CN108052039A - Steering engine for unmanned plane control system - Google Patents
Steering engine for unmanned plane control system Download PDFInfo
- Publication number
- CN108052039A CN108052039A CN201711353006.7A CN201711353006A CN108052039A CN 108052039 A CN108052039 A CN 108052039A CN 201711353006 A CN201711353006 A CN 201711353006A CN 108052039 A CN108052039 A CN 108052039A
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- CN
- China
- Prior art keywords
- control system
- steering engine
- unmanned plane
- pwm
- module
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- 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.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
Abstract
The present invention proposes a kind of steering engine for unmanned plane control system, including data acquisition and communication module, control algolithm module, PWM generation modules and various management monitoring modulars；Wherein, the data communication module sending and receiving for CAN bus data, data acquisition process include the acquisition process of rudder face position, current of electric and reference voltage, and PWM module includes output PWM wave and obtains the reading of pulse coder.A set of automatic control system that steering engine for unmanned plane is made of direct current generator, steering engine controller, multiple sensors and necessary mechanical supporting mechanism.Bridge is connected as the information between flight control center and steering engine, it can realize the SERVO CONTROL to unmanned vehicle multistage by artificial online programming, have many advantages, such as low manufacture cost, performance height, safety and stability.
Description
Technical field
The present invention relates to a kind of steering engine for unmanned plane control systems.
Background technology
At present, popular steering engine shape and species very abundant on the market, but the main functional modules base inside steering engine
This is identical, and main composition and function are as follows.Steering engine controller is the center of entire unmanned aerial vehicle control system, and there is center in inside
Controller, data storage, drive module etc..The mainboard of central controller is microcontroller, can manually write LISP program LISP, complete
Into oriented control.Under normal conditions, the main operational process of steering engine is：First, operating personnel start microcontroller, and run corresponding
Control program；Program instruction is sent to host computer by microcontroller with binary signal form, and host computer converts electrical signals to
One angle of rudder reflection instructs, and by each digital serial port of microcontroller, is transmitted to the adjustment unit of steering engine.Secondly, adjustment unit will connect
The drift angle instruction being subject to is compared with PWM, and comparing result is defined as A；Subsequent adjustment unit measurement steering engine actual speed, when
When rotating speed is more than default value, plussage is defined as B；Finally detect the actual current of whole system, acquired results output
To PWM, C is defined as.Said determination result is input in the HALL sensors of brshless DC motor, generates corresponding Hall letter
Number HA, HB, HC.Finally, motor receives hall signal, and drive motor rotates, retarder output driving rudder face.System operation
Flow is as shown in Figure 1.
The content of the invention
In view of this, it is an object of the invention to propose a kind of steering engine for unmanned plane control system.
According to foregoing invention purpose, the present invention is achieved through the following technical solutions：
A kind of steering engine for unmanned plane control system is generated including data acquisition and communication module, control algolithm module, PWM
Module and various management monitoring modulars；Wherein, the data communication module sending and receiving for CAN bus data, number
Include the acquisition process of rudder face position, current of electric and reference voltage according to acquisition process, PWM module include output PWM wave and
Obtain reading of pulse coder etc..
Preferably, 4 single port duplex channels, each ADC are provided in the conversion circuit of the steering gear control system
Circuit is using integration module, to ensure the stability of circuit operation；Four single port duplex channels have different functions, No.1
Passage is mainly used for the collection of voltage signal；No. two passages are mainly used for the collection of current signal；No. three passages are responsible for steering engine
The analog signal of control system is controlled；No. four passages mainly for detection of potentiometer real-time voltage, when instantaneous voltage liter
Gao Shi, timely starting protection switch, avoids circuit burnout.
Steering engine for unmanned plane is made of direct current generator, steering engine controller, multiple sensors and necessary mechanical supporting mechanism
A set of automatic control system.Bridge is connected as the information between flight control center and steering engine, it can be by manually existing
Line programs, and realizes the SERVO CONTROL to unmanned vehicle multistage, has many advantages, such as low manufacture cost, performance height, safety and stability.
Description of the drawings
Fig. 1 is the composition structure chart of the steering gear system of the present invention.
Specific embodiment
For those skilled in the art is allowed to become apparent from getting information about the present invention, the present invention will be made below further
Explanation.
A kind of steering engine for unmanned plane control system is generated including data acquisition and communication module, control algolithm module, PWM
Module and various management monitoring modulars；Wherein, the data communication module sending and receiving for CAN bus data, number
Include the acquisition process of rudder face position, current of electric and reference voltage according to acquisition process, PWM module include output PWM wave and
Obtain reading of pulse coder etc..
