CN109901607A - A kind of dedicated flight control system of multi-rotor unmanned aerial vehicle - Google Patents
A kind of dedicated flight control system of multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The present invention relates to a kind of dedicated flight control system of multi-rotor unmanned aerial vehicle, including multi-rotor unmanned aerial vehicle, liquid-jet device is carried in the multi-rotor unmanned aerial vehicle；And ground liquid supply equipment, it is connected by transfusion catheter with the multi-rotor unmanned aerial vehicle, for providing liquid required when the liquid-jet device works to the multi-rotor unmanned aerial vehicle in the multi-rotor unmanned aerial vehicle course of work；It further include surface power supply equipment, by power supply electric wire, nobody is connected with more rotors, for providing electric energy to the multi-rotor unmanned aerial vehicle in the multi-rotor unmanned aerial vehicle course of work；The multi-rotor unmanned aerial vehicle includes unmanned plane comprehensive management module, height control submodule, waypoint navigation control submodule, spraying control submodule.The present invention realizes the flight control of driving multi-rotor unmanned aerial vehicle, has and carries out plant protection operation along preset flight route, can cope with various complicated landforms, mitigates the labor intensity of remote operating personnel, avoid pesticide drain spray or respray.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of dedicated flight control systems of multi-rotor unmanned aerial vehicle.
Background technique
With the development trend of intensive agriculture, scale, due to using unmanned plane to spray insecticide than manually spraying insecticide
It is high-efficient, unmanned plane agricultural application in centainly promoted.It is applied to the unmanned plane type of agricultural in the prior art
Mainly there are fixed-wing, single rotor and three kinds of multi-rotor unmanned aerial vehicle, specifically: fixed-wing unmanned plane volume is maximum, and take off needs
Runway, course line need blank pipe department to ratify, and are not suitable for small-scale agricultural application；Single rotor unmanned plane paddle plane is maximum, but by
It is all completed by a rotor in heading and lifting, manipulation is complicated, is unfavorable for ordinary people and quickly grasps, and safety is poor.
Distinguishingly, it also needs to apply for course line formality when large-scale single rotor unmanned plane takes off, using being more troublesome；Multi-rotor unmanned aerial vehicle manipulation
Simply, due to country to the unmanned plane in extreme low-altitude, particularly agriculture application temporarily without stringent control, existing civilian plant
It protects laxative and mainly uses multi-rotor unmanned aerial vehicle.
Existing unmanned plane is that manual remote control operates mostly, and without automated navigation system, the accuracy for spraying medical fluid is poor, leakage
Spray phenomenon happens occasionally.And the system for flight control computer control unmanned plane based on GPS navigation is planted along preset flight route
Operation is protected, but the Error of fairway or operation height that easily occur during its plant protection are unstable, to greatly influence plant protection operation
Effect easily causes pesticide drain spray, resprays or droplet drift is serious.
Summary of the invention
The purpose of the invention is to overcome the deficiencies of the prior art and provide a kind of dedicated winged control system of multi-rotor unmanned aerial vehicle
System.
