CN108508915A - A kind of multi-rotor aerocraft automatic control system and its control method - Google Patents
A kind of multi-rotor aerocraft automatic control system and its control method Download PDFInfo
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- CN108508915A CN108508915A CN201810283213.8A CN201810283213A CN108508915A CN 108508915 A CN108508915 A CN 108508915A CN 201810283213 A CN201810283213 A CN 201810283213A CN 108508915 A CN108508915 A CN 108508915A
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- 230000002463 transducing effect Effects 0.000 claims abstract description 12
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000009187 flying Effects 0.000 claims description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims 2
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- 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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- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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- 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
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Abstract
The invention belongs to multi-rotor aerocraft control fields, and in particular to a kind of multi-rotor aerocraft automatic control system and its control method, affiliated control system include：State of flight controller, control signal generator, wireless receiver, user's side controller and sensor；The control method, including：1) the control program of User Exploitation is loaded in control signal generator；2) control signal generator realizes signal imitation function by signal imitation program；3) control signal generator controls program by flight and controls state of flight controller, realizes autonomous flight function；4) control signal generator controls the interaction function that program realizes the multi-rotor aerocraft and the sensor according to the transducing signal of sensor by flight.The present invention makes to simplify program development work, realizes the popular purpose of product.
Description
Technical field
The invention belongs to multi-rotor aerocraft control fields, and in particular to a kind of multi-rotor aerocraft automatic control system and
Its control method.
Technical background
The application field of multi-rotor aerocraft is very extensive at present, and the producer for producing multi-rotor aerocraft is also very much, due to
The algorithm of the state of flight controller of multi-rotor aerocraft is sufficiently complex, and big, the time-consuming more, control effect of difficulty of independent research is not
It is good, want to realize that autonomous flight is even more extremely difficult.Therefore, most of user using multi-rotor aerocraft can select purchase to control
Make the state of flight controller to work well.So problem is：In existing state of flight controller, a part is to open completely
Source, another part is not provide source code, then user thinks that progress secondary development will be relatively difficult, exploitation is limited
System.
But there are one common features for state of flight controller, and control can be exactly obtained by user's side controller and is referred to
It enables, and then multi-rotor aerocraft is controlled, control the flare maneuver of multi-rotor aerocraft.Utilize this feature, the design
Propose a kind of multi-rotor aerocraft automatic control system and its control method.
Invention content
For the above technical problems, the present invention provides a kind of multi-rotor aerocraft automatic control system, including：Fly
Row state controller, control signal generator, wireless receiver, user's side controller and sensor；
User's side controller is held and is operated by ground controller, and user's side controller is with wireless telecommunications side
Formula is connect with the wireless receiver, for the control to wireless receiver transmission ground controller to multi-rotor aerocraft
System instruction；
The state of flight controller, control signal generator, wireless receiver and sensor are mounted on more rotors
In aircraft；
The wireless receiver is connected with the control signal generator, for receiving the control instruction and by the finger
Order is transferred to the control signal generator；
The sensor be used for detect the aircraft local environmental conditions and generate transducing signal, the sensor with
The control signal generator connection, the control signal generator is sent to by the transducing signal；
The control signal generator is connected with the state of flight controller, and the control signal generator includes monolithic
Machine and SCM peripheral circuit；The control signal generator generates program and flight for Load Signal simulation program, signal
Program is controlled, generating program, flight control program and transducing signal according to the control instruction, signal imitation program, signal gives birth to
At control signal, and the control signal is sent to the state of flight controller；
The state of flight controller controls the flare maneuver of the aircraft according to the control signal.
The sensor includes ultrasonic sensor and camera；The ultrasonic sensor is mounted on the aircraft
Bottom and surrounding.
The control instruction and control signal use PWM wireless signals as signal vehicle.
The state of flight controller has PWM interfaces or PPM interfaces, for connecting control signal generator 2.
Using the control method of above-mentioned multi-rotor aerocraft automatic control system, include the following steps：
Step 1, according to user demand, the control program of User Exploitation, including signal are loaded in control signal generator
Simulation program, signal generate program and flight control program；
Step 2, the control signal generator carries out the control instruction of user's side controller by signal imitation program
Simulation, makes the control signal generator have the control function instead of user's side controller to state of flight controller, to
Realize signal imitation function；
Step 3, the control signal generator controls program by flight and controls state of flight controller, makes the flight
Device carries out flare maneuver according to flight control program, to realize autonomous flight function；
Step 4, the sensor generates location information and the location information is sent to the control signal generator,
The control signal generator controls program control state of flight controller by flight and makes according to the transducing signal of sensor
Respective reaction adjusts the flight status parameter of the multi-rotor aerocraft, to realize the multi-rotor aerocraft with it is described
The interaction function of sensor.
