CN107885226A - A kind of flight control assemblies - Google Patents
A kind of flight control assemblies Download PDFInfo
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- CN107885226A CN107885226A CN201711225995.1A CN201711225995A CN107885226A CN 107885226 A CN107885226 A CN 107885226A CN 201711225995 A CN201711225995 A CN 201711225995A CN 107885226 A CN107885226 A CN 107885226A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 63
- 238000000429 assembly Methods 0.000 title claims abstract description 31
- 230000000712 assembly Effects 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 claims description 50
- 238000006243 chemical reaction Methods 0.000 claims description 17
- 238000013500 data storage Methods 0.000 claims description 9
- 241001274660 Modulus Species 0.000 claims 1
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of flight control assemblies, wherein, the flight control assemblies include：Collecting mechanism, flight controller and executing agency；The collecting mechanism is connected with the flight controller, and the collecting mechanism is used to gather gps signal and flight attitude signal, and the gps signal and flight attitude signal are sent to the flight controller；The flight controller is connected with the executing agency, the gps signal and the flight attitude signal is handled to obtain flight control signal, and the flight control signal is sent to the executing agency；The executing agency carries out flight control according to the flight control signal.Flight control assemblies provided by the invention are applied to that during II type target drones automatically controlling for II type target drones can be realized.
Description
Technical field
The present invention relates to technical field of flight control, more particularly to a kind of flight control assemblies.
Background technology
II type numeral target drones are the upgraded products for the II type target drones developed the seventies.Because its stable performance, work
Reliably, the advantages that cost-effective, so having been equipped with there are about nearly thousand frame to army, reserve duty in short time several years II type target drone.
But current II type numerals target drone is the II type target drones of transmitting-receiving separation full manual control mostly, it is impossible to realizes automatic control
How system, therefore, realize automatically controlling as those skilled in the art's technical problem urgently to be resolved hurrily for II type target drones.
The content of the invention
It is contemplated that at least solve one of technical problem present in prior art, there is provided a kind of flight control assemblies,
To solve the problems of the prior art.
As one aspect of the present invention, there is provided a kind of flight control assemblies, wherein, the flight control assemblies include：
Collecting mechanism, flight controller and executing agency；
The collecting mechanism is connected with the flight controller, and the collecting mechanism is used to gather gps signal and flight attitude
Signal, and the gps signal and flight attitude signal are sent to the flight controller；
The flight controller is connected with the executing agency, at the gps signal and the flight attitude signal
Reason obtains flight control signal, and the flight control signal is sent to the executing agency；
The executing agency carries out flight control according to the flight control signal.
Preferably, the flight controller includes main control microprocessor and the reset being connected with main control microprocessor electricity
Road, data storage, communication interface, A/D translation circuits, D/A translation circuits and control output circuit；
The main control microprocessor is used to the gps signal and flight attitude signal are handled to obtain flight control letter
Number；
The reset circuit is used for the normal work for ensureing the main control microprocessor；
The data storage is used to store the data in the course of work of the main control microprocessor；
The communication interface, which is used to realize with the collecting mechanism, to be communicated to connect；
The A/D translation circuits are used to the input signal of the flight controller carrying out analog-to-digital conversion；
The D/A translation circuits are used to the signal that the main control microprocessor handles to obtain carrying out digital-to-analogue conversion；
The control output circuit is used to be controlled the operation flight of target drone.
Preferably, the flight controller also includes photoelectrical coupler, the photoelectrical coupler and the master control microprocessor
Device connects, and the photoelectrical coupler is used to enter the input signal of the flight controller row format conversion.
Preferably, the flight attitude signal includes flying height signal and magnetic heading signal.
Preferably, the collecting mechanism include GPS gathers module, height sensor, communication module, magnetic course transmitter,
Gyroscope and engine；
The GPS gathers module is connected with the photoelectrical coupler, and the GPS gathers module is used to gather gps signal；
The height sensor is connected with the communication interface, and the height sensor is used to gather flying height signal；
The communication module is connected with the communication interface, and the communication module is used to realize communication link with the communication interface
Connect；
The magnetic course transmitter is connected with the communication interface, and the magnetic course transmitter is used to gather magnetic heading signal；
The gyroscope is connected with the A/D translation circuits, and the gyroscope is used to gather gyro voltage；
The engine is connected with the A/D translation circuits, and the engine is used to produce supply voltage.