The present invention is achieved through the following technical solutions:
A kind of dedicated flight control system of multi-rotor unmanned aerial vehicle, including multi-rotor unmanned aerial vehicle carry in the multi-rotor unmanned aerial vehicle
There is liquid-jet device；And ground liquid supply equipment, it is connected by transfusion catheter with the multi-rotor unmanned aerial vehicle, for described more
Liquid required when the liquid-jet device works is provided in the rotor wing unmanned aerial vehicle course of work to the multi-rotor unmanned aerial vehicle；Further include
Surface power supply equipment, by power supply electric wire, nobody is connected with more rotors, for worked in the multi-rotor unmanned aerial vehicle
Multi-rotor unmanned aerial vehicle described in Cheng Zhongxiang provides electric energy；The multi-rotor unmanned aerial vehicle includes unmanned plane comprehensive management module, height control
System module, waypoint navigation control submodule, spraying control submodule, the unmanned plane comprehensive management module as it is entire nobody
The control core of machine control, manages waypoint navigation control submodule, spraying operation control submodule, flight altitude control submodule
Information exchange and realize job parameter setting etc. human-computer interaction functions；The height control submodule can measure unmanned plane
Distance apart from crop canopies, and adjustment unmanned plane vertical direction lift makes it stable on operation height in real time；The boat
Road Navigation Control submodule makes unmanned plane along default operation Route reform, while can adjust the boat occurred in flight course at any time
Road error, accomplishes precision navigation；The spraying control submodule is made according to the job position real-time control plant protection of plant protection drone
Industry switch effectively avoids the drain spray of pesticide and resprays；The unmanned plane comprehensive management module, including fly control processing unit, letter
Cease receiving unit, control information output unit；The winged control processing unit selects dsp processor；The information receives single
Member includes elevation information input interface, flight information input interface, wireless transport module and wireless messages input interface；Described
Controlling information output unit includes height control information output interface, flight attitude adjustment information output interface and spraying control letter
Cease output interface；The elevation information input interface is using UART interface and flies control processing unit communication；The flight letter
It ceases the SPI interface of input interface and flies control processing unit communication；The wireless transport module through wireless messages input interface with
Fly control processing unit to carry out telecommunication；The height control submodule includes that ultrasonic wave height measuring device and height control list
Member；The actual range of ultrasonic wave height measuring device the measurement unmanned plane and crop canopies；The height control unit includes
Throttle steering engine, engine, big rotor；The throttle steering engine is big using the information adjustment engine throttle for surveying high sensing unit feedback
It is small, control output power size, and then control the rotation speed of big rotor, adjustment unmanned plane vertical to lift；Survey high sensing
Unit enters by elevation information input interface flies control processing unit, after winged control processing unit calculates, then through height control letter
It ceases output interface and exports control parameter, control the throttle size of throttle steering engine, to control big rotor-speed, and then adjust unmanned plane
Highly.
Further, the waypoint navigation control submodule includes that flight parameter sensing unit and flight attitude adjustment are single
Member；The flight parameter sensing unit includes GPS device, 6 axis motion process components and electronic compass；The GPS device
It is sent by flight information input interface and flies control processing unit, GPS device obtains spatial position and the flying speed letter of unmanned plane
Breath carries out operation along predetermined air route for controlling unmanned plane；The 6 axis motion process components are that 3 axis gyroscopes and 3 axis add
Fast device instrument composite module, for measure three, unmanned plane space rotary freedom deflection angle and three translation freedoms plus
Velocity amplitude；The electronic compass utilizes built-in magnetoresistive effect sensor, for determining absolute course of the unmanned plane with respect to earth's magnetic field
Angle；The 6 axis motion process components and electronic compass use MEMS sensor, and each sensor signal passes through after AD conversion by flying
Row information input interface, which is sent into, flies control processing unit；The flight attitude adjustment unit is divided into front and back to pose adjustment module and a left side
Dextrad pose adjustment module, each module include its corresponding electron speed regulator in fuselage two sides, motor and small rotor；It is described
Electron speed regulator is connected to motor, and the size and Orientation variation for the motor drive current that motor is exported with electron speed regulator changes
The revolving speed of motor and steering, small rotor and the coaxial connection of motor generate different thrusts and drive unmanned plane adjustment flight attitude；It is described
Flight parameter sensing unit by flight information input interface enter fly control processing unit, fly control processing unit according to flight join
Number sensing unit obtains unmanned plane GPS position information and posture information is calculated, and obtains UAV Attitude adjusting parameter, then pass through
Flight attitude adjustment information output interface exports control parameter, changes output size of current and the direction of electron speed regulator, with control
Small rotor-speed is made, and then adjusts the flight attitude and horizontal velocity of unmanned plane.
Further, the spraying control submodule includes relay, electric diaphragm pump and nozzle group；The relay
Device is connect with electric diaphragm pump, for controlling electric diaphragm pump switch；The electric diaphragm pump passes through drug liquid tube and nozzle group
Connection；The spraying control information output interface is connect with relay, flies whether control processing unit foundation reaches spray area
The control for carrying out relay switch, to control whether electric diaphragm pump carries out spraying operation.
