CN107634781A - Unmanned plane countercharge system - Google Patents
Unmanned plane countercharge system Download PDFInfo
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- CN107634781A CN107634781A CN201710956129.3A CN201710956129A CN107634781A CN 107634781 A CN107634781 A CN 107634781A CN 201710956129 A CN201710956129 A CN 201710956129A CN 107634781 A CN107634781 A CN 107634781A
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Abstract
A kind of unmanned plane countercharge system, unmanned plane countercharge system, it includes transmitter and receiver, ciphertext data caused by Code generator are modulated on the carrier wave that frequency changes with PN codes caused by PN sequence generators by the transmitter by way of frequency hopping modulation, the receiver takes out the ciphertext data that transmitting terminal is sent by way of solving frequency from the information received, the transmitter includes encryption equipment and the first binary pseudo-random sequence generator, the length of two system sequences is a byte, data bit from high to low is designated as K [n] in order, it is characterized in that, clear data to be sent is divided into M byte by encryption equipment, the any bit of any byte is designated as D [m, k], the then any bit S [m of M byte of ciphertext data, k] it is calculated according to following formulaWherein, , n and k are determined by the password inputted.System provided by the invention conciliates the anti-interference of jump mode strengthening system by frequency hopping modulation, and transceiver shares a frequency synthesizer, reduces control system volume low with cost.
Description
Technical field
The present invention relates to a kind of unmanned plane countercharge system, belong to private communication technology field.
Background technology
The important information on ground, such as image, including static picture and video can be obtained using unmanned plane, therefrom obtain and
When accurate field data and accurate location information, to catch strategic strike target, complete the tasks such as Hitting Effect Evaluation.But
It is UAS of the prior art, point-to-point control is carried out by earth station or terminal-pair unmanned plane, so held
During row task, easily disturbed by enemy, so as to be communicated with earth station or control terminal.
The content of the invention
To overcome technical problem present in prior art, goal of the invention of the invention is to provide a kind of unmanned plane countercharge system
System, its strong interference immunity, cost are low.
To realize the goal of the invention, the present invention provides a kind of unmanned plane countercharge system, it include transmitter, receiver,
Frequency synthesizer, frequency source and PN code generators, the modulator are used to ciphertext data to be sent being modulated to be closed by frequency
Caused by growing up to be a useful person on first frequency signal, frequency synthesizer PN codes according to caused by the PN codes generator produce frequency source
The different frequency of raw frequency synthesis, the receiver include frequency mixer, and the frequency mixer is used for the signal and frequency of reception
Second frequency signal caused by synthesizer is mixed so as to demodulate the ciphertext data transmitted by transmitting terminal, and its feature exists
In the transmitter includes encryption equipment and binary pseudo-random sequence generator, and the length of binary pseudo-random sequence is one
Byte, data bit from high to low are designated as K [n] in order, it is characterised in that clear data to be sent is divided into M by encryption equipment
Individual byte, any bit of any byte are designated as D [m, k], then any bit S [m, k] of M byte of ciphertext data is according to following formula meter
Obtain：
Wherein, k ∈ { 0,1 ..., K-1 }, n ∈ { 0,1 ..., N-1 } m ∈ { 1,2 ..., M }, n and k are determined by the password inputted.
Preferably, sign is, the receiver includes decipher and the second system pseudo-random sequence generator, and decipher will
The ciphertext data of reception are divided into M byte, and ciphertext data deciphering is obtained into clear data according to following formula：
Preferably, frequency synthesizer includes the first frequency multiplier 825, the second frequency multiplier 827, the shifting of frequency tripler 820, first
Phase device 824, the second phase shifter 823, the 3rd phase shifter 830, the first multiplier 821, the second multiplier 822 and first adder
826, wherein, the signal progress frequency multiplication that the first frequency multiplier 825 is used to provide frequency source obtains the first signal；First phase shifter
824 are used to obtain the secondary signal mutually orthogonal with the first signal to the progress phase shift of the first signal；Second frequency multiplier 827 be used for pair
The signal that frequency source provides carries out frequency multiplication and obtains the 3rd signal；Second phase shifter 823 is used to obtain the progress phase shift of the 3rd signal
The 4th mutually orthogonal signal with the 3rd signal；First multiplier with 821 in being multiplied to secondary signal with the 4th signal, and
It is supplied to first adder；Second multiplier is used to be multiplied to the first signal and the 3rd signal, and is supplied to the first addition
Device；The signal that first adder is provided the first multiplier and the second multiplier carries out add operation, is then supplied to the 3rd times
For frequency device 820 so as to obtain first frequency signal, the output signal of the adder obtains second after the phase shift of the 3rd phase shifter 830
Frequency signal.
Preferably, the frequency multiplication number of first frequency multiplier, the second frequency multiplier and frequency tripler is by PN sequence generators
Caused PN codes control.
Preferably, frequency source includes voltage controlled oscillator (VCO).
Preferably, voltage controlled oscillator (VCO) includes film body acoustic wave oscillator BAWF1, film body acoustic wave oscillator
BAWF2, FET T3, FET T4, FET T7, FET T5, FET T6, FET T8 and constant current
Source, wherein, FET T3 source electrode is connected to FET T4 drain electrode, and FET T3 drain and gate is connected to electricity
Source；FET T7 grid is connected to MOS field effect transistor T3 source electrode, and drain electrode is connected to power supply, and source electrode is connected to constant-current source；Field effect
Should pipe T5 source electrode be connected to effect pipe T6 drain electrode, FET T5 drain and gate is connected to power supply；MOS field effect transistor T8's
Drain electrode is connected to power supply, and grid is connected to MOS field effect transistor T5 source electrode, and source electrode is connected to permanent power supply；The grid T4 of FET and field effect
Should pipe T5 grid be connected, and be signal input part, FET T4 source electrode and FET T6 source electrode are signal output
End；FET T4 drain electrode is connected to film bulk acoustic resonator BAWF1 first end；FET T6 drain electrode is connected to
FBAR BAWF2 first end；FBAR BAWF1 the second end and FBAR
BAWF2 the second end is connected, and is voltage controling end.
