CN108594841A - UAV Flight Control System and method - Google Patents
UAV Flight Control System and method Download PDFInfo
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- CN108594841A CN108594841A CN201711490585.XA CN201711490585A CN108594841A CN 108594841 A CN108594841 A CN 108594841A CN 201711490585 A CN201711490585 A CN 201711490585A CN 108594841 A CN108594841 A CN 108594841A
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Classifications
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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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- Radar, Positioning & Navigation (AREA)
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- 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 UAV Flight Control System and method, several sensors and servo unit for monitoring its operating status are provided on unmanned plane, wherein UAV Flight Control System includes PLC technology unit, CPU element；PLC technology unit is electrically connected with several sensors and servo unit, the data of the remote controler for acquiring and parsing several sensors and unmanned plane, and sends flare maneuver data to servo unit；CPU element is used to the data run UAV Flight Control algorithm routine according to PLC technology unit resolves and exports the flare maneuver data obtained give PLC technology unit；UAV Flight Control System using the above structure, greatly reduce the use of the numerous Peripheral Interface chips of flight control system, simplify the hardware structure of system, reduce the operation pressure of CPU, UAV Flight Control System is enable to meet a variety of design objectives, and it is convenient for secondary development, greatly reduce design cost.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of unmanned plane during flying controls that can be reconstructed as needed
System and method processed.
Background technology
UAV referred to as " unmanned plane " (" UAV "), is controlled using radio robot and the program provided for oneself
The not manned vehicle that device manipulates.Unmanned plane is actually the general designation of unmanned vehicle, can be with from technical standpoint definition
It is divided into：Unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, nothing
People's parasol etc..Compared with manned aircraft, it have small, low cost, it is easy to use, to flight environment of vehicle require it is low excellent
Point.Compared with manned aircraft, unmanned plane is often more suitable for the task of those too " slow-witted, dirty or dangerous ".Unmanned plane is pressed
Application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.Civilian aspect, unmanned plane+row
Industry application, which is unmanned plane, really just have been needed；At present take photo by plane, agricultural, plant protection, miniature self-timer, express transportation, disaster relief, sight
Examine wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture romance etc. field
Using greatly having expanded the purposes of unmanned plane itself, developed country is also in actively extension sector application and development unmanned plane skill
Art.
However, the closure that the unmanned plane of mainstream is constituted only with microprocessor and dedicated peripheral hardware hardware at present flies control
System, the flight control system fallen behind more become the major obstacle of unmanned air vehicle technique development, and reason is that special sexual system can only
Realize single flight function, once curing, system function will be unable to further expand according to actual needs hardware platform, however objective
The application requirement at family is diversified, and the system having a single function can not adapt to various application occasions, and develop multi items and
The unmanned plane of function is bound to cause the excessive input of design cycle lengthening and hardware cost.
In order to meet more soft application environments and solve the closed question of special flight control system, it is badly in need of a kind of hardware frame
Structure simplifies the but UAV Flight Control System with reconfigurable function.
Invention content
The object of the present invention is to provide one kind realizing a variety of flight functions by reconfigurability programming, to reduce system
Hardware cost and the UAV Flight Control System for meeting multi-functional requirement.
It is another object of the invention to provide a kind of UAV Flight Control methods, are realized by reconfigurability programming more
Kind flight function, to reduce the hardware cost of system and meet multi-functional requirement.
To achieve the goals above, the invention discloses a kind of UAV Flight Control System, it is arranged on the unmanned plane
It is useful for the servo unit for monitoring several sensors of its operating status and power being provided for the unmanned plane, the unmanned plane during flying
Control system includes PLC technology unit, CPU element.The PLC technology unit and several sensors and servo list
Member is electrically connected, the data of the remote controler for acquiring and parsing several sensors and the unmanned plane, and is watched to described
It takes unit and sends flare maneuver data；The CPU element is electrically connected with the PLC technology unit, and being used for can according to
The data run UAV Flight Control algorithm routine of programming Control unit resolves and by the flare maneuver data obtained export to
The PLC technology unit.
Compared with prior art, UAV Flight Control System disclosed in this invention uses CPU element and programmable control
Unit processed is combined the system architecture for constituting UAV Flight Control System, and in the system architecture, CPU element only needs to undertake fortune
Row Flight Control Algorithm program task, since PLC technology unit has the characteristics that reconstitution strong, the programmable a variety of associations of expansion
The signal acquisition and output hardware module of negotiation type, greatly reduce the use of the numerous Peripheral Interface chips of flight control system,
Simplify the hardware structure of system.CPU element only need to carry out data interaction by communications protocol and PLC technology unit
The realization data for obtaining various external sensors reduce the operation pressure of CPU, while realizing software program by CPU element
Reconstitution and PLC technology unit realizes the reconstitution of hardware structure so that UAV Flight Control System can meet a variety of set
Meter task, and it is convenient for secondary development, greatly reduce design cost.