Compared with prior art, the beneficial effects of the present invention are: the present invention realizes flying for driving multi-rotor unmanned aerial vehicle
Row control, the driving Guarantee control system of vertical direction lift and horizontal thrust it is simple and reliable, the taking off of multi-rotor unmanned aerial vehicle,
Operation and landing whole process realize autonomous flight, have and carry out plant protection operation along preset flight route, can cope with various
Complicated landform mitigates the labor intensity of remote operating personnel, avoids pesticide drain spray or respray, and unmanned plane is able to maintain operation height,
The influence in spraying operation due to natural wind is reduced, so that the serious droplet drift generated, ensure that operation effectiveness, in operation
Cheng Zhong, spraying control is stringenter, avoids the waste of medical fluid, while decreasing the pollution to environment.
Detailed description of the invention
Fig. 1 is control flow chart of the invention；
Fig. 2 is height controlling unit of the invention；
Fig. 3 is Heading control link of the invention；
Fig. 4 is speed control link of the invention；
Fig. 5 is gesture stability link of the invention；
Fig. 6 is farm work figure of the invention.
In figure: 1, GPS device, 2, ultrasonic wave height measuring device, 3, electronic compass, 4, six axis motion process components, 5, throttle
Steering engine, 6, engine, 7, big rotor, 8, relay, 9, electric diaphragm pump, 10, nozzle group.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Please refer to the dedicated flight control system of a kind of multi-rotor unmanned aerial vehicle shown in FIG. 1, including multi-rotor unmanned aerial vehicle, more rotations
Liquid-jet device is carried on wing unmanned plane；And ground liquid supply equipment, it is connected by transfusion catheter with the multi-rotor unmanned aerial vehicle
It connects, for providing liquid-jet device work when institute to the multi-rotor unmanned aerial vehicle in the multi-rotor unmanned aerial vehicle course of work
The liquid needed；It further include surface power supply equipment, by power supply electric wire, nobody is connected with more rotors, in more rotations
Electric energy is provided to the multi-rotor unmanned aerial vehicle in the wing unmanned plane course of work；The multi-rotor unmanned aerial vehicle includes unmanned plane integrated pipe
Module including unmanned plane comprehensive management module, height control submodule, waypoint navigation control submodule are managed, controls submodule by spraying
Block.Control core of the unmanned plane comprehensive management module as entire unmanned aerial vehicle (UAV) control, management waypoint navigation control submodule,
The human-computer interactions such as spraying operation control submodule, the information exchange of flight altitude control submodule and realization job parameter setting
Function.The height control submodule can measure distance of the unmanned plane apart from crop canopies, and adjust unmanned plane lead in real time
The direction lift that hangs down makes it stable on operation height.The waypoint navigation control submodule flies unmanned plane along operation air route is preset
Row, while the Error of fairway occurred in flight course can be adjusted at any time, accomplish precision navigation.The spraying control submodule according to
It switchs, effectively avoid the drain spray of pesticide and resprays according to the job position real-time control plant protection operation of plant protection drone.
The unmanned plane comprehensive management module, including fly control processing unit, information receiving unit, control information output list
Member.The winged control processing unit selects dsp processor, which has peripheral interface abundant, have floating-point operation energy
Power, computational accuracy are high, can improve control output accuracy.The information receiving unit includes elevation information input interface, flight
Information input interface, wireless transport module and wireless messages input interface.The control information output unit includes that height is controlled
Information output interface, flight attitude adjustment information output interface and spraying control information output interface processed.The elevation information
Input interface is using UART interface and flies control processing unit communication.The SPI interface of the flight information input interface and winged control
Processing unit communication.The wireless transport module is carried out telecommunication through wireless messages input interface with control processing unit is flown.