Preferably, voltage controlled oscillator (VCO) also includes FET T9, FET T10, FET T11 and constant current
Source, one end of constant-current source are connected to power supply EC, and the other end is connected to FET T11 drain electrode, and FET T11 source electrode connects
Ground, grid are connected to its drain electrode, and are connected to FET T9 grid and FET T10 grid, FET T9's
Source ground, drain electrode are connected to FET T7 source electrode to provide constant current to it；FET T10 source ground,
Drain electrode is connected to FET T8 source electrode to provide constant current to it.
Compared with prior art, system system provided by the invention is enhanced anti-interference by frequency hopping modulation reconciliation jump mode
Property, transceiver share a frequency synthesizer, and control system small volume and cost are low.
Brief description of the drawings
Fig. 1 is the top view of fixed-wing unmanned plane provided by the invention；
Fig. 2 is the composition frame chart of the control system of unmanned plane provided by the invention；
Fig. 3 is the composition schematic diagram of the energy conversion apparatus of fixed-wing unmanned plane provided by the invention；
Fig. 4 is to represent the schematic cross-section along the energy conversion apparatus A-B directions in Fig. 3；
Fig. 5 is the schematic diagram of the power set for the fixed-wing unmanned plane that invention provides；
Fig. 6 is the composition schematic diagram of motor provided by the invention；
Fig. 7 is the composition schematic diagram of control terminal in ground provided by the invention；
Fig. 8 is the composition frame chart that the present invention provides unmanned plane revertive control system；
Fig. 9 is the composition frame chart of frequency source provided by the invention；
Figure 10 is the composition frame chart of voltage controlled oscillator provided by the invention；
Figure 11 is the circuit diagram of power amplifier provided by the invention；
Figure 12 is the schematic diagram of encryption equipment ciphering process provided by the invention；
Figure 13 is the schematic diagram of decryptor decryption process provided by the invention.
Embodiment
Hereinafter, the embodiment that present invention will be described in detail with reference to the accompanying.In addition, the part in figure identically or comparably is assigned
Same-sign is given, no longer carries out explanation repeatedly.
In this specification, term " horizontal plane " refers to the face intersected with gravity direction, is not to be defined in and gravity direction
Strictly with the face of 90 ° of angular cross.Wherein, the housing of unmanned plane is placed in and connect as far as possible with gravity direction angulation
Nearly 90 ° of face, it is preferable from the aspects of the action of energy conversion device 100.In addition, above-below direction looks like in this specification
It is gravity direction (vertical direction).
Fig. 1 is the top view of fixed-wing unmanned plane provided by the invention.As shown in figure 1, fixed-wing unmanned plane includes frame
800, the both sides of frame 800 are respectively arranged with a flank, and the front and back of frame 800 sets leading edge and rear wing respectively.
Duct is provided with (perpendicular to the direction of horizontal plane) along Z-direction on the rear wing of frame 800, support, support are provided with the duct
On be provided with motor 200A, be provided with blade on motor 200A output shaft.The frame both sides are respectively arranged with flank,
Support is provided with front of each flank, motor 200C is provided with the support on the left of unmanned plane, motor 200C's
Blade is provided with output shaft, motor 200B, motor 200B output shaft are provided with the support on the right side of unmanned plane
On be provided with blade.Generator 100 is additionally provided with unmanned plane frame 800, the generator 100 moves fuel engines
Can be converted into electric energy with to motor 200A, motor 200B, motor 200C and it is inorganic in other electrical equipments electricity is provided
Energy.The output shaft of the fuel engines sends kinetic energy to generator 100 by gear 400.Set on the rear wing of unmanned plane
Empennage, empennage is V-shaped, to increase flight stability.Anti-twisted power flow deflector is provided below in blade, turns to balance blade
Rotating torque caused by dynamic.Thrust flow deflector is provided below in blade simultaneously, produces the thrust that moves ahead.
Frame, leading edge, rear wing and empennage use aluminum alloy framework, outer paving carbon fibre composite, in the same of proof strength
When mitigate fuselage weight.
Fig. 2 is the composition frame chart of the control system of unmanned plane provided by the invention, as shown in Fig. 2 real according to the present invention one
Apply example, the control system of unmanned plane includes flying control device 406, the servo according to the order-driven unmanned plane during flying of flight processor
Structure, communication subsystem, photograph subsystem and processor 405, wherein, fly control device 406 according to the instruction of processor 405 to servo
Structure provides control signal, so that servo control mechanism controls the instruction of terminal to be flown according to preset path or ground, also by nothing
Data during man-machine flight send processor 405 to, and servo control mechanism exemplarily includes three electric machine controllers and three motors,
Electric machine controller such as electric machine controller CON1, electric machine controller CON2 and electric machine controller CON3；Motor such as motor M1, motor M2
With motor M3, three electric machine controllers control three motors respectively.Unmanned plane also includes photograph subsystem, and it includes camera
412 and camera controller 413, the camera 412 be connected to camera controller 413, it is used to carry out monitored region
To take photo by plane, and send the image information taken photo by plane to camera controller 413, camera controller 413 is connected to processor 405, its
Processor 405 is then sent to for being handled the image information of input.Communication subsystem includes digital baseband unit
410th, radio frequency unit 411 and communication card 414, communication card 414 is connected to digital baseband unit 410 by slot, described when transmitting
Digital baseband unit 410 is used for the information to be transmitted by processor and carries out source coding and channel coding, then sends radio frequency to
Unit 411, the radio frequency unit 411 include transmitter, and the transmitter is used to enter the information that digital baseband unit transmission comes
Row encrypt and be modulated to frequency with PN caused by PN random sequence generators with and change carrier signal on then carry out power amplifier, most
Space is transmitted into by antenna afterwards；Radio frequency unit 411 also includes receiver, and receiver is used to be solved the signal that antenna receives
Reconcile and decrypt, then send the data to digital baseband unit 410, digital baseband unit 410 is used to enter digital baseband signal
The decoding of row channel, source coding, take out data or instruction that control terminal is sent.
