CN110963024A - Steering engine driver, steering engine driving method and unmanned aerial vehicle - Google Patents
Steering engine driver, steering engine driving method and unmanned aerial vehicle Download PDFInfo
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- CN110963024A CN110963024A CN201911320720.5A CN201911320720A CN110963024A CN 110963024 A CN110963024 A CN 110963024A CN 201911320720 A CN201911320720 A CN 201911320720A CN 110963024 A CN110963024 A CN 110963024A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a steering engine driver, a steering engine driving method and an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The steering engine driver comprises a CAN bus interface, a controller and a plurality of driving circuits, wherein the controller is electrically connected with the CAN bus interface and the plurality of driving circuits, the CAN bus interface is used for receiving steering engine control messages transmitted by flight control and transmitting the steering engine control messages to the controller, and the controller is used for generating PWM control signals according to steering engine control instructions and sending the PWM control signals to the driving circuits corresponding to target steering engines based on steering engine identification codes so as to drive the target steering engines to operate. Because the CAN bus replaces voltage mode pulse width modulation to be used as a control signal transmission mode, the risk that the steering engine is interfered by other high-power electric equipment or radio equipment is reduced, and the flight safety is improved; in addition, a steering engine driver can control a plurality of steering engines simultaneously, effectively increases the utilization ratio of the steering engine driver, and achieves the effect of saving cost.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a steering engine driver, a steering engine driving method and an unmanned aerial vehicle.
Background
With the continuous development of the unmanned aerial vehicle technology, the tasks executed by the unmanned aerial vehicle are more and more complex and diversified, so that the number of the carrying equipment of the unmanned aerial vehicle is increased.
In the prior art, a steering engine control signal is a voltage mode square wave signal, the anti-interference capability is poor, and the risk of interference by radio equipment exists, so that the safety of an aircraft is damaged; meanwhile, the flight attitude operation system of the unmanned aerial vehicle is generally electrically connected with a plurality of steering engine drivers by utilizing flight control so as to drive different steering engines to operate by different steering engine drivers, so that the problems of complicated wiring of avionic equipment, severe electromagnetic environment and utilization rate of the steering engine drivers exist.
Disclosure of Invention
In order to overcome at least the above-mentioned shortcoming in the prior art, the purpose of this application is to provide a steering wheel driver, steering wheel drive method and unmanned vehicles.
In a first aspect, an embodiment of the present invention provides a steering engine driver, configured to drive a plurality of steering engines, where the steering engine driver includes: the controller is electrically connected with the CAN bus interface and the plurality of driving circuits, and the plurality of driving circuits correspond to the plurality of steering engines one by one;
the CAN bus interface is used for receiving steering engine control messages transmitted by flight control and transmitting the steering engine control messages to the controller, wherein the steering engine control messages comprise steering engine identification codes of target steering engines in the steering engines and steering engine control instructions;
the controller is used for generating PWM control signals according to the steering engine control instructions and sending the PWM control signals to the driving circuit corresponding to the target steering engine based on the steering engine identification codes so as to drive the target steering engine to operate.
In an optional implementation manner, the steering engine driver further includes a plurality of current detection circuits, the plurality of current detection circuits are electrically connected to the controller, and the plurality of current detection circuits correspond to the plurality of steering engines one to one;
each current detection circuit is used for detecting the actuating current information of the corresponding steering engine and transmitting the actuating current information to the controller;
the controller is also used for sending the received actuating current information to the flight control through the CAN bus interface.
In an optional embodiment, the steering engine driver further includes a voltage reduction module, and the voltage reduction module is electrically connected to the plurality of current detection circuits;
the voltage reduction module is used for converting the received input voltage into working voltage;
the voltage reduction module is also used for transmitting the working voltage to the steering engines through the current detection circuits so as to supply power to the steering engines.
In an optional embodiment, the steering engine driver includes a first circuit board, and the voltage reduction module is integrated with the first circuit board.
In an optional implementation manner, the steering engine driver further includes a second circuit board and a connector, the second circuit board is connected to the first circuit board through the connector, and the CAN bus interface, the controller, the plurality of driving circuits, and the plurality of current detection circuits are all integrated on the second circuit board.