The step 2, the control signal generator make the control signal generator have by signal imitation function
Instead of user's side controller to the control function of state of flight controller, specific method is：
Step 2.1, it is transmitted to the multi-rotor aerocraft about execution flare maneuver by user's side controller
Control instruction, the wireless receiver will acquire the instruction and be sent to the control signal generator；
Step 2.2, the control signal generator open signal analog functuion, by signal imitation program to the instruction into
Row simulation, and record analog result；
Step 2.3, the control signal generator according to analog result, Program Generating and the instruction pair is generated by signal
The control signal answered, and it is sent to the state of flight controller；The state of flight controller is according to the control signal control
The flight status parameter for making the multi-rotor aerocraft, so as to adjust the flare maneuver of the multi-rotor aerocraft；
Step 2.4, if the flight status parameter meets the control instruction, the control signal generator has had
It is standby to replace control function of user's side controller to state of flight controller；Otherwise, the signal imitation program is carried out corresponding
Adjustment, is then back to step 1.
The step 3, the control signal generator control program by flight and control state of flight controller, make described
Aircraft carries out flare maneuver according to flight control program, to realize the autonomous flight function of multi-rotor aerocraft, specific side
Method is：
Step 3.1, it is transmitted to the multi-rotor aerocraft about unlatching autonomous flight by user's side controller
Control instruction；The collected control instruction about unlatching autonomous flight is sent to the control by the wireless receiver
Signal generator；
Step 3.2, the control signal generator opens autonomous flight function, activates the flight control program and ignores
Control instruction about flare maneuver；
Step 3.3, the flight control program of the control signal generator generates control signal according to analog result, and passes
It send to state of flight controller；The state of flight controller controls the flight shape of the multi-rotor aerocraft according to control signal
State parameter realizes the autonomous flight function of multi-rotor aerocraft so as to adjust the flare maneuver of the multi-rotor aerocraft.
Beneficial effects of the present invention：
The present invention proposes a kind of multi-rotor aerocraft automatic control system and its control method, user can according to oneself
Idea develop associated control procedures, and do not need stand-alone development state of flight director demon, one can be obtained in this way
Stable automatic control system, but can according to the requirement of developer carry out functional development, while meet exploitation convenience and
Stability makes the user for not having complicated program ability that can also develop one's own multi-rotor aerocraft, big to reach product
The purpose of crowdization.
Reasonable design of the present invention, it is easy to accomplish, there is good practical value.
Description of the drawings
Fig. 1 is the structural schematic diagram of multi-rotor aerocraft automatic control system described in the specific embodiment of the invention；
Fig. 2 is the control method using multi-rotor aerocraft automatic control system described in the specific embodiment of the invention
Flow chart.
In figure：1, state of flight controller；2, control signal generator；3, wireless receiver；4, user's side controller；5、
Sensor.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing and embodiment,
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain this hair
It is bright, it is not intended to limit the present invention.
The present invention proposes a kind of multi-rotor aerocraft automatic control system, as shown in Figure 1, including：State of flight controller
1, control signal generator 2, wireless receiver 3, user's side controller 4 and sensor 5；
User's side controller 4 is held and is operated by ground controller, and user's side controller 4 is with wireless telecommunications
Mode is connect with the wireless receiver 3, for transmitting ground controller to multi-rotor aerocraft to the wireless receiver 3
Control instruction；
The state of flight controller 1, control signal generator 2, wireless receiver 3 and sensor 5 are mounted on described more
In rotor craft；
The wireless receiver 3 is connected with the control signal generator 2, for receiving the control instruction and will be described
Instruction is transferred to the control signal generator 2；
The sensor 5 is used to detect the local environmental conditions of the aircraft and generates transducing signal, the sensor 5
It is connect with the control signal generator 2, the transducing signal is sent to the control signal generator 2；
The control signal generator 2 is connected with the state of flight controller 1, and the control signal generator 2 includes
Microcontroller and SCM peripheral circuit；The control signal generator 2 for Load Signal simulation program, signal generate program and
Flight control program generates program, flight control program and sensing according to the control instruction, signal imitation program, signal and believes
Number control signal is generated, and the control signal is sent to the state of flight controller 1；
The state of flight controller 1 controls the flare maneuver of the aircraft according to the control signal；
The sensor 5 includes ultrasonic sensor and camera；The ultrasonic sensor is mounted on the aircraft
Bottom and surrounding；The sensor can be expanded as other types, to realize other functions；