In the present invention, camera is fixed on unmanned aerial vehicle platform by universal joint, makes the photography axle o of camerapzpWith nobody
The OZ of the body axis system of machine is overlapped, and makes the o of the image plane of camerapxpAxle is parallel with the OX of the body axis system of unmanned plane, shines
The o of the image plane of camerapypAxle is parallel with the OY of the body axis system of unmanned plane, so installation, can be by measuring unmanned plane
Attitude angle and extrapolate photography axle attitude angle.
According to a first embodiment of the present invention, the control system of unmanned plane also includes altimeter 415, and it is used to obtain unmanned plane
With the elevation information on ground.According to one embodiment of the invention, the control system of unmanned plane also includes memory 408, and it is used to deposit
Chu Fei controls program and the acquired data of unmanned plane servo control mechanism.The servo control mechanism includes motor and controller.
The control system of unmanned plane also includes navigator fix receiver 403, and it receives navigation positioning satellite by antenna A1
The positional information and temporal information on unmanned plane, and transfer data to processor 405.Navigator fix receiver 403
It is such as gps receiver, Big Dipper positioning time service receiver.According to one embodiment of the invention, by the reception antenna of navigator fix device
The light shaft coaxle of axle and camera is set, and the positional information of unmanned plane of device determination can be so connect according to navigator fix according to coordinate
The principle of conversion determines the coordinate of the central point of image captured by camera.
The control system of unmanned plane also includes MEMS402, when installing MEMS402 on unmanned plane, its measurement is surveyed
Amount camera takes the photograph the attitude angle of phase axle.According to one embodiment of the invention, the present invention provides unmanned plane from power module 100 to each
Components with power, it can be turned off by switch and be controlled with connecting, and power module 100 comprises at least generator.
According to one embodiment, the control system of unmanned plane also includes range unit 418, and it is used to measure unmanned plane and mesh
The distance of mark etc., the distance measuring equipment 418 are, for example, laser range finder.The control system of unmanned plane also includes direction-finding device
418, it is used for the direction for measuring monitored target and unmanned plane.The number that processor is provided according to range unit and direction-finding device
According to position and speed for determining monitored target etc..The control system of unmanned plane also includes memory 401, and it is used to store application
Program and the data obtained, application program include such as monitored position of target, the calculation procedure of speed, image procossing journey
Sequence etc..
Fig. 3 is the composition schematic diagram of the energy conversion apparatus of fixed-wing unmanned plane provided by the invention；Fig. 4 be represent along
The schematic cross-section in the energy conversion apparatus A-B directions in Fig. 3, as shown in Figure 3-4, is provided with engine, gear in frame
Mechanism and generator, the engine are connected by gear mechanism with generator, and the generator includes stator and rotor, described
Stator includes hollow making toroidal coil frame 102, and the first-class apart windings of making toroidal coil frame have N number of coil 101；Making toroidal coil
Rotor is provided with cavity in frame 102, rotor comprises at least permanent magnet and the gear 105 of annular, between adjacent windings
Making toroidal coil frame on formed with making a part for the ring gear be exposed to the window portion 108 of making toroidal coil frame；Start
Machine 600 is engaged so that cavity of the rotor in making toroidal coil frame by gear mechanism 400 through window portion with the gear of annular
Internal rotation.Preferably, the rotor includes the magnet ring concentric with making toroidal coil frame 102, and the magnet ring includes：Ring-type
Magnetic box 106, polylith permanent magnet, ring gear 105 and multiple pulleys 104, the magnetic box 106 of ring-type are used to store polylith magnetic
Iron, block magnet are to arrange that is, adjacent two pieces of magnet polarities are identical, the ring gear in N polarity, S polarity, S polarity, N polarity ...
105 is concentric with the magnetic box of ring-type and be arranged on the magnetic box of ring-type；The plurality of pulley 104 with the making toroidal coil frame
The mode that cavity inner wall contacts in 102 is uniformly configured on the magnetic box of the ring-type.In the present invention, adjacent windings 101 it
Between making toroidal coil frame 102 on formed with making a part for the ring gear be exposed to the window portion 108 of bobbin so that tooth
The part tooth of wheel 400 can engage through window portion 108 with the tooth of ring gear 105.As long as the tooth of gear 105 can be with gear 400
The engagement of part tooth, then the unlimited position for being shaped as window portion 108.In addition, window portion 108, which does not limit, forms 1 position of bobbin,
It can also be formed at multiple positions.Permanent magnet 107, which is accommodated in, to be formed in the magnetic box of magnetic box 106.It is expressed as in Fig. 3
10 permanent magnets are accommodated in magnetic box 106.But this composition is only one, the permanent magnet 1 of magnetic box 106 is accommodated in
As long as number at least one.
Permanent magnet 107 preferably uses rare earth element magnet.In general, compared with the ferrite magnet of formed objects, it is dilute
Great soil group magnet has stronger magnetic force (coercivity).Such as samarium cobalt magnet or neodium magnet can be used as rare earth element magnet.
Particularly preferred neodium magnet in embodiments of the present invention.
Neodium magnet is in general, compared with samarium cobalt magnet, with stronger magnetic force (coercivity) during formed objects.Therefore,
For example small-sized permanent magnet can be used.Or compared with using the situation of the samarium cobalt magnet of phase size, by using neodymium magnetic
Iron can improve the output (can take out larger energy) of energy conversion device.But embodiments of the present invention are not arranged
Permanent magnet in addition to rare earth element magnet.Permanent magnet 107 is certainly possible using ferrite magnet.
Magnetic box 106 is formed as ring-type, and its middle and upper part is provided with opening.Therefore, permanent magnet 107 is from the upper of magnetic box 106
Side is inserted into magnetic box., can also be in segment magnet box by the way that permanent magnet 107 is inserted into magnetic box to form annular
Insert permanent magnet.
Magnetic box 106 is made by nonmagnetic substance.As long as nonmagnetic substance, then the material of magnetic box 106 is not special
Limit.In one embodiment, magnetic box 106 is formed by nonmagnetic metal (such as aluminium).If the temperature of permanent magnet 107
Du Taigao, then permanent magnet 107 be possible to subtract magnetic.That is, the magnetic force of permanent magnet 107 is possible to die down.By using non magnetic
Metal forms magnetic box 106, can efficiently discharge heat caused by permanent magnet 107 to outside, therefore, it is possible to drop
The possibility for the problem of low yield life is such.In another embodiment, magnetic box 106 is formed by resin material.By by resin
Material forms magnetic box 106, can mitigate the weight of magnetic box 106.