Preferably, the PLC technology unit includes FPGA processor.
Preferably, in the self-defined Nios II coprocessors for being configured with one 32, the Nios in the FPGA processor
II coprocessors are embedded in customized sensor and receive IP kernel, if sensor reception IP kernel is described for receiving and parsing through
The collected data of dry sensor institute.
Preferably, being configured with PWM receiving modules and PWM output modules, the PWM in self-defined in the FPGA processor
Receiving module is used to receive and parse through the remote-control data of the remote controler of the unmanned plane, the PWM output modules and the servo
Unit is electrically connected, the flare maneuver data for controlling the unmanned plane during flying state to servo unit output.
Preferably, the Nios II coprocessors are electrically connected by RS232 and several sensors.
Preferably, the UAV Flight Control System further includes earth station, with the CPU element wireless telecommunications.
In addition, the invention also discloses a kind of UAV Flight Control method, it is provided on the unmanned plane for monitoring
Several sensors of its operating status and the servo unit that power is provided for the unmanned plane, the UAV Flight Control method
Including：
1) the main control framework of the unmanned plane during flying, is bonded with PLC technology unit and CPU element, it is described
CPU element is used to run the UAV Flight Control algorithm routine,；
2), self-defined in PLC technology unit to construct an acquisition and to parse several sensors institute collected
The co-processor module of data；
3), self-defined construct several communicates with the CPU element and servo unit respectively in PLC technology unit
Interface module can be calculated according to the data run UAV Flight Control of the PLC technology unit resolves with the CPU element
Method program and by the flare maneuver data obtained by being sent to the servo unit to the PLC technology unit.
Preferably, the PLC technology unit includes FPGA processor.
Preferably, the Nios II coprocessors that the co-processor module is one 32, the Nios II coprocessors
It is embedded in customized sensor and receives IP kernel, the sensor receives IP kernel for receiving and parsing through several sensor institutes
Collected data.
Preferably, the interface module includes PWM receiving modules, PWM output modules, the ports Mobus, the PWM is received
Module receives and parses through the data of the sensor for the FPGA processor, and the PWM output modules to described for watching
The data of unit output control unmanned plane during flying are taken, the ports Mobus are used for the Nios II coprocessors to the CPU
Unit transmission data.
Description of the drawings
Fig. 1 is the system architecture diagram of UAV Flight Control System of the embodiment of the present invention.
Specific implementation mode
For technology contents, structure feature, realization principle and the objects and the effects that the present invention will be described in detail, tie below
It closes embodiment and attached drawing is coordinated to be explained in detail.
The invention discloses a kind of UAV Flight Control Systems, as shown in Figure 1, being provided on unmanned plane for monitoring it
Several sensors 4 of operating status and the servo unit 6 that power is provided for unmanned plane, UAV Flight Control System include that can compile
Process control unit 1 and CPU element 2.PLC technology unit 1 and several sensors 4, the remote controler 5 of unmanned plane and servo unit 6
It is electrically connected, the data for acquiring and parsing several sensors 4 and remote controler 5, and flare maneuver number is sent to servo unit 6
According to.CPU element 2 and PLC technology unit 1 are electrically connected, the data run for being parsed according to PLC technology unit 1 without
Man-machine Flight Control Algorithm program simultaneously exports the flare maneuver data obtained to PLC technology unit 1.Preferably, of the invention
UAV Flight Control System is additionally provided with earth station 3, earth station 3 and 2 wireless telecommunications of CPU element, in the present embodiment, earth station
3 are communicated with CPU element 2 using GPS, the data passed back for receiving unmanned plane, and from earth station 3 to 2 real-time update of CPU element
Control program.
UAV Flight Control System using the above structure is combined using CPU element 2 and PLC technology unit 1
The system architecture of UAV Flight Control System is constituted, in the system architecture, CPU element 2 undertakes operation Flight Control Algorithm
Program task, since PLC technology unit has the characteristics that reconstitution strong, the programmable signal for expanding various protocols and type
Acquisition and output hardware module, greatly reduce the use of the numerous Peripheral Interface chips of flight control system, simplify the hard of system
Part framework.2 need of CPU element carry out data interaction by communications protocol and PLC technology unit 1 can obtain various outsides
The real time data of sensor 4 reduces the operation pressure of CPU element 2, while realizing the reconstitution of software program by CPU element 2
The reconstitution of hardware structure is realized with PLC technology unit 1 so that UAV Flight Control System can meet a variety of designs and appoint
Business, and it is convenient for secondary development, greatly reduce design cost.