The control instruction and control signal use PWM wireless signals as signal vehicle；
The state of flight controller 1 has PWM interfaces or PPM interfaces, for connecting control signal generator 2；
The microcontroller uses arduino mega2560 model microcontrollers；
The model APM or PIXHAWK that the state of flight controller 1 uses；
Using the control method of above-mentioned multi-rotor aerocraft automatic control system, as shown in Fig. 2, including the following steps：
Step 1, according to user demand, the control program of User Exploitation, including signal are loaded in control signal generator 2
Simulation program, signal generate program and flight control program；
Step 2, the control signal generator 2 is by signal imitation program, to the control instruction of user's side controller 4 into
Row simulation, makes the control signal generator 2 have the control function instead of user's side controller 4 to state of flight controller 1,
To realize signal imitation function, the following contents is specifically included；
Step 2.1, it is transmitted to the multi-rotor aerocraft about execution flare maneuver by user's side controller 4
Control instruction, the wireless receiver 3 will acquire the instruction and be sent to the control signal generator 2；
Step 2.2,2 open signal analog functuion of the control signal generator, by signal imitation program to the instruction
It is simulated, and records analog result；
Step 2.3, the control signal generator 2 according to analog result, Program Generating and the instruction is generated by signal
Corresponding control signal, and it is sent to the state of flight controller 1；The state of flight controller 1 is believed according to the control
The flight status parameter of number control multi-rotor aerocraft, so as to adjust the flare maneuver of the multi-rotor aerocraft；
Step 2.4, if the flight status parameter meets the control instruction, the control signal generator 2 is
Has the control function to state of flight controller 1 instead of user's side controller 4；Otherwise, the signal imitation program is carried out
Corresponding adjustment, is then back to step 1；
Step 3, the control signal generator 2 controls program by flight and controls state of flight controller 1, makes described fly
Row device carries out flare maneuver according to flight control program, to realize the autonomous flight function of multi-rotor aerocraft, specific method
For：
Step 3.1, it is transmitted to the multi-rotor aerocraft about unlatching autonomous flight by user's side controller 4
Control instruction；The collected control instruction about unlatching autonomous flight is sent to the control by the wireless receiver 3
Signal generator 2 processed；
Step 3.2, the control signal generator 2 opens autonomous flight function, activates the flight control program and neglects
Slightly about the control instruction of flare maneuver；
Step 3.3, the flight control program of the control signal generator 2 generates control signal according to analog result, and
It is sent to state of flight controller 1；The state of flight controller 1 controls flying for the multi-rotor aerocraft according to control signal
Row state parameter realizes the autonomous flight function of multi-rotor aerocraft so as to adjust the flare maneuver of the multi-rotor aerocraft；
Step 4, the sensor 5 generates location information and the location information is sent to the control signal generator
2, the control signal generator 2 controls program by flight and controls state of flight controller according to the transducing signal of sensor 5
1 makes respective reaction, that is, adjusts the flight status parameter of the multi-rotor aerocraft, to realize the multi-rotor aerocraft with
The interaction function of the sensor 5.
For the ultrasonic sensor mounted on the aircraft bottom, controlled using the flight corresponding in program
Content realizes that control signal generator 2 automatically controls the aircraft altitude；I.e. in the flight controls program
The hovering height of aircraft is set, if ultrasonic sensor detects that it is more than hovering height at a distance from ground, is controlled
State of flight controller 1 makes the aircraft decline；Conversely, then rising；
In identical embodiment, for multiple ultrasonic sensors around the aircraft, using described
Corresponding contents in flight control program, realize that control signal generator 2 carries out the aircraft to hide peripheral obstacle
Action；The safe distance that aircraft is set in the flight control program, if ultrasonic sensor detects described fly
Row device and the obstacle distance of surrounding are less than or equal to safe distance, then controlling the state of flight controller 1 makes the flight
Device flight certain distance in opposite direction；Conversely, not acting accordingly then；
In identical embodiment, for camera, the corresponding contents in program is controlled using the flight, are realized to mesh
Mark the tracking action of object；The feature and trace mode that object is set in the flight control program, if camera root
According to the Feature capturing to object, then controlling the state of flight controller 1 according to the trace mode makes the aircraft
It is tracked action.
The present invention allow user according to the idea of oneself develop associated control procedures, and do not need stand-alone development fly
Row state controller program can obtain a stable automatic control system, and can be carried out according to the requirement of developer in this way
Functional development, while the convenience and stability of exploitation are met, make the user for not having complicated program ability that can also develop category
In the multi-rotor aerocraft of oneself, to achieve the purpose that product is popular.