Gear 105 be mechanically fixed to on magnetic box 106.Gear 105 is formed as ring-type, and magnetic box 106 is concentric matches somebody with somebody
Put.Screw is used for stationary annular gear 105.Screw runs through gear, and is fixed on magnetic box 106.
The upper surface of ring gear 105 is processed to：So that the head of screw does not highlight from the upper surface of gear 105.
Ring gear 105 is formed with teeth to be meshed with the little gear 400 in main duct.Ring gear 105 is relative to magnetic box
The central shaft rotation of 106 main duct.
The width of ring gear 105 is wider than the width of magnetic box 106.Ring gear 105 is being installed on magnetic box 106
When, ring gear 105 extends from magnetic box 106 to the internal diameter direction of magnetic box 106.
Hollow toroidal cavity is formed in making toroidal coil frame 102, for storing magnet ring, i.e., stores and is accommodated with forever
The magnetic box 106 and gear 105 of long magnet.Making toroidal coil frame 102 be formed as with magnetic box 106, gear 105 have it is public in
The ring-type of the heart, the convenience center are the axis of main duct.
Wheel 104 is spherical, and it is fixed on magnet retainer by wheel carrier.The plurality of wheel is uniformly arranged on magnet guarantor
To hold on frame, multiple wheels contact with the inwall of bobbin inner chamber, when ring gear 105 is rotating in the presence of little gear, magnetic
The rotation of can 106, wheel 104 are rotated.With the rotation of wheel 104,106 smooth rotation of magnetic box can be made.
In order to disperse total weight of the weight of magnet ring, i.e., scattered magnetic box 106 and gear 105, the number of wheel 104
It is The more the better.Therefore, the number of wheel 104 is preferably more than 3.By 3 points of regulations, 1 plane.If the number of wheel 104 is
3, then by each wheel 104 and bobbin lumen contact, up-down vibration in the rotary course of magnetic box 105 can be prevented.
Wheel 104 is also required to the intensity with the weight for supporting magnetic box 106 and gear 105.Moreover, in magnetic box 105
When rotating at a high speed, wheel 104 also rotates at a high speed.It is therefore preferable that the light weight as much as possible of wheel 104, so as to rotate at a high speed.
Therefore, wheel 104 is formed by such as metal (such as aluminium).
During unmanned plane during flying, in order that middle stable rotation of the magnet shape in bobbin 102, is preferably protected in magnet
Hold below frame 105, the left side and the right side are uniformly arranged multiple wheels 104 respectively, are also uniformly arranged above ring gear more
Individual wheel 104.
N number of line coil 101 is uniformly wound on bobbin 102 at equal intervals.The wire rod of coil 101, the number of turn do not limit especially
It is fixed.In addition, bobbin 102 plays following effect：As the shape ring groove for being arranged at energy conversion device in frame 32
In, so that during unmanned plane during flying, the kinetic energy that motor exports is converted into electric energy.
The rectangular cross-section of magnetic box 105 or circle.And the section of the annular groove of frame is also rectangle or circle
Shape.Because the section of bobbin 102 is also rectangle or circle, therefore can shorten magnetic box 105 and coil 101 as much as possible
The distance between.Thereby, it is possible to the reduction of the magnetic coupling force between suppression coil 101 and permanent magnet 107.
5 coils 101 are shown in Fig. 3.But as long as minimum 1 of the number of coil 101, is not limited especially
It is fixed.When the number of coil 101 is multiple, preferably these multiple coils equiangularly configure as defined in bobbin on circumference.
In Fig. 3 to Fig. 4, when being rotated by the drive gear 400 of engine 600, gear 400 is through the window portion on bobbin 102
Engaged with ring gear 105 and drive ring gear to rotate, ring gear is maintained at the cavity rotation in bobbin 102 with moving magnet
Turn, because the magnet set by the present invention is to be arranged in N polarity, S polarity, S polarity, N polarity ..., so in magnet in coil
During middle rotation, the rotary magnetic place of alternation is generated in each of the coils, so as to generate electric energy in coil.With reference to attached
The power set of Fig. 5-6 description present invention.
Fig. 5 is the schematic diagram of the power set for the fixed-wing unmanned plane that invention provides, as shown in figure 5, according to the present invention one
Individual embodiment, the rectified device 300 of electric energy caused by the generator 100 of fixed-wing unmanned plane is rectified into direct current, then charged
Device 500 is filled into battery E1, and three motors are given using electric power storage E1, such as motor 200A, motor 200B and motor 200C and
Other electrical equipments provide electric energy.According to one embodiment of the invention, to prevent battery from holding power supply energy to charger, filling
A diode D1 is provided between the positive electricity source output terminal of electrical equipment and the positive terminal of battery, diode D1 positive pole is connected to
The positive electricity source output terminal of charger 500, negative pole are connected to battery E1 positive pole.The common port of charger 500 is connected to poultry electricity
The negative pole end in pond.In battery E1 electric energy is provided by diode D1 to motor.According to one embodiment of the invention, unmanned plane
Blade is driven by three motors, and the rotating speed of each motor is controlled by circuit for controlling motor according to instruction.
According to one embodiment of the invention, motor includes shell, the stator and rotor being placed in shell, is set on the stator
Be equipped with first stator winding coil U1, V1 and W1, second stator winding coil U2, V2 and W2 and the 3rd stator winding coil U3,
V3 and W3, first stator winding coil U1, V1 and W1 and second stator winding coil U2, V2 and W2 are motor winding coil,
Their each single item is set with groove respectively, first stator winding coil U1, V1 and W1 and the 3rd stator winding coil U3, V3 and W3
It is staggered respectively, as shown in Figure 6.Motor also includes the speed encoder VS1 rotated together with the axle of rotor and rectification encodes
Device CD1, circuit for controlling motor include motor driver DR1, in addition to Polarity Control unit PC1, speed control unit VC1 and
Pulse width modulation controlled unit PWM1, motor driver DR1 in response to control signal carry out switch control semiconductor device,
With by power transmission to the first stator winding.Herein, because electric-motor drive unit DR1 is arranged to the stator winding confession to stator
Direct current is answered, therefore its structure can change according to the type (number of phases of stator winding) of motor..