In another preferred embodiment of UAV Flight Control System of the present invention, PLC technology unit 1 includes at FPGA
Manage device.In the present embodiment, when carrying out the specific exploitation of UAV Flight Control System, the self-defined construction in FPGA processor
There are one 32 Nios II coprocessors 10, Nios II coprocessors 10 to be embedded in customized sensor and receive IP kernel, passes
Sensor receives IP kernel for receiving and parsing through the 4 collected data of institute of several sensors.When work, Nios II coprocessors 10
Each 4 collected data of institute of sensor is acquired, then parses, the data parsed is stored in the particular register of FPGA
It is interior, it is read for CPU element 2, or frame is sent to CPU element 2 with Mobus in the specific format, CPU element 2, which is brought, to be used, and is saved
A large amount of operation time, to effectively improve the operational efficiency of UAV Flight Control System.In the present embodiment, Nios II associations
Processor 10 is that CPU element 2 provides position, speed, acceleration, angle, the sensors such as angular speed 4 indirectly by mobus interfaces
Data.Preferably, in the present embodiment, Nios II coprocessors 10 are electrically connected by RS232 and several sensors 4.
In order to enable the effective communication of FPGA processor and unmanned plane, UAV Flight Control System of the present invention it is another compared with
In good embodiment, PWM receiving modules 11 and PWM output modules 12, PWM receiving modules are configured in self-defined in FPGA processor
The remote-control data of 11 remote controler 5 for receiving and parsing through unmanned plane, PWM output modules 12 are electrically connected with servo unit 6, use
In the data for exporting control unmanned plane during flying state to servo unit 6.
UAV Flight Control System using the above structure executes automatic offline mode when being worked, in unmanned plane
When, sensor 4 by the data information of unmanned plane (including：GPS location data, speed data, angular velocity data etc.) it is transferred to
Nios II coprocessors 10 in FPGA processor, these data informations are after the dissection process of Nios II coprocessors 10
Be sent to CPU element 2, then CPU element 2 according to above-mentioned data information be parameter by operation calculate after, obtain unmanned plane into
Then control data are sent back the PWM output modules 12 of FPGA, by FPGA to the servo list of unmanned plane by the control data of one step
Member 6 carries out action control.When unmanned plane executes manual offline mode, acquired by the PWM receiving modules 11 in FPGA processor
The remote information of remote controler 5, remote information are sent to CPU element 2, CPU element after the dissection process of PWM receiving modules 11
2 are calculated using above-mentioned remote information as parameter, and result of calculation is transmitted further to the PWM output modules 12 of FPGA, and mould is exported by PWM
The above-mentioned result of calculation as control data is transferred to the servo unit 6 of unmanned plane by block, and then servo unit 6 controls unmanned plane
Flare maneuver.In the above-mentioned course of work, FPGA processor acquire sensor 4 and remote controler 5 data, and with servo list
The communication of member 6 is independently of the work of CPU element 2, to can also keep the reality of data in the case where avoiding CPU element 2
The stabilized flight of when property and unmanned plane, while FPGA processor in data transmission there is inherent advantage, parallel characteristics to make
Obtaining external data has great freshness, and UAV Flight Control System of the present invention can also be compiled according to specific requirements
Journey reconstructs, for example expands more PWM input/output modules, adds sensor data acquisition interface, and addition FPGA camera shootings, which are taken pictures, to be obtained
Real time picture etc. is taken, these are not necessarily to aggravate CPU computational burdens and increase control panel hardware chip, ensure that the same hardware is flat
Platform can meet a variety of flight demands.Under the auxiliary of FPGA processor, CPU element 2 need not consume on obtaining 4 data of sensor
When so that 2 pooling of resources of CPU element is used for the execution of Flight Control Algorithm program.
In addition, the present invention also also discloses a kind of UAV Flight Control method, as shown in Figure 1, being provided on unmanned plane
Several sensors 4 for monitoring its operating status and the servo unit 6 that power is provided for unmanned plane, UAV Flight Control side
Method includes：
1) the main control framework of unmanned plane during flying, CPU element 2, are bonded with PLC technology unit 1 and CPU element 2
The interior algorithm routine equipped with the flight control for running unmanned plane；
2), self-defined in PLC technology unit 1 to construct an acquisition and parse the 4 collected number of institute of several sensors
According to co-processor module；
3), self-defined construct several respectively communicates with CPU element 2 and servo unit 6 in PLC technology unit 1
Interface module can be according to the data run UAV Flight Control algorithm routine that PLC technology unit 1 parses simultaneously with CPU element 2
By the flare maneuver data obtained by being sent to servo unit 6 to PLC technology unit 1.