The height control submodule includes ultrasonic wave height measuring device 2 and height control unit.The ultrasound
High device 2 measures the actual range of unmanned plane and crop canopies, that is to say the flying height for measuring unmanned plane.The height
Control unit includes throttle steering engine 5, engine 6, big rotor 7.The throttle steering engine 5 utilizes the information for surveying high sensing unit feedback
6 throttle size of engine is adjusted, output power size is controlled, and then control the rotation speed of big rotor 7, adjusts unmanned plane vertical
To lift.It surveys high sensing unit and enters winged control processing unit by elevation information input interface, flown control processing unit and calculated
Afterwards, then through height control information output interface control parameter is exported, the throttle size of throttle steering engine 5 is controlled, to control big rotor 7
Speed, and then adjust unmanned plane height.
The waypoint navigation control submodule includes flight parameter sensing unit and flight attitude adjustment unit.Described
Flight parameter sensing unit includes GPS device 1,6 axis motion process components 4 and electronic compass 3.The GPS device 1 is by flying
Row information input interface, which is sent into, flies control processing unit, and GPS device 1 obtains spatial position and the airspeed information of unmanned plane, uses
Operation is carried out along predetermined air route in control unmanned plane.The 6 axis motion process components 4 are 3 axis gyroscopes and 3 axis accelerators
Instrument composite module, for measuring the deflection angle of three, unmanned plane space rotary freedom and the acceleration of three translation freedoms
Value.The electronic compass 3 utilizes built-in magnetoresistive effect sensor, for determining absolute course angle of the unmanned plane with respect to earth's magnetic field.
The 6 axis motion process components 4 and electronic compass 3 use MEMS sensor, and each sensor signal passes through after AD conversion by flying
Row information input interface, which is sent into, flies control processing unit.The flight attitude adjustment unit is divided into front and back to pose adjustment module and a left side
Dextrad pose adjustment module, each module include its corresponding electron speed regulator in fuselage two sides, motor and small rotor.It is described
Electron speed regulator is connected to motor, and the size and Orientation variation for the motor drive current that motor is exported with electron speed regulator changes
The revolving speed of motor and steering, small rotor and the coaxial connection of motor generate different thrusts and drive unmanned plane adjustment flight attitude.It is described
Flight parameter sensing unit by flight information input interface enter fly control processing unit, fly control processing unit according to flight ginseng
The unmanned plane GPS location and posture information and fly to control the UAV Attitude that processing unit calculates and adjust to join that number sensing unit obtains
Number, then control parameter is exported through flight attitude adjustment information output interface, change output size of current and the side of electron speed regulator
To control small rotor-speed, and then the flight attitude and horizontal velocity of adjustment unmanned plane.
The spraying control submodule includes relay 8, electric diaphragm pump 9 and nozzle group 10.The relay 8 with
Electric diaphragm pump 9 connects, and switchs for controlling electric diaphragm pump 9.The electric diaphragm pump 9 passes through drug liquid tube and nozzle group 10
Connection, for pumping out medical fluid from spray tank.The nozzle group 10 is for medical liquid atomizing to be sprayed onto the air, then by nobody
The downwash flow of machine carries droplet secretly to crop surface.The spraying control information output interface is connect with relay 8, is flown at control
Whether reason unit foundation reaches spray area and carries out the control that relay 8 switchs, to control whether electric diaphragm pump 9 is sprayed
Mist operation.