Polarity Control unit PC1 receives the photosensor signal of the rectification encoder CD1 from motor, and is driven to motor
Cells D R1 sends the control signal for realizing electric rectification device, so as to realize electric rectification device.Speed control unit VC1, which is received, to be come
From the encoder VS1 signals of the speed encoder of motor, and to pulse width modulation controlled unit PWM1 transmission speed control signals.Electricity
Machine control circuit also includes DC rectifier H1, and to the 3rd stator winding from motor, (portion of energy reclaims the DC rectifier
Coil) caused by alternating current carry out rectification and produce Rectified alternating current, the filtered device C1 filtering of direct current produces direct current.
Circuit for controlling motor also includes Polarity Control unit PC2, speed control unit VC2 and pulse width modulation controlled unit PWM2, pole
Property control unit PC2 receive the photosensor signal of the rectification encoder CD1 from motor, and sent out to electric-motor drive unit DR2
The control signal for realizing electric rectification device is sent, so as to realize electric rectification.Speed control unit VC2 receives the speed from motor
The encoder VS2 signals of encoder, and to pulse width modulation controlled unit PWM2 transmission speed control signals.The flight control of unmanned plane
Device processed sends the control of rotating speed according to the instruction of transmission to pulse width modulation controlled unit PWM1 and pulse width modulation controlled unit PWM2
Signal.Pulse width modulation controlled unit PWM1 and pulse width modulation controlled unit PWM2 drives to motor driver DR1 and motor respectively
Device DR2 sends the pwm signal for being controlled according to control signal to the rotating speed of motor.
According to one embodiment of the invention, the stator of motor also includes multiple annular silicon chips stacked on top of each other, some
Energy regenerating slot for winding, multiple motor slot for windings, multiple magnetic flux slot segmentations, multiple offset eliminate groove, are wrapped in appropriate section
Some energy regeneratings winding around energy regenerating slot for winding and it is wrapped in multiple around phase induction motor slot for winding
Motor winding.
Motor winding is used as making the motor of rotor rotation by receiving come the electric power of motor circuit.Portion of energy is returned
Winding is received to be used as producing electric power using by the electric current that rotor rotary inductive goes out.In this embodiment, slot for winding and winding is total
Number is 6, is in 3 regions.U1/U2, U3, V1/V2, V3, W1/W2, W3 are arranged as follows along stator is circumferential.First
Stator winding is connected to motor driver DR1, and the second stator winding is connected to motor driver DR2.Second stator winding
It is connected to corresponding DC rectifier CH1.When the winding parallel winding of each phase, these windings are entered by phase and polarity
Row is distributed and winds and be connected on corresponding wire, each other without any connection.
Further, since it is provided with width equalization relative narrower between motor slot for winding and portion of energy recovery slot for winding
Magnetic flux slot segmentation, therefore magnetic flux is divided, so as to blocked can the magnetic flux of electric motor winding flow to portion of energy recovery winding
Path so that the magnetic flux of motor winding only flows to the magnetic field of stator, so that electronic function more effectively drives.This
Outside, magnetic flux slot segmentation makes the excitation width around motor slot for winding keep constant, so that motor slot for winding can drive
Dynamic period does not influence adjacent winding slots or not operated with being influenceed by adjacent winding slots.
Reclaim that width is provided between slot for winding and adjacent part energy regenerating slot for winding is impartial and relatively in portion of energy
Narrow counteracting eliminates groove, is offseted with eliminating magnetic flux, so as to improve portion of energy organic efficiency.
Rotor includes multiple silicon chips stacked on top of each other and multiple flat permanent magnets, these permanent magnets are radially embedded in
In stacked silicon chip.Thus, permanent magnet is designed to have strong magnetic force, so that relatively wide magnetic field table can be formed
Face, therefore magnetic flux can be made to be gathered on the magnetic field surface, increase the magnetic flux density on magnetic field surface.The number of poles of rotor is according to stator
Depending on number of poles.
Rotor is described in detail below, three permanent magnets are spaced equally from each other by be opened and be embedded in stacked circular silicon chip
In, and polarity is in N polarity and S poles interlaced arrangement.Non- magnetic core is provided with the center of stacked circular silicon chip, to support permanent magnetism
Body and silicon chip, and it is provided with axle through the center of non-magnetic core.Permanent magnet is formed as even shape, and is formed between permanent magnet
There is idle space.
It is designed to have using the motor of permanent magnet and is mutually tied with the active energy of stator by energy by rotor
The revolving force for closing and being formed.In order to realize the super efficiency in motor, strengthen rotor is very important by energy.Cause
This, uses " neodymium (neodymium, iron, boron) " magnet in the present embodiment.These magnets increase magnetic field surface and magnetic flux is gathered
On the magnetic field of rotor, so as to increase the magnetic flux density in magnetic field.
At the same time, rectification encoder and speed encoder is set to carry out the rotation of controlled motor.Rectification encoder CD1 and speed
Degree encoder VS1 is installed in the outer recess of motor body shell, is rotated together with the rotary shaft with rotor.
The power section of the unmanned plane provided in the present invention, the kinetic energy that diesel engine exports is converted into electric energy to provide
To in the motor of unmanned plane, in the motor due to being provided with the 3rd stator winding on stator, in unmanned plane during flying process
In have collected portion of energy, the energy of the collection is applied to the second stator winding, with change put in the first stator winding
Electric power, so as to save energy, it can so make the flight time of extension unmanned plane.
Unmanned plane is communicated with ground-based server, is described in detail with reference to Fig. 7.
