CN108153194A - A kind of unmanned aerial vehicle control system - Google Patents
A kind of unmanned aerial vehicle control system Download PDFInfo
- Publication number
- CN108153194A CN108153194A CN201711417885.5A CN201711417885A CN108153194A CN 108153194 A CN108153194 A CN 108153194A CN 201711417885 A CN201711417885 A CN 201711417885A CN 108153194 A CN108153194 A CN 108153194A
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- module
- resistance
- potentiometer
- amplifier
- control system
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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
-
- 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
- G05B2219/25—Pc structure of the system
- G05B2219/25187—Transmission of signals, medium, ultrasonic, radio
-
- 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
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
-
- 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
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of unmanned aerial vehicle control systems, it includes being connected to the power module of control module, steering engine steering module, assistant adjustment module, motor drive module, speed measuring module and camera image acquisition module, and speed measuring module includes velocity sensor and acceleration transducer.The beneficial effects of the invention are as follows：The flight control system of the embodiment of the present invention, using mobile equipment as component part, by mobile equipment instead of the fractional hardware and module needed for flight control system, so as to simplify the structure of flight control system, reduce cost, and since mobile equipment can be wirelessly communicated at a distance, the remote control distance of unmanned plane is substantially prolonged, and then expanded the application range of unmanned plane.
Description
Technical field
The present invention relates to the communications field more particularly to a kind of unmanned aerial vehicle control systems.
Background technology
UAV (Unmanned Aerial Vehicle, UAV) abbreviation unmanned plane is to utilize wireless remotecontrol
The not manned aircraft that equipment and the presetting apparatus provided for oneself manipulate.It is defined from technical standpoint, it is solid that unmanned plane can be divided into nobody
Fixed wing machine, unmanned VTOL machine, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Wherein, multi-rotor unmanned aerial vehicle belongs to emerging technology, high-new frontier science and technology industry.With the development of science and technology, unmanned plane
It is also more and more wide in the application range of civil field in addition to for military use.Since unmanned plane has, operating cost is low, nothing
Injures and deaths risk, mobility are good, the features such as can carrying out over the horizon flight, is easy to use efficient, have been successfully applied to shadow at present
It is more and more depending on taking photo by plane, surveying and drawing the fields such as aerial survey, high-voltage line inspection, remote monitoring, disaster relief rescue, pesticide spraying, business performance
The positive hope of industry replace traditional manual work mode with unmanned plane.
Flight control system is provided on unmanned plane, to control the flight of unmanned plane.At present, more rotors in the market without
It is man-machine to use microcontroller as UAV Flight Control System more.As shown in Figure 1, in the prior art multi-rotor unmanned aerial vehicle fly
Row control system includes microcontroller, acceleration transducer, gyroscope, Magnetic Sensor, navigational satellite receiver, wireless remote control mould
Block, motor driving and flight executing agency (being motor in Fig. 1).Wherein, wireless remote control module is typically all short-range communication mould
Block, therefore remote control distance is limited in the permitted range of close range communication techniques.
In process of the present invention is realized, inventor has found that at least there are the following problems in the prior art：
The flight control system of unmanned plane is more complicated, and cost is also higher, while the remote control distance of unmanned plane also compares
It is shorter.
Invention content
The technical problems to be solved by the invention are to provide a kind of unmanned aerial vehicle control system, the deficiencies in the prior art.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of unmanned aerial vehicle control system, including being connected to
Power module, steering engine steering module, assistant adjustment module, motor drive module, speed measuring module and the camera figure of control module
As acquisition module, speed measuring module includes velocity sensor and acceleration transducer；Including resistance R1, capacitance C1, potentiometer RP1,
Potentiometer RP2, amplifier U1 and triode VT1, resistance R1 one end difference link control module and resistance R7, resistance R7 are another
End connects amplifier U1 power ends and resistance R8, resistance R8 other end connecting triode VT1 collectors, triode VT1 transmittings respectively
Connecting triode VT2 emitters and resistance R5, resistance the R5 other end connect resistance R4, capacitance C2 and motor M to knot respectively respectively, electricity
The resistance R4 other ends connect the capacitance C2 other ends, amplifier U1 reverse side, capacitance C1 and resistance R3, resistance the R3 other end connection electricity respectively
Position device RP2 slide plates, potentiometer RP2 one end connect potentiometer RP1 slide plates and resistance R6, resistance R6 other ends connection amplifier U1 respectively
In-phase end, potentiometer RP1 one end connection resistance R1 other ends, potentiometer RP1 other ends connection resistance R2, resistance the R2 other end point
The other connecting circuit RP2 other ends, the capacitance C1 other ends, amplifier U1 ground terminals, potentiometer RP3 one end, triode VT2 collectors and
The motor M other ends, triode VT2 base stages difference connecting triode VT1 base stages and potentiometer RP3 slide plates, the potentiometer RP3 other ends
Connect amplifier U1 output terminals；The control module uses MC9S12DG128；The amplifier U1 uses LM324.