Preferably, 4 single port duplex channels, each ADC are provided in the conversion circuit of the steering gear control system
Circuit is using integration module, to ensure the stability of circuit operation；Four single port duplex channels have different functions, No.1
Passage is mainly used for the collection of voltage signal；No. two passages are mainly used for the collection of current signal；No. three passages are responsible for steering engine
The analog signal of control system is controlled；No. four passages mainly for detection of potentiometer real-time voltage, when instantaneous voltage liter
Gao Shi, timely starting protection switch, avoids circuit burnout.
COR-M3 type CPU and current nothing of the main control chip of the steering engine controller of the present invention using the manufacture of Atmel companies
A kind of main control chip being most widely used in man-machine steering gear control system, main feature have：
(1) using 32 integrated systems, maximum operating frequency, up to 72MHz, memory capacity is up to 512KB, in database
Magnanimity programming language can be stored, can realize abundant system operatio.
(2) chip carries UART, and sets two current serial ports, and different host computers can be operated simultaneously,
It ensure that the continuous service of steering engine for unmanned plane control system.In addition, two current serial ports are mutual indepedent, convenient for inside
The transmission of data improves the work efficiency of control system.
(3) interrupt source being set on chip, after steering gear control system starts alarm, interrupt source can timely respond to, and
The program quality in database is called, handles bursting problem, improves the stability of system operation.Main control chip is integrated with entirely
Most control programs of control system, can complete the multiple functions such as current feedback, information processing, programming Control.In addition,
COR-M3 types CPU also has the function of to automatically save, being capable of fault in production diagnostic file, and depositing in time when system breaks down
, avoid the problem that occurring from now in the database it is identical.
Brushless motor
The rotation angle information of steering engine cannot be fed back to control unit by common direct current generator, therefore cannot also be realized
Effective control to steering engine for unmanned plane.Brushless motor can receive the control signal of main control chip, and continue in certain angle
It rotates, lasting electric current is provided for entire unmanned aerial vehicle control system.Brushless motor selected by the present invention is MAXII series
EPM-220, which has the characteristics that operating voltage is low, is quick on the draw, can online programming, can by changing program instruction,
It realizes the action control to electronic switch, ensures that the stability that entire steering gear system motor rotates.With traditional direct current
Motor is compared, and greatly reduces the power attenuation of steering engine CPU.
Power drive
Power driving circuit is the chief component in control circuit, and the driving circuit that this research is selected is MSK-
401, application advantage mainly has that voltage loads are big, output off current HIGH, can greatly simplify the circuit structure of steering gear control system.
Either service efficiency or later maintenance, all with significant superiority.It is furthermore, it is contemplated that right in steering gear control system operation
The output stability of voltage requires more, the also additional rectifier bridge of power driving circuit and pressure stabilizing device, it can be ensured that servos control
The voltage output that system is continued, stablized.
Signal detection
Signal Real-time Feedback is an important factor for steering engine for unmanned plane control function plays, from system function, steering engine
Feedback signal caused by control system mainly includes three classes：Rudder face position signal, the electric current of brushless motor, motor speed.Rudder
Machine main control chip produces corresponding action command by collecting, arranging three style numbers, it is ensured that control system can be accurate
Completion operational order.Therefore, in the design process of hardware of steering gear control system, it is necessary to strengthen the inspection of internal control signal
It surveys, on the one hand to improve the accuracy of feedback signal, on the other hand then to ensure the promptness of signal feedback.
ADC conversion circuits
4 single port duplex channels are provided in the conversion circuit of steering gear control system, each adc circuit is using integrated mould
Block, to ensure the stability of circuit operation.Four single port duplex channels have different functions, and No.1 passage is mainly used for voltage
The collection of signal；No. two passages are mainly used for the collection of current signal；No. three passages are responsible for the simulation letter to steering gear control system
It number is controlled；No. four passages mainly for detection of potentiometer real-time voltage, when instantaneous voltage raises, timely starting protection
Switch, avoids circuit burnout.
Design of System Software
The Software for Design of system is the important component of control system, rationalization's software configuration can improve it is readable,
The problems such as portable and scalability.The software of design, which should try one's best, makes each function module independent, and it is soft to be so conducive to system
The modification and debugging of part.The software of steering gear control system mainly includes following function module：Data acquisition and communication module,
Control algolithm module, PWM generation modules and various management monitoring modulars.Wherein, data communication module relates generally to CAN bus
Data send and receive, and data acquisition process includes the acquisition process of rudder face position, current of electric and reference voltage, PWM
Module includes output PWM wave and obtains reading of pulse coder etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention god.