Fig. 7 is the composition frame chart of ground-based server, as shown in fig. 7, ground-based server provided by the invention includes processor
20th, input/output interface, network adapter 23, communication module 23, dual-mode antenna 24 and memory 25, wherein, dual-mode antenna 24
For spatial electromagnetic ripple signal to be converted into electric signal, and communication module 23 is supplied to, communication module 23 includes digital baseband list
Member, radio frequency unit and communication card, communication card are connected to digital baseband unit by slot, when transmitting, the digital baseband unit
Source coding and channel coding is carried out for the information to be transmitted processor, then sends radio frequency unit, the radio frequency list to
Member includes transmitter, and the transmitter is used to the information that digital baseband unit transmission comes is encrypted and is modulated to by PN sequences
Power amplifier is then carried out in the carrier signal that PN codes caused by generator control, space is transmitted into finally by antenna；Radio frequency list
Member also includes receiver, and receiver is used to the signal that antenna receives is demodulated and decrypted, and then sends the data to numeral
Base Band Unit, digital baseband unit are used to digital baseband signal carrying out channel decoding, source coding, take out control terminal and send
The data come or instruction.The data frame that processor 20 is sent to UAV system control system unpacked and by input/
Output interface 21 is shown that processor is handled the acquired data that obtain according to user instruction, judges ground over the display
The position of Area Objects, unmanned plane during flying instruction is made according to the position of ground target, is then packaged into unmanned plane during flying instruction
Flight directive frame, UAV system flight control system is sent to by communication module 14 and antenna 18.Ground-based server will be connect
Receive nobody printed with the image that borne control system is sent by printer, can also store in memory 25, it is also logical
Cross network adapter be sent in other users or server memory at least also stored for ground receiver end comprise at least deposit
Contain decryption program and gray-scale map.Input/output interface 21 can also connect keyboard and mouse, and keyboard is used for input instruction or held
The some operations of row, mouse are used to perform some operations.
In the present invention, the composition of the communication module in communication subsystem and ground-based server in UAV system control system
Identical, included transmitter and receiver composition are also identical, and this detailed description is described with reference to Fig. 8-12.
Fig. 8 is the composition frame chart that the present invention provides UAV Communication subsystem radio frequency part, and as shown in Fig. 8, unmanned plane leads to
Letter subsystem radio frequency commands troops point to include transmitter, receiver, frequency synthesizer 801, frequency source 829 and PN codes generator 828, institute
Stating transmitter includes radio-frequency modulator (modulator) 805, and it is used to ciphertext data to be sent being modulated to by frequency synthesizer
Caused by 801 on first frequency signal, the frequency synthesizer 801 PN codes according to caused by the PN codes generator 828 will frequency
The different frequency of frequency synthesis caused by rate source, the receiver include frequency mixer 808, and the frequency mixer 808 is used to receive
Signal and frequency synthesizer 801 caused by second frequency signal be mixed so as to demodulate the ciphertext transmitted by transmitting terminal
Data.Transmitter also comprises at least the system sequence generator 801 of encryption equipment 803 and two, and the length of two system sequences is one
Individual byte, data bit from high to low are designated as K [n] in order, and clear data to be sent is divided into M byte by encryption equipment 803,
Any bit of any byte is designated as D [m, k], then any bit S [m, k] of M byte of ciphertext data is calculated according to following formula：
M ∈ { 121 ..., M }, wherein, k and n are determined by the password set.
Receiver also includes decipher 809, and institute's receiver includes decipher 809 and binary pseudo-random sequence produces
The ciphertext data of reception are divided into M byte by device, decipher 809, and ciphertext data deciphering is obtained into clear data according to following formula：K ∈ { 0,1 ..., K-1 }, n ∈ { 0,1 ..., N-1 } m ∈ { 121 ..., M }, wherein, k and n
Determined by the password set.
Radio frequency part also includes duplexer 806 and antenna 804, and the power amplifier 807 and frequency mixer 808 pass through duplexer
It is connected to antenna 804.
According to one embodiment, frequency synthesizer 801 includes frequency multiplier 825, frequency multiplier 827, frequency multiplier 820, first and moved
Phase device 824, phase shifter 823, phase shifter 830, multiplier 821, multiplier 822 and adder 826, wherein, frequency multiplier 825 is used
Frequency multiplication, which is carried out, in the signal provided frequency source obtains the first signal；Phase shifter 824 is used to obtain the progress phase shift of the first signal
The mutually orthogonal secondary signal with the first signal；The signal progress frequency multiplication that frequency multiplier 827 is used to provide frequency source obtains the 3rd
Signal；Phase shifter 823 is used to obtain fourth signal mutually orthogonal with the 3rd signal to the progress phase shift of the 3rd signal；Multiplier is used
821 to secondary signal with the 4th signal in being multiplied, and is supplied to adder；Multiplier 822 is used for the first signal and the
Three signals are multiplied, and are supplied to adder；The signal that adder 826 is provided multiplier 821 and multiplier 822 adds
Method computing, frequency multiplier 820 is then supplied to so as to obtain first frequency signal, the output signal of the adder 826 is shifted
Second frequency signal is obtained after the phase shift of device 830.
Fig. 9 is the composition frame chart of frequency source provided by the invention, as shown in figure 9, frequency source provided by the invention 829 wraps
Include：Crystal oscillator, respectively than for K frequency divider, phase discriminator, low pass filter, voltage controlled oscillator VCO and respectively than for N's
Frequency divider, wherein, crystal oscillator is used to produce fixed frequency signal and be supplied to frequency divider, and frequency divider enters to crystal oscillator
Row divides and is supplied to phase discriminator；VCO produces VCO signal according to the voltage provided with reference to Vf and low pass filter, and passes through
The phase discriminator that frequency divider frequency dividing then provides, phase discriminator compare the phase for the signal that frequency divider and frequency divider provide and through low pass filtereds
Ripple device LPF filters out high frequency so as to produce voltage signal, and the voltage signal is superimposed with Vf further to control frequency caused by VCO to believe
Number.