Further：The velocity sensor includes rotary encoder and phase discriminator, by vehicle front routing information, body
Velocity information and 3-axis acceleration information collection, and feed back to controller.
Further：The motor drive module carries out the rotating speed control of direct current generator according to the pwm signal that control module exports
System.
Further：The steering engine steering module carries out the angle control of Servo-controller according to the pwm signal that control module exports
System.
The beneficial effects of the invention are as follows：The flight control system of the embodiment of the present invention, using mobile equipment as composition portion
Point, by mobile equipment instead of the fractional hardware and module needed for flight control system, so as to simplify flight control system
Structure, reduce cost, and since mobile equipment can be wirelessly communicated at a distance, substantially prolong nobody
The remote control distance of machine, and then expanded the application range of unmanned plane.
Description of the drawings
The system architecture diagram for the flight control system that Fig. 1 and Fig. 2 is provided by the embodiment of the present invention.
Fig. 3 is the circuit structure block diagram of Intelligent unattended machine system.
Fig. 4 is the circuit diagram of speed measuring module in Intelligent unattended machine system.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of flight control system, flown by what the embodiment of the present invention provided
The system architecture diagram of row control system, as shown in Figure 1, the flight control system 200 can include mobile equipment 210, near field leads to
Believe controller 220, driver 230, aircraft executing agency 240 and power-supply system 250, wherein, mobile equipment 210 is led to near field
Letter controller 220 be wirelessly connected, driver 230 respectively near field communication controller 220 and aircraft executing agency 240
Be connected in a wired fashion, power-supply system 250 respectively near field communication controller 220, driver 230 and aircraft executing agency
240 are connected.
The flight control system of the embodiment of the present invention can be applied to unmanned plane, such as multi-rotor unmanned aerial vehicle etc..
Wherein, the control signal control aircraft that driver 230 is used to be transmitted according near field communication controller 220 performs machine
Structure 240.In general, aircraft executing agency 240 is motor, and correspondingly, driver 230 is motor driver.It is controlled in flight
In system 200, can there are multiple drivers 230 and multiple aircraft executing agencies 240, driver 230 and aircraft perform machine
The quantity of structure 240 is typically equal.
Wireless communication module 211 can be provided in mobile equipment 210, near-field communication module 212, gyroscope 213, is accelerated
Degree meter 214, Magnetic Sensor 215 and navigational satellite receiver 216, wherein, near-field communication module 212 and near field communication controller
220 are wirelessly connected.Wireless communication module 211, near-field communication module 212, gyroscope 213, accelerometer 214, magnetic pass
The processor of sensor 215 and navigational satellite receiver 216 all with mobile equipment 210 is connected.
Mobile equipment 210 itself can also have memory, touch screen etc., can be used for storing and show flying for unmanned plane
Row data.
Wherein, wireless communication module 211 can be cellular radio module, 4G modules, 3G module etc..Radio communication mold
The communication distance of block is long, far beyond the range of near-field communication.
Wherein, near-field communication module 212 can include bluetooth module, WIFI module, UWB (Ultra Wideband, ultra-wide
Band) module, ZigBee module.
Correspondingly, near field communication controller can be bluetooth controller, WIFI controller, UWB controllers or ZigBee controls
Device processed etc..Near-field communication module is communicated near field communication controller with identical the short distance wireless communication technology.For example, work as
When near-field communication module includes bluetooth module and WIFI module, near field communication controller can be that bluetooth controller can also be
WIFI controller, when near-field communication module includes bluetooth module, WIFI module, UWB modules, ZigBee module, near-field communication
Controller can be any one in bluetooth controller, WIFI controller, UWB controllers or ZigBee controllers.
Wherein, gyroscope 213 is generally 3 axis gyroscopes, and accelerometer 214 is generally 3 axis accelerometers, Magnetic Sensor
215 generally 3 axial magnetic sensors.
Wherein, navigational satellite receiver 216 can include GPS (Global Positioning System, global location
System) module, Beidou modules, GNSS (Global Navigation Satellite System, global navigational satellite system
System) module etc..