When the invention works, the reality that height control submodule obtains pre-set flight elevation information and the high sensing unit of survey
Flying height information is compared, and is generated height control instruction by using pid control algorithm, is changed the oil of height control unit
Door 5 control parameter of steering engine adjusts the lift of unmanned plane vertical direction, unmanned aerial vehicle platform to control the rotation speed of big rotor 7
Before operation starts, pass through the spraying air route of wireless messages input interface satellite receiver preset flying height and planning
Data are stored in and fly in control processing unit.The waypoint navigation control submodule is by the target position in the spraying air route of planning
Confidence breath is compared with the actual position information that GPS device 1 or flight parameter sensing unit obtain, and generates gesture stability instruction
With horizontal velocity control instruction, unmanned plane is made to adjust the Error of fairway occurred in flight course at any time, meets actual track
Predetermined air route, accomplishes precision navigation.The characteristics of being aligned according to plant protection operation path with crop row, the driving decouple unmanned plane
The horizontal velocity control of platform only relates to the linear motion control of opposite fuselage front-rear direction and left and right directions；The driving solution
The rotary motion that the gesture stability of coupling unmanned aerial vehicle platform only relates to opposite vertical axis controls, so that fuselage front-rear direction to be adjusted to
Alignment planning course direction.With respect to fuselage, horizontal velocity controls only by a left side driving decoupling unmanned aerial vehicle platform in the front-back direction
The front and back that right two small rotor provides horizontal direction is controlled to thrust；The driving decoupling unmanned aerial vehicle platform is with respect to fuselage or so
The horizontal velocity control in direction is only controlled from the left and right that former and later two small rotors provide horizontal direction to thrust；It leads in the air route
Control submodule of navigating will set the reality of the acquisition of the axis accelerator instrument of GPS device 1 and 3 in horizontal velocity and flight parameter sensing unit
International standard speed is compared, and is generated horizontal velocity control instruction by using pid control algorithm, is changed the electricity of electron speed regulator
Size is flowed, thus change the small Rotor thrust of front-rear direction or left and right directions, final adjustment horizontal flight speed.The driving
Unmanned aerial vehicle platform is decoupled with respect to the rotation torque control that the rotary motion of vertical axis can be provided by the small rotor in left and right with opposite steering
System.The waypoint navigation control submodule is by 3 axis in the flight course of the unmanned plane of setting and flight parameter sensing unit
The actual heading angle that gyroscope and electronic compass 3 obtain is compared, and generates pose adjustment control by using pid control algorithm
Instruction, changes the size of current of corresponding electron speed regulator at left and right sides of fuselage, thus change the thrust of the small rotor in the left and right sides,
The actual heading of final adjustment unmanned plane during flying.When driving decoupling unmanned aerial vehicle platform is disturbed the interference of wind or horizontal flight adds
It will appear fuselage disequilibrium slightly when fast, i.e. for body nodal point not on big 7 axis of rotor, the waypoint navigation controls submodule
Block by according to flight parameter sensing unit 3 axis gyroscopes monitoring data with unmanned plane vertical plane inclination angle compared with, if its value surpass
Given threshold is crossed, then by using pid control algorithm, generates pose adjustment control instruction, is changed corresponding at left and right sides of fuselage
The size of current of electron speed regulator, thus change the thrust of the small rotor in back and forth or left and right two sides, its vertical plane inclination angle of final adjustment
Return to normal range (NR).The spraying control submodule is believed according to the location information and height of unmanned plane acquired in GPS device 1
When breath judges that unmanned plane reaches the spray height specified and position, pass through spraying control information output interface turn-on relay 8, electricity
Dynamic diaphragm pump 9 is started to work, and spray head starts spray drug operation.
Control flow in the present embodiment is as follows:
1) unmanned aerial vehicle platform passes through the preset flying height of wireless messages input interface satellite receiver and planning
Spraying RTE DATA is stored in and flies in control processing unit.
2) start engine 6, throttle steering engine 5 controls throttle size, and big rotor 7 accelerates rotation, and unmanned plane steadily takes off, together
When ultrasonic wave height measuring device 2 start to work, the elevation information of unmanned plane from the ground is constantly fed back to unmanned plane and flies control, throttle
Steering engine 5 controls 6 throttle size of engine according to the elevation information fed back, and the revolving speed for maintaining big rotor 7 certain keeps unmanned plane steady
It is scheduled on operation height.
3) GPS device by real-time position information feed back to unmanned plane fly control processing unit, waypoint navigation control submodule 4
Electron speed regulator controls output size of current according to the route information of feedback, turns corresponding 4 small rotors with different respectively
Speed and steering start turning, and unmanned plane is driven to fly along work route.The small rotor control unmanned plane in left and right is transported along crop row
Dynamic (by A to B), the small rotor control unmanned plane transverse shifting in front and back carry out line feed operation (by B to C).
4) when unmanned plane runs to specified altitude assignment and designated position, relay 8 controls electric diaphragm pump 9 and starts to work,
Spray head starts to spray, and stops operation if not meeting spray position, until unmanned plane is adjusted to job position and carries out operation again.
