CN109782782A - Multi-rotor unmanned aerial vehicle attitude flight control system - Google Patents
Multi-rotor unmanned aerial vehicle attitude flight control system Download PDFInfo
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- CN109782782A CN109782782A CN201711131476.9A CN201711131476A CN109782782A CN 109782782 A CN109782782 A CN 109782782A CN 201711131476 A CN201711131476 A CN 201711131476A CN 109782782 A CN109782782 A CN 109782782A
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Abstract
The invention discloses a kind of multi-rotor unmanned aerial vehicle attitude flight control systems, including main control unit, measurement of flying posture unit, signal receiving unit and execution unit, main control unit includes control module, signal acquisition module and the motor control output module using two-loop system, the motor control output module connects execution unit, and execution unit includes the motor adjustment module for controlling the motor and control motor of each rotor；The signal receiving unit receives the control signal of ground control centre, and after signal receiving unit is parsed the signal acquisition module that received signal is transferred to main control unit, the data after parsing are transferred to control module.The control system formed using powerful controller and multisensor, flight control parameter is obtained using two-loop system mode, make unmanned plane that there is self-stabilization control ability, control parameter can be adjusted in time when generating state changes in control process, enhance the anti-interference ability of unmanned plane.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical fields, in particular to a kind of multi-rotor unmanned aerial vehicle flight attitude control system
System.
Background technique
With advances in technology with the opening in low latitude field, multi-rotor unmanned aerial vehicle in military and civilian field application get over
Come more extensive, domestic and international each research institution all expands corresponding research and development to unmanned plane.Multi-rotor unmanned aerial vehicle is often
Have the characteristics that structure is simple, manipulation is convenient, mobility is good, the visual field is wide, low latitude high-definition picture and other can be obtained in time
Information near the ground reduces human and material resources consumption.Unmanned plane has been applied to agricultural technology field at present, due to more rotors without
Man-machine is under-actuated systems, its flight stability is easy the interference by wind under farm environment, for the flight for guaranteeing unmanned plane
State has carried out many research in the control to unmanned plane during flying posture.
Summary of the invention
Reliable and stable, strong antijamming capability multi-rotor unmanned aerial vehicle flight appearance is controlled the purpose of the present invention is to provide a kind of
State control system.
In order to solve the above technical problems, present invention employs a kind of multi-rotor unmanned aerial vehicle attitude flight control systems, including
Main control unit, measurement of flying posture unit, signal receiving unit and execution unit, the main control unit include being closed using double
Control module, signal acquisition module and the motor control output module of ring PID control, the measurement of flying posture unit include three
Axis accelerometer, three-axle magnetic field meter and three-axis gyroscope, for detecting flight attitude parameter, measurement of flying posture unit passes through number
After carrying out operation according to parameter of the parsing module to acquisition, control module is transferred data to, the motor control output module connects
Execution unit is connect, execution unit includes the motor adjustment module for controlling the motor and control motor of each rotor；The signal receives
Unit receives the control signal of ground control centre, and received signal is transferred to the signal of main control unit by signal receiving unit
After acquisition module is parsed, the data after parsing are transferred to control module.
In above-mentioned technical proposal, further, the motor control module uses electron speed regulator, according to control signal pair
Motor speed is adjusted, and each motor is connect with a motor control module respectively.
In above-mentioned technical proposal, further, the control module is using STM32F407 chip and its peripheral circuit group
At minimum control system.
The control system that the present invention is formed using powerful controller and multisensor, using two-loop system
Mode obtains flight control parameter, and unmanned plane is made to have self-stabilization control ability, can when generating state changes in control process
Adjustment control parameter in time, enhances the anti-interference ability of unmanned plane.
Detailed description of the invention
Fig. 1 is structural block diagram of the embodiment of the present invention.
Specific embodiment
The present invention is further illustrated in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, one of the present embodiment multi-rotor unmanned aerial vehicle attitude flight control system, including main control list
Member, measurement of flying posture unit, signal receiving unit and execution unit, main control unit include using two-loop system
Control module, signal acquisition module and motor control output module.Control module is using STM32F407 chip and its periphery electricity
The minimum control system of road composition.
Measurement of flying posture unit includes three axis accelerometer, three-axle magnetic field meter and three-axis gyroscope, for detecting flight
Attitude parameter transfers data to after measurement of flying posture unit carries out operation by parameter of the data resolution module to acquisition
Control module.Measurement of flying posture unit uses six axis motion sensor MPU6050 and three-axle magnetic field meter AK8975.