Wherein, mobile equipment 210 can be mobile phone, tablet computer etc..
A kind of course of work of the flight control system of the embodiment of the present invention is as follows：
Mobile equipment 210 obtains the flight attitude and location information of aircraft (being here unmanned plane), then according to acquisition
Flight attitude and location information generation control signal；
Mobile equipment 210 will control signal, and wirelessly (such as bluetooth, WIFI, UWB, ZigBee etc.) is sent to closely
Field communication controler 220；
After near field communication controller 220 receives control signal, driver 230, driver 230 are sent control signals to
Corresponding aircraft executing agency 240 is driven according to control signal, to adjust the flight attitude of aircraft and course.
Another course of work of the flight control system of the embodiment of the present invention is as follows：
Mobile equipment 210 receives the flight telecommand of (module 211 by radio communication) earth command station transmission；
Mobile equipment 210 sends (by near-field communication module 212) the flight telecommand near field communication controller
220；
After near field communication controller 220 receives flight telecommand, flight telecommand is sent to driver 230,
Driver 230 drives corresponding aircraft executing agency 240 according to flight telecommand, with control the flight attitude of aircraft and
Course.
Wherein, power-supply system 250 is used for as near field communication controller 220, driver 230 and aircraft executing agency 240
Power supply.
Mobile equipment is the very extensive portable device of current application, such as mobile phone, tablet computer etc..Current movement is set
Standby function is very powerful, and generally wireless communication module, near-field communication module, gyro are all had been provided with inside mobile equipment
Instrument, accelerometer, Magnetic Sensor and navigational satellite receiver do not need to make mobile equipment the modification on any hardware
Applied in the flight control system of unmanned plane.Meanwhile mobile equipment has the characteristics that compact, frivolous, for unmanned plane
Overall weight do not influence.
It is provided with some required hardware of flight control system in other words due to being integrated in mobile equipment, nobody
The flight control system of machine can not have to redesign these hardware, and be replaced with mobile equipment.In this way, flight control system
The structure of system just significantly simplifies, while also greatly reduces the cost of flight control system.
Mobile equipment can not only replace a part of hardware of UAV Flight Control System, and due to mobile equipment certainly
Wireless communication module communication distance is long possessed by body, far beyond the range of near-field communication, so making when with mobile equipment
During component part for flight control system, unmanned plane can receive the earth command station at far place flight telecommand and
The flying quality of unmanned plane is transferred to the earth command station, so as to reach the more remote control at a distance to unmanned plane.
When in use, mobile equipment can be fixed on unmanned plane.For example, card slot or deck can be set on unmanned plane
Etc. mechanisms, so as to fixed mobile equipment, any mobile equipment fixed mechanism can not also be set, but will directly be moved when needed
Dynamic equipment is sticked on unmanned plane.In the case of unmanned plane not execution task, mobile equipment can be removed from unmanned plane
Come, still used as common mobile equipment.
As it can be seen that the flight control system of the embodiment of the present invention, using mobile equipment as component part, passes through mobile equipment
Instead of the fractional hardware and module needed for flight control system, so as to simplify the structure of flight control system, reduce into
This, and since mobile equipment can be wirelessly communicated at a distance, the remote control distance of unmanned plane is substantially prolonged, into
And the application range of unmanned plane is expanded.