Further, PLC technology unit 1 is FPGA processor, the Nios II that co-processor module is one 32
Coprocessor 10, Nios II coprocessors 10 are embedded in customized sensor and receive IP kernel, and sensor receives IP kernel for connecing
It receives and parses the 4 collected data of institute of several sensors, Nios II coprocessors 10 are electrical by RS232 and several sensors 4
Connection, above-mentioned interface module includes PWM receiving modules 11, PWM output modules 12, the ports Mobus, and PWM receiving modules 11 are used for
FPGA processor receives and parses through the data of sensor 4, and PWM output modules 12 are used to export control unmanned plane to servo unit 6
The data of flight, the ports Mobus are used for Nios I I coprocessors 10 to CPU processing unit transmission datas.
The process of the course of work and aforementioned present invention UAV Flight Control System of above-mentioned UAV Flight Control method
Identical, details are not described herein.
Above disclosed is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore according to equivalent variations made by scope of the present invention patent, still falls within the range that the present invention is covered.
Claims (10)
1. a kind of UAV Flight Control System, several sensors for monitoring its operating status are provided on the unmanned plane
With the servo unit for providing power for the unmanned plane, which is characterized in that the UAV Flight Control System includes：
PLC technology unit is electrically connected with several sensors and servo unit, if described for acquiring and parsing
The data of the remote controler of dry sensor and the unmanned plane, and send flare maneuver data to the servo unit；
CPU element is electrically connected with the PLC technology unit, for the number according to the PLC technology unit resolves
According to operation UAV Flight Control algorithm routine and the flare maneuver data obtained are exported to the PLC technology unit.
2. UAV Flight Control System according to claim 1, which is characterized in that the PLC technology unit includes
FPGA processor.
3. UAV Flight Control System according to claim 2, which is characterized in that made by oneself in the FPGA processor
Justice is configured with one 32 Nios II coprocessors, and the Nios II coprocessors are embedded in customized sensor and receive IP
Core, the sensor receive IP kernel for receiving and parsing through the collected data of several sensor institutes.
4. UAV Flight Control System according to claim 2, which is characterized in that made by oneself in the FPGA processor
Justice is configured with PWM receiving modules and PWM output modules, and the PWM receiving modules are for receiving and parsing through the distant of the unmanned plane
The remote-control data of device is controlled, the PWM output modules are electrically connected with the servo unit, are controlled for being exported to the servo unit
Make the flare maneuver data of the unmanned plane during flying state.
5. UAV Flight Control System according to claim 3, which is characterized in that the Nios II coprocessors are logical
RS232 is crossed to be electrically connected with several sensors.
6. UAV Flight Control System according to claim 1, which is characterized in that further include earth station, and it is described
CPU element wireless telecommunications.
7. a kind of UAV Flight Control method, several sensors for monitoring its operating status are provided on the unmanned plane
With the servo unit for providing power for the unmanned plane, which is characterized in that the UAV Flight Control method includes：
1) the main control framework of the unmanned plane during flying, is bonded with PLC technology unit and CPU element, the CPU is mono-
Algorithm routine equipped with the flight control for running the unmanned plane in first；
2), self-defined in PLC technology unit to construct an acquisition and parse the collected data of several sensor institutes
Co-processor module；
3), self-defined construct several connects with what the CPU element and servo unit communicated respectively in PLC technology unit
Mouth mold block can be according to the data run UAV Flight Control algorithm journey of the PLC technology unit resolves with the CPU element
Sequence and by the flare maneuver data obtained by being sent to the servo unit to the PLC technology unit.
8. UAV Flight Control method according to claim 7, which is characterized in that the PLC technology unit includes
FPGA processor.
9. UAV Flight Control method according to claim 8, which is characterized in that the co-processor module is 1
The Nios II coprocessors of position, the Nios II coprocessors are embedded in customized sensor and receive IP kernel, the sensing
Device receives IP kernel for receiving and parsing through the collected data of several sensor institutes.
10. UAV Flight Control method according to claim 9, which is characterized in that the interface module includes that PWM connects
Module, PWM output modules, the ports Mobus are received, the PWM receiving modules receive and parse through described for the FPGA processor
The data of sensor, the PWM output modules are used to export the data of control unmanned plane during flying to the servo unit, described
The ports Mobus are used for the Nios II coprocessors to the CPU element transmission data.
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| CN110955232A (en) * | 2019-12-13 | 2020-04-03 | 深圳市英博超算科技有限公司 | Automatic driving system architecture |
| CN110979743A (en) * | 2019-12-16 | 2020-04-10 | 成都星时代宇航科技有限公司 | Cube star system |
| WO2021040652A2 (en) | 2019-08-28 | 2021-03-04 | Tusas- Turk Havacilik Ve Uzay Sanayii Anonim Sirketi | An avionic computer architecture |
| CN112947525A (en) * | 2021-03-11 | 2021-06-11 | 广东汇天航空航天科技有限公司 | Flight control system and flight control method of electric manned aircraft |
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