Claims (2)
1. a kind of steering engine for unmanned plane control system, which is characterized in that it includes data acquisition and communication module, control algolithm mould
Block, PWM generation modules and various management monitoring modulars；Wherein, the data communication module is used for the reception of CAN bus data
And transmission, data acquisition process include the acquisition process of rudder face position, current of electric and reference voltage, PWM module includes defeated
Go out PWM wave and obtain the reading of pulse coder.
2. steering engine for unmanned plane control system according to claim 1, which is characterized in that the conversion of the steering gear control system
4 single port duplex channels are provided in circuit, each adc circuit is using integration module, to ensure the stability of circuit operation；
Four single port duplex channels have different functions, and No.1 passage is mainly used for the collection of voltage signal；No. two passages are mainly used
In the collection of current signal；No. three passages are responsible for controlling the analog signal of steering gear control system；No. four passages are mainly used
In the real-time voltage of detection potentiometer, when instantaneous voltage raises, timely starting protection switch avoids circuit burnout.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711353006.7A CN108052039A (en) | 2017-12-15 | 2017-12-15 | Steering engine for unmanned plane control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711353006.7A CN108052039A (en) | 2017-12-15 | 2017-12-15 | Steering engine for unmanned plane control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108052039A true CN108052039A (en) | 2018-05-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711353006.7A Withdrawn CN108052039A (en) | 2017-12-15 | 2017-12-15 | Steering engine for unmanned plane control system |
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| Country | Link |
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| CN (1) | CN108052039A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109683532A (en) * | 2019-01-08 | 2019-04-26 | 上海应用技术大学 | A kind of steering engine and more steering engine controllers and unmanned aerial vehicle control system |
| WO2020248160A1 (en) * | 2019-06-12 | 2020-12-17 | 深圳市大疆创新科技有限公司 | Fault detection method and device for encoder of movable platform, and storage medium |
| CN112783011A (en) * | 2019-11-07 | 2021-05-11 | 南京国器智能装备有限公司 | Steering engine control method based on CAN bus |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495636A (en) * | 2011-12-14 | 2012-06-13 | 中国人民解放军总参谋部第六十研究所 | Main steering gear system of unmanned helicopter |
| CN102902278A (en) * | 2012-11-07 | 2013-01-30 | 中国兵器工业计算机应用技术研究所 | Unmanned aerial vehicle flight control system based on controller area network (CAN) bus |
| CN105173063A (en) * | 2015-09-29 | 2015-12-23 | 北京精密机电控制设备研究所 | Integrated electric actuator for unmanned aerial vehicle |
| CN107253214A (en) * | 2017-07-31 | 2017-10-17 | 南京阿凡达机器人科技有限公司 | A kind of digital steering wheel of extended pattern and its method of work |
| CN206684582U (en) * | 2017-04-18 | 2017-11-28 | 深圳城际快机科技有限公司 | Unmanned plane Control Circuit of Rudder in Autonomous and unmanned plane |
-
2017
- 2017-12-15 CN CN201711353006.7A patent/CN108052039A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495636A (en) * | 2011-12-14 | 2012-06-13 | 中国人民解放军总参谋部第六十研究所 | Main steering gear system of unmanned helicopter |
| CN102902278A (en) * | 2012-11-07 | 2013-01-30 | 中国兵器工业计算机应用技术研究所 | Unmanned aerial vehicle flight control system based on controller area network (CAN) bus |
| CN105173063A (en) * | 2015-09-29 | 2015-12-23 | 北京精密机电控制设备研究所 | Integrated electric actuator for unmanned aerial vehicle |
| CN206684582U (en) * | 2017-04-18 | 2017-11-28 | 深圳城际快机科技有限公司 | Unmanned plane Control Circuit of Rudder in Autonomous and unmanned plane |
| CN107253214A (en) * | 2017-07-31 | 2017-10-17 | 南京阿凡达机器人科技有限公司 | A kind of digital steering wheel of extended pattern and its method of work |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109683532A (en) * | 2019-01-08 | 2019-04-26 | 上海应用技术大学 | A kind of steering engine and more steering engine controllers and unmanned aerial vehicle control system |
| WO2020248160A1 (en) * | 2019-06-12 | 2020-12-17 | 深圳市大疆创新科技有限公司 | Fault detection method and device for encoder of movable platform, and storage medium |
| CN112783011A (en) * | 2019-11-07 | 2021-05-11 | 南京国器智能装备有限公司 | Steering engine control method based on CAN bus |
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Application publication date: 20180518 |
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| WW01 | Invention patent application withdrawn after publication |