MPU6050 is integrated with MEMS three-axis gyroscope and 3-axis acceleration sensor, for measuring body angular speed and acceleration
Degree has expansible digital moving processor.AK8975 is the magnetometer chip for measuring body three-axle magnetic field.
Motor control output module connects execution unit, and execution unit includes the motor and control motor for controlling each rotor
Motor adjustment module；Motor control module uses electron speed regulator, and motor speed is adjusted according to control signal, described each
Motor is connect with a motor control module respectively.
Signal receiving unit receives the control signal of ground control centre, and received signal is transferred to by signal receiving unit
After the signal acquisition module of main control unit is parsed, the data after parsing are transferred to control module.
The control system that the present invention is formed using powerful controller and multisensor, using two-loop system
Mode obtains flight control parameter, and unmanned plane is made to have self-stabilization control ability, can when generating state changes in control process
Adjustment control parameter in time, enhances the anti-interference ability of unmanned plane.
The description and the appended drawings of the invention be considered as it is illustrative and not restrictive, on the basis of the present invention, ability
According to disclosed technology contents, some of technical characteristics can be made field technique personnel by not needing creative labor
Some replacements and deformation, are within the scope of the invention.
Claims (3)
1. multi-rotor unmanned aerial vehicle attitude flight control system, it is characterised in that: including main control unit, measurement of flying posture list
Member, signal receiving unit and execution unit, the main control unit include the control module for using two-loop system, signal
Obtain module and motor control output module, the measurement of flying posture unit include three axis accelerometer, three-axle magnetic field meter and
Three-axis gyroscope, for detecting flight attitude parameter, measurement of flying posture unit is by data resolution module to the parameter of acquisition
After carrying out operation, control module is transferred data to, the motor control output module connects execution unit, and execution unit includes
Control the motor of each rotor and the motor adjustment module of control motor；The signal receiving unit receives the control of ground control centre
Signal processed after signal receiving unit is parsed the signal acquisition module that received signal is transferred to main control unit, will solve
Data after analysis are transferred to control module.
2. multi-rotor unmanned aerial vehicle attitude flight control system according to claim 1, it is characterised in that: the motor control
Module use electron speed regulator, according to control signal motor speed is adjusted, each motor respectively with a motor control
Module connection.
3. multi-rotor unmanned aerial vehicle attitude flight control system according to claim 1, it is characterised in that: the control module
For the minimum control system formed using STM32F407 chip and its peripheral circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711131476.9A CN109782782A (en) | 2017-11-15 | 2017-11-15 | Multi-rotor unmanned aerial vehicle attitude flight control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711131476.9A CN109782782A (en) | 2017-11-15 | 2017-11-15 | Multi-rotor unmanned aerial vehicle attitude flight control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109782782A true CN109782782A (en) | 2019-05-21 |
Family
ID=66495201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711131476.9A Withdrawn CN109782782A (en) | 2017-11-15 | 2017-11-15 | Multi-rotor unmanned aerial vehicle attitude flight control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN109782782A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111708344A (en) * | 2020-04-28 | 2020-09-25 | 国家计算机网络与信息安全管理中心 | State monitoring device and method for unmanned aerial vehicle program vulnerability test |
| CN112445231A (en) * | 2019-08-30 | 2021-03-05 | 中移(苏州)软件技术有限公司 | Attitude control method, multi-rotor aircraft and readable storage medium |
| CN114241844A (en) * | 2021-12-23 | 2022-03-25 | 辽宁警察学院 | Portable analog simulation system and device of semi-closed space nuclide identification device |
| WO2022160175A1 (en) * | 2021-01-28 | 2022-08-04 | 深圳市大疆创新科技有限公司 | Control method and unmanned aerial vehicle |
-
2017
- 2017-11-15 CN CN201711131476.9A patent/CN109782782A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112445231A (en) * | 2019-08-30 | 2021-03-05 | 中移(苏州)软件技术有限公司 | Attitude control method, multi-rotor aircraft and readable storage medium |
| CN111708344A (en) * | 2020-04-28 | 2020-09-25 | 国家计算机网络与信息安全管理中心 | State monitoring device and method for unmanned aerial vehicle program vulnerability test |
| WO2022160175A1 (en) * | 2021-01-28 | 2022-08-04 | 深圳市大疆创新科技有限公司 | Control method and unmanned aerial vehicle |
| CN114241844A (en) * | 2021-12-23 | 2022-03-25 | 辽宁警察学院 | Portable analog simulation system and device of semi-closed space nuclide identification device |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190521 |