Preferably, the communication module includes wireless communication module.
Preferably, the executing agency includes lifting steering wheel, aileron steering wheel, assignment instructions passage and air door steering wheel；
The lifting steering wheel and the aileron steering wheel are connected with the D/A translation circuits, the lifting steering wheel and the aileron
Steering wheel is used for the flight attitude that target drone is adjusted according to the flight control signal；
The assignment instructions passage and the air door steering wheel are connected with the control output circuit, the assignment instructions passage and
The air door steering wheel is used for the normal tasks flight for ensureing the target drone under the control of the control output circuit.
Preferably, the communication interface includes RS485 communication interfaces.
Preferably, the main control microprocessor includes AT89S52 chips, and the reset circuit includes X5045P chips.
Preferably, the A/D translation circuits include 12 analog-digital converters, and the D/A translation circuits include 8 inputs and locked
Storage, 8 DAC registers, 8 D/A change-over circuits and conversion control circuit.
Flight control assemblies provided by the invention, by gathering gps signal and flight attitude signal, to the letter collected
Number handled, obtain flight control signal, flight control is then carried out according to flight control signal, when the flight control assemblies
During applied to II type target drones, automatically controlling for II type target drones can be realized, while reduces airborne equipment quantity, furthermore it is possible to
Increase adjusting parameter function and can automatically control airline operation in real time so that operation is easier, enhances can control for aircraft
Property.
Brief description of the drawings
Accompanying drawing is for providing a further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural representation of flight control assemblies provided by the invention.
Fig. 2 is the structural representation of flight controller provided by the invention.
Fig. 3 is the structural representation of the embodiment of flight control assemblies provided by the invention.
Fig. 4 is the schematic block diagram of flight control assemblies provided by the invention.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
As one aspect of the present invention, there is provided a kind of flight control assemblies, wherein, as shown in figure 1, the flight control
Device 10 includes：Collecting mechanism 110, flight controller 120 and executing agency 130；
The collecting mechanism 110 is connected with the flight controller 120, the collecting mechanism 110 be used for gather gps signal and
Flight attitude signal, and the gps signal and flight attitude signal are sent to the flight controller 120；
The flight controller 120 is connected with the executing agency 130, to the gps signal and the flight attitude signal
Handled to obtain flight control signal, and the flight control signal is sent to the executing agency 130；
The executing agency 130 carries out flight control according to the flight control signal.
Flight control assemblies provided by the invention, by gathering gps signal and flight attitude signal, to the letter collected
Number handled, obtain flight control signal, flight control is then carried out according to flight control signal, when the flight control assemblies
During applied to II type target drones, automatically controlling for II type target drones can be realized, while reduces airborne equipment quantity, furthermore it is possible to
Increase adjusting parameter function and can automatically control airline operation in real time so that operation is easier, enhances can control for aircraft
Property.
As the embodiment of the flight controller 120, as shown in Fig. 2 the flight controller 120 includes master
Control microprocessor 121 and the reset circuit 122 being connected with the main control microprocessor 121, data storage 123, communication interface
124th, A/D translation circuits 125, D/A translation circuits 126 and control output circuit 127；
The main control microprocessor 121 is used to the gps signal and flight attitude signal are handled to obtain flight control
Signal；
The reset circuit 122 is used for the normal work for ensureing the main control microprocessor；
The data storage 123 is used to store the data in the course of work of the main control microprocessor；
The communication interface 124, which is used to realize with the collecting mechanism, to be communicated to connect；
The A/D translation circuits 125 are used to the input signal of the flight controller carrying out analog-to-digital conversion；
The D/A translation circuits 126 are used to the signal that the main control microprocessor handles to obtain carrying out digital-to-analogue conversion；
The control output circuit 127 is used to be controlled the operation flight of target drone.
In order to realize the form conversion to signal, specifically, as shown in Fig. 2 the flight controller 120 also includes photoelectricity
Coupler 128, the photoelectrical coupler 128 are connected with the main control microprocessor 121, the photoelectrical coupler 128 be used for pair
The input signal of the flight controller enters row format conversion.