Referring to Fig. 1, in the embodiment of the present invention, a kind of Intelligent unattended machine system, the power supply including being connected to control module
Module, steering engine steering module, assistant adjustment module, motor drive module, speed measuring module and camera image acquisition module, test the speed
Module includes velocity sensor and acceleration transducer；Including resistance R1, capacitance C1, potentiometer RP1, potentiometer RP2, amplifier U1
With triode VT1, resistance R1 one end difference link control module and resistance R7, resistance the R7 other end connect amplifier U1 respectively
Power end and resistance R8, resistance R8 other end connecting triode VT1 collectors, triode VT1 emitter junctions difference connecting triode
VT2 emitters and resistance R5, the resistance R5 other ends connect resistance R4, capacitance C2 and motor M respectively, and the resistance R4 other ends connect respectively
Connect the capacitance C2 other ends, amplifier U1 reverse side, capacitance C1 and resistance R3, resistance the R3 other end connection potentiometer RP2 slide plates, current potential
Device RP2 one end connects potentiometer RP1 slide plates and resistance R6, resistance R6 other ends connection amplifier U1 in-phase ends, potentiometer RP1 respectively
One end connects the resistance R1 other ends, and potentiometer RP1 other ends connection resistance R2, resistance R2 other ends difference connecting circuit RP2 is another
One end, the capacitance C1 other ends, amplifier U1 ground terminals, potentiometer RP3 one end, triode VT2 collectors and the motor M other ends, three
Pole pipe VT2 base stages distinguish connecting triode VT1 base stages and potentiometer RP3 slide plates, the connection amplifier U1 outputs of the potentiometer RP3 other ends
End.Control module uses MC9S12DG128.Velocity sensor includes rotary encoder and phase discriminator, by vehicle front path
Information, body velocity information and 3-axis acceleration information collection, and feed back to controller.Motor drive module is according to control module
The pwm signal of output carries out the rotating speed control of direct current generator.Steering engine steering module is carried out according to the pwm signal that control module exports
The angle control of Servo-controller.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be based on orientation shown in the drawings or
Position relationship is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, " multiple " are meant that at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature right over second feature or oblique upper or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " example ", " is specifically shown " some embodiments "
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It is combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the different embodiments or examples described in this specification and the feature of different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (4)
1. a kind of unmanned aerial vehicle control system, which is characterized in that including being connected to the power module of control module, steering engine turns to mould
Block, assistant adjustment module, motor drive module, speed measuring module and camera image acquisition module, speed measuring module are passed including speed
Sensor and acceleration transducer；Including resistance R1, capacitance C1, potentiometer RP1, potentiometer RP2, amplifier U1 and triode VT1, institute
It states resistance R1 one end difference link control module and resistance R7, resistance the R7 other end connects amplifier U1 power ends and resistance respectively
R8, resistance R8 other end connecting triode VT1 collectors, triode VT1 emitter junctions difference connecting triode VT2 emitters and electricity
R5 is hindered, the resistance R5 other ends connect resistance R4, capacitance C2 and motor M respectively, and it is another that the resistance R4 other ends connect capacitance C2 respectively
End, amplifier U1 reverse side, capacitance C1 and resistance R3, resistance the R3 other end connection potentiometer RP2 slide plates, potentiometer RP2 one end point
Not Lian Jie potentiometer RP1 slide plates and resistance R6, the resistance R6 other ends connection amplifier U1 in-phase ends, potentiometer RP1 one end connection electricity
Hinder the R1 other ends, the potentiometer RP1 other ends connection resistance R2, the resistance R2 other ends difference connecting circuit RP2 other end, capacitance C1
The other end, amplifier U1 ground terminals, potentiometer RP3 one end, triode VT2 collectors and the motor M other ends, triode VT2 base stages
Connecting triode VT1 base stages and potentiometer RP3 slide plates respectively, potentiometer RP3 other ends connection amplifier U1 output terminals；The control
Module uses MC9S12DG128；The amplifier U1 uses LM324.
2. Intelligent unattended machine system according to claim 1, which is characterized in that the velocity sensor includes rotary coding
Device and phase discriminator by vehicle front routing information, body velocity information and 3-axis acceleration information collection, and feed back to control
Device.
3. Intelligent unattended machine system according to claim 1, which is characterized in that the motor drive module is according to control mould
The pwm signal of block output carries out the rotating speed control of direct current generator.
4. Intelligent unattended machine system according to claim 1, which is characterized in that the steering engine steering module is according to control mould
The pwm signal of block output carries out the angle control of Servo-controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711417885.5A CN108153194A (en) | 2017-12-25 | 2017-12-25 | A kind of unmanned aerial vehicle control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711417885.5A CN108153194A (en) | 2017-12-25 | 2017-12-25 | A kind of unmanned aerial vehicle control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108153194A true CN108153194A (en) | 2018-06-12 |
Family
ID=62464486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711417885.5A Pending CN108153194A (en) | 2017-12-25 | 2017-12-25 | A kind of unmanned aerial vehicle control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN108153194A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113772081A (en) * | 2021-09-28 | 2021-12-10 | 上海莘汭驱动技术有限公司 | High-performance steering engine of unmanned aerial vehicle |
-
2017
- 2017-12-25 CN CN201711417885.5A patent/CN108153194A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113772081A (en) * | 2021-09-28 | 2021-12-10 | 上海莘汭驱动技术有限公司 | High-performance steering engine of unmanned aerial vehicle |
| CN113772081B (en) * | 2021-09-28 | 2024-05-14 | 上海莘汭驱动技术有限公司 | High-performance unmanned aerial vehicle steering engine |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180612 |