Figure 10 is voltage controlled oscillator provided by the invention (VCO) circuit diagram, as shown in Figure 10, provided by the invention voltage-controlled
Oscillator (VCO) voltage controlled oscillator includes film body acoustic wave oscillator BAWF1, film body acoustic wave oscillator BAWF2, field-effect
Pipe T3, FET T4, FET T7, FET T5, FET T6, FET T8 and constant-current source, wherein, field effect
Should pipe T3 source electrode be connected to FET T4 drain electrode, FET T3 drain and gate is connected to power supply EC；Field-effect
Pipe T7 grid is connected to MOS field effect transistor T3 source electrode, and drain electrode is connected to power supply EC, and source electrode is connected to constant-current source；FET T5's
Source electrode is connected to effect pipe T6 drain electrode, and FET T5 drain and gate is connected to power supply EC；MOS field effect transistor T8 drain electrode connects
Power supply EC is connected to, grid is connected to MOS field effect transistor T5 source electrode, and source electrode is connected to permanent power supply；The grid T4 and FET of FET
T5 grid is connected, and is signal input part, and FET T4 source electrode and FET T6 source electrode are signal output part.
Effect pipe T4 drain electrode is connected to film bulk acoustic resonator BAWF1 first end；FET T6 drain electrode is connected to thin-film body
Acoustic resonator BAWF2 first end；FBAR BAWF1 the second end and FBAR BAWF2
The second end be connected, and be voltage controling end.Control voltage Vf is connected to control terminal by resistance R10.
Voltage controlled oscillator (VCO) also includes FET T9, FET T10, FET T11 and constant-current source CS, permanent
Stream source CS one end is connected to power supply EC, and the other end is connected to FET T11 drain electrode, FET T11 source ground,
Grid is connected to its drain electrode, and is connected to FET T9 grid and FET T10 grid, FET T9 source electrode
Ground connection, drain electrode are connected to FET T7 source electrode to provide constant current to it；FET T10 source ground, drain electrode
FET T8 source electrode is connected to provide constant current to it.
Figure 11 is the circuit diagram of transmitter medium-high frequency power amplifier (power amplifier) provided by the invention, as shown in figure 11, this
The high-frequency power amplifying circuit that invention provides includes high-frequency signal input IN, input matching network, amplifier, output matching net
Network, high-frequency signal output end OUT and biasing circuit, amplifier are made up of high power tube T44, and high-frequency signal input IN is through input
Matching network 300 carries out impedance matching, and inputs a signal into high power tube T44 base stage, and high power tube T44 colelctor electrode is defeated
The signal gone out carries out impedance matching through output matching network and antenna loop and then inputs a signal into antenna loop, biasing circuit
It is made up of transistor T43 and resistance R47, transistor T43 base stages are connected to control voltage Vcon, transistor T43 through resistance R41
Colelctor electrode be connected to power Vcc 1, emitter stage provides electric current through resistance R47 to high power tube T44 base stage.
Preferably, high-frequency power amplifying circuit also includes temperature-compensation circuit, temperature-compensation circuit include transistor T41,
Transistor T42, resistance R43, resistance R43 and resistance R44, wherein, transistor T42 base stage is connected to resistance R42 first end,
Resistance R42 the second end is connected to resistance R41 first end, and resistance R41 the second end is connected to control voltage Vcon, resistance
R41 first end is connected to transistor T41 colelctor electrode and transistor T43 base stage simultaneously；Transistor T42 colelctor electrodes are through resistance
R43 is connected to power Vcc 1, and emitter stage is connected to ground through resistance R44, and is connected to transistor T41 base stage；Transistor T41
Grounded emitter, colelctor electrode be connected to electricity group R41 first end.Temperature-compensating electricity of the present invention as a result of such structure
Road so that the temperature compensation capability of high-frequency power amplifying circuit greatly improves.
According to an embodiment, high-frequency power amplifying circuit also includes steady potential circuit, and the mu balanced circuit includes electric capacity C41
With diode D41, electric capacity C41 one end is connected to transistor T43 base stage, other end ground connection；The plus earth of diode, bear
Pole is connected to transistor T43 base stage.
Figure 12 is the schematic diagram of encryption equipment ciphering process provided by the invention, as shown in figure 12, binary pseudo-random sequence
The length Nbit of two system sequences caused by generator 802, data bit from high to low are designated as K [n] in order, and encryption equipment will
Clear data to be sent is divided into M equal portions, and every part of length is Nbit, and any bit of any equal portions is designated as D [m, k], then ciphertext
Any bit S [m, k] of M byte of data is calculated according to following formula：
Wherein, k ∈ { 0,1 ..., K-1 }, n ∈ { 0,1 ..., N-1 } m ∈ { 121 ..., M }, n and k are determined by the password inputted.
In Fig. 9, the length of two system sequences caused by binary pseudo-random sequence generator 802 is a byte,
Each byte includes 8bit, and data bit from high to low is designated as K [n] in order, and clear data to be sent is divided into M byte,
The length of each byte is 8bit, and any bit of any byte is designated as D [m, k] and clear data will be encrypted according to following formula
To ciphertext data：
Wherein K=N=8, n are determined by the password set.
Alternatively, following preferable mode can also be used to be encrypted：Binary pseudo-random sequence generator 801 produces
The length of two system sequences be a byte, each byte includes 8bit, and data bit from high to low is designated as K in order
[n], clear data to be sent is divided into M byte, the length of each byte is 8bit, any bit of any byte be designated as D [m,
K] clear data will be encrypted according to following formula to obtain ciphertext data
Wherein K=N=8, k are determined by the password inputted
Figure 13 is the schematic diagram of decryptor decryption process provided by the invention, as shown in figure 13, binary pseudo-random sequence produces
The length Nbit of two system sequences caused by device 802, data bit from high to low are designated as K [n] in order, and decipher will receive
Ciphertext data be divided into M equal portions, every part of length is Nbit, and any bit of any equal portions is designated as S [m, k], then decrypt after in plain text
Any bit D [m, k] of M byte of data is calculated according to following formula：
In formula, k ∈ { 0,1 ..., K-1 }, n ∈ { 0,1 ..., N-1 } m ∈ { 121 ..., M }, n and k are true by the password inputted
It is fixed.
According to an embodiment, the length that binary pseudo-random sequence produces two system sequences caused by 802 is a word
Section, each byte include 8bit, and data bit from high to low is designated as K [n] in order, and the ciphertext data of reception are divided into M byte,
The length of each byte is 8bit, and any bit of any byte is designated as S [m, k] and ciphertext data will be decrypted according to following formula
To clear data：
Wherein K=N=8, n are determined by the password set.
