structure made using description of the invention and accompanying drawing content or equivalent process
Conversion, or other related technical areas are directly or indirectly used in, similarly it is included in this hair
In bright scope of patent protection.
Claims (3)
1. a kind of built-in type 4 axis air vehicle experimental device, including aircraft, auxiliary accessories and remote controller, its
It is characterised by：The aircraft includes first control circuit plate and four rotors for being used for VTOL, described
First control circuit plate includes microcontroller, power module, angle-sensor module, angular-rate sensor mould
Block, motor drive block and wireless receiving module, wireless connection module, angle-sensor module, the angle
Acceleration sensor module and motor drive block are connected with micro-control module, and the power module is respectively
Microcontroller, angle-sensor module, angular-rate sensor module, motor drive block and wireless receiving
Module provides electric energy；
The remote control includes second control circuit plate, and the second control circuit plate includes wireless transmitter module, shown
Display screen, function button, indicator lamp, on ＆ off switch and port, by wirelessly sending out between the aircraft and remote control
Wireless telecommunications between module and wireless receiving module are penetrated to connect.
A kind of 2. built-in type 4 axis air vehicle experimental device according to claim 1, it is characterised in that：
Battery pack is additionally provided with the remote control, the battery pack provides power supply for second control circuit plate, described
It is additionally provided with first control circuit plate, motor master switch, the first debugging mouth and first download mouth.
A kind of 3. built-in type 4 axis air vehicle experimental device according to claim 1, it is characterised in that：
The port includes the second debugging mouth, the second download mouth and USB interface, and the auxiliary accessories include TTL and gone here and there
Mouth, charger and downloader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610446814.7A CN107526361A (en) | 2016-06-20 | 2016-06-20 | A kind of built-in type 4 axis air vehicle experimental device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610446814.7A CN107526361A (en) | 2016-06-20 | 2016-06-20 | A kind of built-in type 4 axis air vehicle experimental device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107526361A true CN107526361A (en) | 2017-12-29 |
Family
ID=60734783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610446814.7A Pending CN107526361A (en) | 2016-06-20 | 2016-06-20 | A kind of built-in type 4 axis air vehicle experimental device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107526361A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109200599A (en) * | 2018-10-11 | 2019-01-15 | 遵义师范学院 | A kind of wireless remote control method and system of mobile toy |
-
2016
- 2016-06-20 CN CN201610446814.7A patent/CN107526361A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109200599A (en) * | 2018-10-11 | 2019-01-15 | 遵义师范学院 | A kind of wireless remote control method and system of mobile toy |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105573333B (en) | A kind of modular control method for quadrotor | |
| CN204250368U (en) | A kind of mini quadrotor of Intelligent aerial photography | |
| EP3931079A1 (en) | Systems and methods for in-flight operational assessment | |
| CN106994874B (en) | It is suspended and is promoted and the dual-purpose intelligent walking-replacing tool of ground roll-out based on wind-force | |
| WO2015094695A1 (en) | Self-propelled device with center of mass drive system | |
| CN104932513A (en) | Unmanned aircraft, acousto-optic cooperation system and method thereof | |
| JPWO2017030034A1 (en) | Power generation device and unmanned aircraft equipped with the same | |
| CN207374661U (en) | Multi-rotor unmanned aerial vehicle | |
| CN112327902A (en) | Method and apparatus for flight control prioritization | |
| EP3269639B1 (en) | Aircraft and roll method thereof | |
| CN102814047A (en) | Autonomous return system and control method of dual-rotor remote-controlled model helicopter | |
| CN108750103A (en) | A kind of aircraft that vertical height-lock control and horizontal height-lock control can be achieved | |
| CN204355273U (en) | A kind of SCM Based multifunction micro four-axle aircraft | |
| CN204856861U (en) | Remote control unit and remote control system | |
| CN107526361A (en) | A kind of built-in type 4 axis air vehicle experimental device | |
| CN204973065U (en) | Four rotor crafts of miniature | |
| CN205353763U (en) | A modular control panel for four rotor crafts | |
| WO2021178077A1 (en) | Wireless autopilot system | |
| CN105700535B (en) | A kind of modular control panel for quadrotor | |
| WO2019047429A1 (en) | Multi-rotor unmanned aerial vehicle-based duct propulsion system | |
| CN205602106U (en) | Embedded four shaft air vehicle experimental apparatus | |
| CN203264283U (en) | Inertial posture balancer for model airplane | |
| CN105912010A (en) | STM32-based micro four-rotor aircraft and control system thereof | |
| JP2017190091A (en) | Tray type multi-copter | |
| CN206249103U (en) | A kind of unmanned aerial vehicle control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171229 |