Preferably, the flight attitude signal includes flying height signal and magnetic heading signal.
As the embodiment of the collecting mechanism 110, as shown in Figures 2 and 3, the collecting mechanism 110 includes
GPS gathers module 111, height sensor 112, communication module 113, magnetic course transmitter 114, gyroscope 115 and engine
116；
The GPS gathers module 111 is connected with the photoelectrical coupler 128, and the GPS gathers module 111 is used to gather GPS letters
Number；
The height sensor 112 is connected with the communication interface 124, and the height sensor 112 is used to gather flying height
Signal；
The communication module 113 is connected with the communication interface 124, and the communication module 113 is used for real with the communication interface
Now communicate to connect；
The magnetic course transmitter 114 is connected with the communication interface 124, and the magnetic course transmitter 114 is used to gather magnetic boat
To signal；
The gyroscope 115 is connected with the A/D translation circuits 125, and the gyroscope 115 is used to gather gyro voltage；
The engine 116 is connected with the A/D translation circuits 125, and the engine 116 is used to produce supply voltage.
Preferably, the communication module 113 includes wireless communication module.
As the embodiment of the executing agency 130, as shown in Figures 2 and 3, the executing agency 130 includes
Lift steering wheel 131, aileron steering wheel 132, assignment instructions passage 133 and air door steering wheel 134；
The lifting steering wheel 131 and the aileron steering wheel 132 are connected with the D/A translation circuits 126, the lifting steering wheel
131 and the aileron steering wheel 132 be used for according to the flight control signal adjust target drone flight attitude；
The assignment instructions passage 133 and the air door steering wheel 134 are connected with the control output circuit 127, the task
Instruction path 133 and the air door steering wheel 134 are used to ensure the target drone just under the control of the control output circuit 127
Normal operation flight.
It should be noted that the engine 116 of collecting mechanism 110 is also connected with the air door steering wheel 134 of executing agency 130,
For being powered for the air door steering wheel 134.
Preferably, the communication interface includes RS485 communication interfaces.
Preferably, the main control microprocessor includes AT89S52 chips, and the reset circuit includes X5045P chips.
Preferably, the A/D translation circuits include 12 analog-digital converters, and the D/A translation circuits include 8 inputs and locked
Storage, 8 DAC registers, 8 D/A change-over circuits and conversion control circuit.
The structure and its operation principle of flight control assemblies provided by the invention are carried out with reference to Fig. 1 to Fig. 4 detailed
Explanation.
As shown in figure 1, the flight control assemblies 10 include collecting mechanism 110, flight controller 120 and executing agency
130.Flight controller 120 includes main control microprocessor 121, and in order to increase reliability and stability, main control microprocessor is selected
The AT89S52 chips of Atmel companies, the chip have low in energy consumption, the high advantage of performance.The communication interface of flight controller 10 is excellent
Elect RS485 communication interfaces as.
As shown in Figures 2 and 3, the communication module 113 of collecting mechanism 110, magnetic course transmitter 114 and height sensor
112 connect with the input of the RS485 communication interfaces of flight controller 120, and the output end of RS485 communication interface circuits is by leading
Line connects the serial ports of main control microprocessor 121, and the output end of the gps signal acquisition module 111 of collecting mechanism 110 is connected by wire
The input of photoelectrical coupler 128 is connect, the output end of photoelectrical coupler 128 connects main control microprocessor 121 by wire；Collection
The gyroscope 115 of mechanism 110 and the output end of engine 116 are connected with the input of A/D translation circuits 125, by gyro voltage,
Steering wheel voltage and supply voltage input to A/D translation circuits 125, the output end of A/D translation circuits 125 and connect master control by wire
Microprocessor 121；The output end of reset circuit 122 connects the reset pin of main control microprocessor 121 by wire；Data storage
The output end of device 123 connects the input of main control microprocessor 121 by wire；The output end of main control microprocessor 121 passes through
Wire is connected with D/A translation circuits 126 and control output circuit 127 respectively, and D/A translation circuits 126 connect lifting steering wheel 131 and pair
Wing steering wheel 132, adjust the flight attitude of target drone；Control output circuit 127 connects the assignment instructions passage 133 and air door rudder of target drone
Machine 134.