In conclusion the present invention realizes the flight control of driving multi-rotor unmanned aerial vehicle, vertical direction lift is pushed away with level
The driving Guarantee control system of power it is simple and reliable, the taking off of multi-rotor unmanned aerial vehicle, operation and landing whole process realize from
Main flight has and carries out plant protection operation along preset flight route, can cope with various complicated landforms, mitigates the labor of remote operating personnel
Fatigue resistance avoids pesticide drain spray or resprays, and unmanned plane is able to maintain operation height, reduces the shadow in spraying operation due to natural wind
It rings, so that the serious droplet drift generated, ensure that operation effectiveness, in operation process, spraying control is stringenter, avoids
The waste of medical fluid, while decreasing the pollution to environment.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (3)
1. a kind of dedicated flight control system of multi-rotor unmanned aerial vehicle, it is characterised in that: including multi-rotor unmanned aerial vehicle, more rotors nobody
Liquid-jet device is carried on machine；And ground liquid supply equipment, it is connected by transfusion catheter with the multi-rotor unmanned aerial vehicle, is used for
Liquid required when the liquid-jet device works is provided in the multi-rotor unmanned aerial vehicle course of work to the multi-rotor unmanned aerial vehicle
Body；Further include surface power supply equipment, by power supply electric wire nobody is connected with more rotors, be used for more rotors nobody
Electric energy is provided to the multi-rotor unmanned aerial vehicle in the machine course of work；The multi-rotor unmanned aerial vehicle includes unmanned plane integrated management mould
Block, height control submodule, waypoint navigation control submodule, spraying control submodule, the unmanned plane comprehensive management module are made
For the control core of entire unmanned aerial vehicle (UAV) control, waypoint navigation control submodule, spraying operation control submodule, flying height are managed
The human-computer interaction functions such as the information exchange of control submodule and realization job parameter setting；The height control submodule can be with
Distance of the unmanned plane apart from crop canopies is measured, and adjustment unmanned plane vertical direction lift makes it stable in operation height in real time
On；The waypoint navigation control submodule makes unmanned plane along default operation Route reform, while can adjust flight course at any time
The Error of fairway of middle appearance, accomplishes precision navigation；The spraying control submodule is real-time according to the job position of plant protection drone
Plant protection operation switch is controlled, the drain spray of pesticide is effectively avoided and is resprayed；The unmanned plane comprehensive management module, including fly at control
Manage unit, information receiving unit, control information output unit；The winged control processing unit selects dsp processor；The letter
Breath receiving unit includes that elevation information input interface, flight information input interface, wireless transport module and wireless messages input connect
Mouthful；The control information output unit include height control information output interface, flight attitude adjustment information output interface and
Spraying control information output interface；The elevation information input interface is using UART interface and flies control processing unit communication；Institute
The SPI interface for the flight information input interface stated and winged control processing unit communication；The wireless transport module is through wireless messages
Input interface is carried out telecommunication with control processing unit is flown；The height control submodule includes ultrasonic wave height measuring device and height
Spend control unit；The actual range of ultrasonic wave height measuring device the measurement unmanned plane and crop canopies；The height control
Unit includes throttle steering engine, engine, big rotor；The throttle steering engine is started using the information adjustment for surveying high sensing unit feedback
Machine oil door size controls output power size, and then controls the rotation speed of big rotor, adjustment unmanned plane vertical to lift；
It surveys high sensing unit and enters winged control processing unit by elevation information input interface, after winged control processing unit calculates, then through height
Degree control information output interface exports control parameter, controls the throttle size of throttle steering engine, to control big rotor-speed, and then adjusts
Whole unmanned plane height.