Alternatively, following preferable mode can also be used to be encrypted：Binary pseudo-random sequence generator 802 produces
The length of two system sequences be a byte, each byte includes 8bit, and data bit from high to low is designated as K in order
[n], the ciphertext data of reception are divided into M byte, the length of each byte is 8bit, and any bit of any byte is designated as S [m, k]
Ciphertext data will be decrypted to obtain clear data according to following formula：
Wherein K=N=8, k are determined by the password set.
According to one embodiment, binary pseudo-random sequence generator can also be replaced by password storage table, from storage
Select which password to be selected by user in table, as long as in unmanned plane before execution task, set password, then perform the task phase
Between, unmanned plane and ground-based server or ground based terminal can so strengthen communication with regard to carrying out encryption and decryption to data using the password
Security.
In system provided by the invention, due to carrying out parallel add using the binary system pseudorandom ordered pair data of a word length
Decryption, therefore cost has been saved, and accelerate encryption/decryption speed.
In addition, encryption solution method provided by the invention can be by the computer program of computer usable program code come real
Existing, computer usable program code is stored in the computer-readable recording medium in data handling system, such as disk, light
In disk, hard disk etc..
General principle, principal character and the advantages of the present invention of the present invention is described above in association with accompanying drawing.The skill of this area
For art personnel it should be appreciated that the present invention is not limited to the above embodiments, described in above-described embodiment and specification is explanation
The principle of the present invention, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent defines.
Claims (7)
- The system 1. a kind of unmanned plane is countercharged, it includes transmitter, receiver, frequency synthesizer, frequency source and PN code generators, institute Modulator is stated to be used to ciphertext data to be sent being modulated to the first frequency signal as caused by frequency synthesizer, the frequency The synthesizer different frequency of PN codes frequency synthesis caused by by frequency source, receiver according to caused by the PN codes generator Including frequency mixer, the frequency mixer is used to second frequency signal caused by the signal and frequency synthesizer of reception being mixed So as to demodulate the ciphertext data transmitted by transmitting terminal, it is characterised in that the transmitter include encryption equipment and binary system puppet with Machine sequence generator, the length of binary pseudo-random sequence is a byte, and data bit from high to low is designated as K [n] in order, Characterized in that, clear data to be sent is divided into M byte by encryption equipment, any bit of any byte is designated as D [m, k], then Any bit S [m, k] of M byte of ciphertext data is calculated according to following formula：Wherein, , n and k are determined by the password inputted.
- The system 2. unmanned plane according to claim 1 is countercharged, it is characterised in that the receiver enters including decipher and two The ciphertext data of reception are divided into M byte by pseudo-random sequence generator processed, decipher, are obtained ciphertext data deciphering according to following formula To clear data：。
- The system 3. unmanned plane according to claim 2 is countercharged, it is characterised in that frequency synthesizer includes the first frequency multiplier （825）, the second frequency multiplier（827）, frequency tripler（820）, the first phase shifter（824）, the second phase shifter（823）, the 3rd move Phase device（830）, the first multiplier（821）, the second multiplier（822）And first adder（826）, wherein, the first frequency multiplier （825）Signal for providing frequency source carries out frequency multiplication and obtains the first signal；First phase shifter（824）For to the first signal Carry out phase shift and obtain the secondary signal mutually orthogonal with the first signal；Second frequency multiplier（827）For the letter provided frequency source Number carry out frequency multiplication obtain the 3rd signal；Second phase shifter（823）Obtained and the 3rd signal phase for carrying out phase shift to the 3rd signal Mutually the 4th orthogonal signal；First multiplier is used（821）In being multiplied to secondary signal with the 4th signal, and it is supplied to first Adder；Second multiplier is used to be multiplied to the first signal and the 3rd signal, and is supplied to first adder；First addition The signal that device is provided the first multiplier and the second multiplier carries out add operation, is then supplied to frequency tripler（820）From And first frequency signal is obtained, the output signal of the adder is through the 3rd phase shifter（830）Second frequency letter is obtained after phase shift Number.
- The system 4. unmanned plane according to claim 3 is countercharged, it is characterised in that first frequency multiplier, the second frequency multiplier Controlled with frequency multiplication number PN codes as caused by PN sequence generators of frequency tripler.
- The system 5. unmanned plane according to claim 4 is countercharged, it is characterised in that frequency source includes voltage controlled oscillator（VCO）.
- The system 6. unmanned plane according to claim 5 is countercharged, it is characterised in that voltage controlled oscillator（VCO）Including thin-film body Acoustic wave oscillator BAWF1, film body acoustic wave oscillator BAWF2, FET T3, FET T4, FET T7, field-effect Pipe T5, FET T6, FET T8 and constant-current source, wherein, FET T3 source electrode is connected to FET T4 leakage Pole, FET T3 drain and gate are connected to power supply；FET T7 grid is connected to MOS field effect transistor T3 source electrode, drain electrode Power supply is connected to, source electrode is connected to constant-current source；FET T5 source electrode is connected to effect pipe T6 drain electrode, FET T5's Drain and gate is connected to power supply；MOS field effect transistor T8 drain electrode is connected to power supply, and grid is connected to MOS field effect transistor T5 source electrode, source electrode connection In permanent power supply；The grid T4 of FET is connected with FET T5 grid, and is signal input part, FET T4 source Pole and FET T6 source electrode are signal output part；FET T4 drain electrode is connected to film bulk acoustic resonator BAWF1's First end；FET T6 drain electrode is connected to FBAR BAWF2 first end；FBAR BAWF1 the second end is connected with FBAR BAWF2 the second end, and is voltage controling end.
- The system 7. unmanned plane according to claim 6 is countercharged, it is characterised in that voltage controlled oscillator（VCO）Also include field to imitate Should pipe T9, FET T10, FET T11 and constant-current source, one end of constant-current source is connected to power supply EC, and the other end is connected to FET T11 drain electrode, FET T11 source ground, grid are connected to its drain electrode, and are connected to FET T9's The grid of grid and FET T10, FET T9 source ground, drain electrode are connected to FET T7 source electrode with to it Constant current is provided；FET T10 source ground, drain electrode are connected to FET T8 source electrode to provide constant electricity to it Stream.
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