The main control microprocessor 121 is CPU, is the core of whole flight controller, and entirely flight
Controller highest executable unit.It is responsible for the execution of whole flight controller instruction, the computing of mathematics and logic, and data are deposited
Storage and transmission, and internally input the control with externally exporting.Specifically it is responsible for gathering what A/D translation circuits 125 provided
Supply voltage, steering wheel voltage, the tilt of gyroscope and pitching voltage, also receive the communication data of RS485 interfaces transmission, height passes
Sensor data, magnetic course transmitter data and gps data, computing is carried out to all obtained data, target drone is obtained and is presently in
Positional information and flight attitude data, using 16 binary data forms, be sent into wireless communication module, be sent to ground control
Platform, while the data sent by parsing ground control cabinet, are controlled to target drone.
Wireless communication module, magnetic course transmitter, height sensor input signal connect A, B data signal, R0, RE, DE and
DI control signals connect main control microprocessor, so that main control microprocessor reads communication data, course and altitude information in real time； GPS
The input of the output termination photoelectrical coupler 128 of acquisition module 111, the output termination master control microprocessor of photoelectrical coupler 128
The input of device 121.Photoelectrical coupler 128 can be believed the RS232 Data Format Transforms that GPS gathers module 111 exports for TTL
Number, main control microprocessor 121 can carry out the identification of data, obtain the current location information of target drone.
In order to strengthen the stability of input voltage, the power supply of the A/D translation circuits 125 and the indirect 0.1uF electric capacity on ground
The indirect 0.1uF electric capacity C13 on C12, reference voltage and ground, gyro voltage, steering wheel voltage and supply voltage connect analog-to-digital conversion respectively
The input of device, the control signal of analog-digital converter connect main control microprocessor, and main control microprocessor can collects current
The flight attitude of supply voltage and current target drone, to carry out correctly flight control.
The reset circuit 122 is house dog type reset circuit, ensures processor steady operation；
The data storage 123 is to be connected by eight D-latch of ternary output with main control microprocessor 121, for depositing
Store up the automatic line of flight of parameter, GPS location information and target drone that target drone flies, its read access or write cycle time and static RAM
Equally, without outer member.When target drone flight, current flight attitude is obtained by gathering each sensing data, then
Read flight parameter, the accurate flight control of the automatic line of flight progress of GPS location information and target drone of data storage；
The D/A translation circuits 126 are the D/A conversion chips of 8 bit resolutions, completely compatible with main control microprocessor 121.D/A
Translation circuit 126 is made up of 8 input latches, 8 DAC registers, 8 D/A change-over circuits and conversion control circuit.It will
The data signal that main control microprocessor 121 exports is converted to analog voltage and exports lifting steering wheel 131 and aileron steering wheel to target drone
132, reach the purpose of the flight of control target drone；
Photoelectrical coupler, the control output circuit are set between the control output circuit 127 and main control microprocessor 121
127 be that the output end of main control microprocessor 121 is exported to control output circuit by photoelectrical coupler, can be referred to control task
Passage 133 and air door steering wheel 134 are made, carrying out various operation flights for target drone gives reliable guarantee.
As shown in figure 4, the flight controller is a self-stabilization system in itself, it relies on airborne sensor survey aircraft
The parameter such as posture, height and course, then flight controller will measure obtained these parameters and given posture, height,
Course value is compared to obtain the margin of error, and the motion of rudder of steering wheel is controlled by these margins of error, until the margin of error is zero, so that
Aircraft is stable to fly on given posture, height and course.Ground operator can also pass through telecontrol transmitter simultaneously
Control instruction is sent to flight controller, flight controller is carried out maneuvering flight according to the intention of operator.
Flight control assemblies provided by the invention, the transmitting-receiving isolating construction of conventional flight controller is simplified, uses transmitting-receiving
The totally digitilized structure of one, reduces airborne equipment quantity；Increase can in real time adjusting parameter function with automatically control course line and fly
OK, operation is easier, strengthens the controllability of aircraft.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, but the invention is not limited in this.For those skilled in the art, the essence of the present invention is not being departed from
In the case of refreshing and essence, various changes and modifications can be made therein, and these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of flight control assemblies, it is characterised in that the flight control assemblies include：Collecting mechanism, flight controller and
Executing agency；
The collecting mechanism is connected with the flight controller, and the collecting mechanism is used to gather gps signal and flight attitude
Signal, and the gps signal and flight attitude signal are sent to the flight controller；
The flight controller is connected with the executing agency, at the gps signal and the flight attitude signal
Reason obtains flight control signal, and the flight control signal is sent to the executing agency；
The executing agency carries out flight control according to the flight control signal.