Claims (7)
1. a kind of multi-rotor aerocraft automatic control system, which is characterized in that including：State of flight controller, control signal hair
Raw device, wireless receiver, user's side controller and sensor；
User's side controller is held and is operated by ground controller, user's side controller with wireless communication mode with
The wireless receiver connection, for referring to wireless receiver transmission ground controller to the control of multi-rotor aerocraft
It enables；
The state of flight controller, control signal generator, wireless receiver and sensor are mounted on more rotor flyings
In device；
The wireless receiver is connected with the control signal generator, for receiving the control instruction and passing described instruction
It is handed to the control signal generator；
The sensor be used for detect the aircraft local environmental conditions and generate transducing signal, the sensor with it is described
Control signal generator connects, and the transducing signal is sent to the control signal generator；
The control signal generator is connected with the state of flight controller, the control signal generator include microcontroller and
SCM peripheral circuit；The control signal generator generates program and flight control for Load Signal simulation program, signal
Program generates program, flight control program and transducing signal according to the control instruction, signal imitation program, signal and generates control
Signal processed, and the control signal is sent to the state of flight controller；
The state of flight controller controls the flare maneuver of the aircraft according to the control signal.
2. multi-rotor aerocraft automatic control system according to claim 1, which is characterized in that the sensor includes super
Sonic sensor and camera；The ultrasonic sensor is mounted on bottom and the surrounding of the aircraft.
3. multi-rotor aerocraft automatic control system according to claim 1, which is characterized in that the control instruction and control
Signal processed is using PWM wireless signals as signal vehicle.
4. multi-rotor aerocraft automatic control system according to claim 1, which is characterized in that the state of flight control
Device has PWM interfaces or PPM interfaces, for connecting control signal generator.
5. using multi-rotor aerocraft automatic control system described in claim 1 control method, which is characterized in that including with
Lower step：
Step 1, according to user demand, the control program of User Exploitation, including signal imitation are loaded in control signal generator
Program, signal generate program and flight control program；
Step 2, the control signal generator carries out mould by signal imitation program to the control instruction of user's side controller
It is quasi-, so that the control signal generator is had the control function instead of user's side controller to state of flight controller, to real
Existing signal imitation function；
Step 3, the control signal generator by flight control program control state of flight controller, make the aircraft by
Flare maneuver is carried out according to flight control program, to realize autonomous flight function；
Step 4, the sensor generates location information and the location information is sent to the control signal generator, described
Control signal generator controls program control state of flight controller by flight and makes accordingly according to the transducing signal of sensor
Reaction, that is, adjust the flight status parameter of the multi-rotor aerocraft, to realize the multi-rotor aerocraft and the sensing
The interaction function of device.
6. the control method of multi-rotor aerocraft automatic control system according to claim 5, which is characterized in that the step
Rapid 2, the control signal generator is made the control signal generator have and is controlled instead of user terminal by signal imitation function
Device is to the control function of state of flight controller, specific method：
Step 2.1, it is transmitted to the multi-rotor aerocraft about the control for executing flare maneuver by user's side controller
Instruction, the wireless receiver will acquire the instruction and be sent to the control signal generator；
Step 2.2, the control signal generator open signal analog functuion carries out mould by signal imitation program to the instruction
It is quasi-, and record analog result；
Step 2.3, the control signal generator according to analog result, it is corresponding with the instruction to generate Program Generating by signal
Signal is controlled, and is sent to the state of flight controller；The state of flight controller controls institute according to the control signal
The flight status parameter for stating multi-rotor aerocraft, so as to adjust the flare maneuver of the multi-rotor aerocraft；
Step 2.4, if the flight status parameter meets the control instruction, the control signal generator has had generation
For user's side controller to the control function of state of flight controller；Otherwise, the signal imitation program is adjusted accordingly,
It is then back to step 1.
7. the control method of multi-rotor aerocraft automatic control system according to claim 5, which is characterized in that the step
Rapid 3, the control signal generator controls program by flight and controls state of flight controller, makes the aircraft according to flight
It controls program and carries out flare maneuver, to realize that the autonomous flight function of multi-rotor aerocraft, specific method be：
Step 3.1, it is transmitted to the multi-rotor aerocraft about the control for opening autonomous flight by user's side controller
Instruction；The collected control instruction about unlatching autonomous flight is sent to the control signal by the wireless receiver
Generator；
Step 3.2, the control signal generator opens autonomous flight function, activate the flight control program and ignore about
The control instruction of flare maneuver；
Step 3.3, the flight control program of the control signal generator generates control signal according to analog result, and is sent to
State of flight controller；The state of flight that the state of flight controller controls the multi-rotor aerocraft according to control signal is joined
Number, so as to adjust the flare maneuver of the multi-rotor aerocraft, realizes the autonomous flight function of multi-rotor aerocraft.
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| CN201810283213.8A CN108508915A (en) | 2018-04-02 | 2018-04-02 | A kind of multi-rotor aerocraft automatic control system and its control method |
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Application publication date: 20180907 |