2. the dedicated flight control system of a kind of multi-rotor unmanned aerial vehicle according to claim 1, it is characterised in that: lead in the air route
Control submodule of navigating includes flight parameter sensing unit and flight attitude adjustment unit；The flight parameter sensing unit includes
GPS device, 6 axis motion process components and electronic compass；The GPS device is sent by flight information input interface to fly at control
Manage unit, GPS device obtain unmanned plane spatial position and airspeed information, for control unmanned plane along predetermined air route into
Row operation；The 6 axis motion process components are 3 axis gyroscopes and 3 axis accelerator instrument composite modules, for measuring unmanned plane sky
Between the deflection angle of three rotary freedoms and the acceleration value of three translation freedoms；The electronic compass utilizes built-in magnetic resistance
Effect sensor, for determining absolute course angle of the unmanned plane with respect to earth's magnetic field；The 6 axis motion process components and electronics sieve
Disk is flown to control processing unit after using MEMS sensor, each sensor signal to pass through AD conversion by flight information input interface feeding；
The flight attitude adjustment unit is divided into front and back to pose adjustment module and left and right to pose adjustment module, and each module includes
Its corresponding electron speed regulator in fuselage two sides, motor and small rotor；The electron speed regulator is connected to motor, and motor is with electricity
The size and Orientation variation of the motor drive current of sub- governor output changes revolving speed and the steering of motor, and small rotor and motor are total
Axis connection generates different thrusts and drives unmanned plane adjustment flight attitude；The flight parameter sensing unit passes through flight information
Input interface, which enters, flies control processing unit, flies control processing unit according to flight parameter sensing unit and obtains unmanned plane GPS location letter
Breath and posture information are calculated, and obtain UAV Attitude adjusting parameter, then export through flight attitude adjustment information output interface
Control parameter changes output size of current and the direction of electron speed regulator, to control small rotor-speed, and then adjusts unmanned plane
Flight attitude and horizontal velocity.
3. the dedicated flight control system of a kind of multi-rotor unmanned aerial vehicle according to claim 1, it is characterised in that: the spraying control
System module includes relay, electric diaphragm pump and nozzle group；The relay is connect with electric diaphragm pump, for controlling electricity
Dynamic diaphragm switch pump；The electric diaphragm pump is connect by drug liquid tube with nozzle group；The spraying control information output connects
Mouth is connect with relay, flies whether control processing unit foundation reaches the control that spray area carries out relay switch, to control
Whether electric diaphragm pump carries out spraying operation.
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| CN201711283502.XA CN109901607A (en) | 2017-12-07 | 2017-12-07 | A kind of dedicated flight control system of multi-rotor unmanned aerial vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111045442A (en) * | 2019-12-30 | 2020-04-21 | 沈阳卓翼航空科技有限公司 | Flight control system applied to agriculture and industry |
| CN112346473A (en) * | 2020-11-25 | 2021-02-09 | 成都云鼎智控科技有限公司 | Unmanned aerial vehicle attitude control system, flight control system and attitude control method |
| CN112352759A (en) * | 2020-10-26 | 2021-02-12 | 江苏大学 | Multi-rotor-wing spray rod structure and control method thereof |
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| CN104407586A (en) * | 2014-11-14 | 2015-03-11 | 山东农业大学 | Drive decoupled plant protection unmanned aerial vehicle control system and control method |
| CN204270115U (en) * | 2014-11-14 | 2015-04-15 | 山东农业大学 | The special flight control system of a kind of plant protection unmanned plane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104407586A (en) * | 2014-11-14 | 2015-03-11 | 山东农业大学 | Drive decoupled plant protection unmanned aerial vehicle control system and control method |
| CN204270115U (en) * | 2014-11-14 | 2015-04-15 | 山东农业大学 | The special flight control system of a kind of plant protection unmanned plane |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111045442A (en) * | 2019-12-30 | 2020-04-21 | 沈阳卓翼航空科技有限公司 | Flight control system applied to agriculture and industry |
| CN112352759A (en) * | 2020-10-26 | 2021-02-12 | 江苏大学 | Multi-rotor-wing spray rod structure and control method thereof |
| CN112346473A (en) * | 2020-11-25 | 2021-02-09 | 成都云鼎智控科技有限公司 | Unmanned aerial vehicle attitude control system, flight control system and attitude control method |
| CN112346473B (en) * | 2020-11-25 | 2022-03-11 | 成都云鼎智控科技有限公司 | Unmanned aerial vehicle attitude control system, flight control system and attitude control method |
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Application publication date: 20190618 |
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