2. flight control assemblies according to claim 1, it is characterised in that the flight controller includes master control microprocessor
Device and the reset circuit being connected with the main control microprocessor, data storage, communication interface, A/D translation circuits, D/A conversion
Circuit and control output circuit；
The main control microprocessor is used to the gps signal and flight attitude signal are handled to obtain flight control letter
Number；
The reset circuit is used for the normal work for ensureing the main control microprocessor；
The data storage is used to store the data in the course of work of the main control microprocessor；
The communication interface, which is used to realize with the collecting mechanism, to be communicated to connect；
The A/D translation circuits are used to the input signal of the flight controller carrying out analog-to-digital conversion；
The D/A translation circuits are used to the signal that the main control microprocessor handles to obtain carrying out digital-to-analogue conversion；
The control output circuit is used to be controlled the operation flight of target drone.
3. flight control assemblies according to claim 2, it is characterised in that the flight controller also includes photoelectric coupling
Device, the photoelectrical coupler are connected with the main control microprocessor, and the photoelectrical coupler is used for the flight controller
Input signal enters row format conversion.
4. flight control assemblies according to claim 3, it is characterised in that the flight attitude signal includes flying height
Signal and magnetic heading signal.
5. flight control assemblies according to claim 4, it is characterised in that the collecting mechanism include GPS gathers module,
Height sensor, communication module, magnetic course transmitter, gyroscope and engine；
The GPS gathers module is connected with the photoelectrical coupler, and the GPS gathers module is used to gather gps signal；
The height sensor is connected with the communication interface, and the height sensor is used to gather flying height signal；
The communication module is connected with the communication interface, and the communication module is used to realize communication link with the communication interface
Connect；
The magnetic course transmitter is connected with the communication interface, and the magnetic course transmitter is used to gather magnetic heading signal；
The gyroscope is connected with the A/D translation circuits, and the gyroscope is used to gather gyro voltage；
The engine is connected with the A/D translation circuits, and the engine is used to produce supply voltage.
6. flight control assemblies according to claim 5, it is characterised in that the communication module includes radio communication mold
Block.
7. flight control assemblies according to claim 2, it is characterised in that the executing agency includes lifting steering wheel, pair
Wing steering wheel, assignment instructions passage and air door steering wheel；
The lifting steering wheel and the aileron steering wheel are connected with the D/A translation circuits, the lifting steering wheel and the aileron
Steering wheel is used for the flight attitude that target drone is adjusted according to the flight control signal；
The assignment instructions passage and the air door steering wheel are connected with the control output circuit, the assignment instructions passage and
The air door steering wheel is used for the normal tasks flight for ensureing the target drone under the control of the control output circuit.
8. flight control assemblies according to claim 2, it is characterised in that the communication interface includes RS485 communications and connect
Mouthful.
9. flight control assemblies according to claim 2, it is characterised in that the main control microprocessor includes AT89S52
Chip, the reset circuit include X5045P chips.
10. flight control assemblies according to claim 2, it is characterised in that the A/D translation circuits include 12 moduluses
Converter, the D/A translation circuits include 8 input latches, 8 DAC registers, 8 D/A change-over circuits and conversion and control
Circuit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711225995.1A CN107885226A (en) | 2017-11-29 | 2017-11-29 | A kind of flight control assemblies |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711225995.1A CN107885226A (en) | 2017-11-29 | 2017-11-29 | A kind of flight control assemblies |
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| Publication Number | Publication Date |
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| CN107885226A true CN107885226A (en) | 2018-04-06 |
Family
ID=61775956
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711225995.1A Pending CN107885226A (en) | 2017-11-29 | 2017-11-29 | A kind of flight control assemblies |
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Cited By (1)
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| CN108845587A (en) * | 2018-06-08 | 2018-11-20 | 赫星科技有限公司 | Unmanned plane real-time control system and unmanned plane |
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