In an optional implementation manner, the steering engine driver further includes a plurality of conductive columns, one end of each of the plurality of conductive columns is connected to the first circuit board, the other end of each of the plurality of conductive columns is connected to the second circuit board, one end of each of the plurality of conductive columns is electrically connected to the voltage reduction module, and the other end of each of the plurality of conductive columns is electrically connected to the plurality of current detection circuits.
In an optional embodiment, the first circuit board and the second circuit board are both provided with mounting holes, and two ends of the connecting member are respectively located in the mounting holes of the first circuit board and the mounting holes of the second circuit board.
In a second aspect, an embodiment of the present invention provides a steering engine driving method, which is applied to a controller of a steering engine driver according to any one of the foregoing embodiments, and the method includes:
receiving a steering engine control message forwarded by a CAN bus interface, wherein the steering engine control message comprises a steering engine identification code of a target steering engine and a steering engine control instruction;
generating a PWM control signal according to the steering engine control instruction;
and sending the PWM control signal to a driving circuit corresponding to the target steering engine based on the steering engine identification code so as to drive the target steering engine to operate.
In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes a flight control, a plurality of steering engines, and the steering engine drivers in any one of the foregoing embodiments, where the flight control is electrically connected to a CAN bus interface of each of the steering engine drivers, and the steering engine drivers are electrically connected to the plurality of steering engines.
In an optional embodiment, the unmanned aerial vehicle further comprises an onboard power supply, and the onboard power supply is electrically connected with the voltage reduction module of the steering engine driver.
For prior art, the steering wheel driver that this application provided includes: the controller is electrically connected with the CAN bus interface and the driving circuits, the driving circuits correspond to the steering engines one by one, the CAN bus interface is used for receiving steering engine control messages transmitted by flight control and transmitting the steering engine control messages to the controller, the steering engine control messages comprise steering engine identification codes of target steering engines and steering engine control instructions, and the controller is used for generating PWM control signals according to the steering engine control instructions and sending the PWM control signals to the driving circuits corresponding to the target steering engines based on the steering engine identification codes so as to drive the target steering engines to operate. Because the CAN bus replaces voltage mode pulse width modulation to be used as a control signal transmission mode, the risk that the steering engine is interfered by other high-power electric equipment or radio equipment is reduced, and the flight safety is improved; meanwhile, a point-to-point signal transmission mode is replaced by the CAN bus, so that the complexity of avionic wiring is reduced; in addition, a steering engine driver can control a plurality of steering engines simultaneously, effectively increases the utilization ratio of the steering engine driver, and achieves the effect of saving cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a circuit structure block diagram of a steering engine driver provided by the invention.
Fig. 2 is a schematic structural diagram of a steering engine driver provided by the invention.
Fig. 3 is a schematic structural diagram of the unmanned aerial vehicle provided by the invention.
Fig. 4 is a flowchart of a steering engine driving method provided by the invention.
Icon: 100-a steering engine driver; 110-CAN bus interface; 120-a controller; 130-a drive circuit; 140-a voltage reduction module; 150-a current detection circuit; 160-a first circuit board; 170-a second circuit board; 180-conductive post.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In the prior art, a steering engine control signal is a voltage mode square wave signal, the voltage amplitude of the voltage mode square wave signal is usually not more than a steering engine power supply (4.8-6V), and the anti-electromagnetic interference capability is limited, so that the steering engine has the risk of being interfered by radio equipment on a large-aspect-ratio airplane with a long signal transmission distance or an airplane with high-power radio equipment. Meanwhile, the steering engine is powered by an external Battery Elimination Circuit (UBEC), the input and the output of the UBEC are grounded, namely a steering engine control signal is grounded with a power supply, so that the steering engine control signal can be influenced by noise transmitted by the power supply, the amplitude of the steering engine control signal is low, the anti-interference capability is limited, and the steering engine has the risk of being interfered by other high-power electric equipment.
In view of the above, the invention provides a steering engine driver, a steering engine driving method and an unmanned aerial vehicle, so as to solve the above problems.
First embodiment
Fig. 1 is a block diagram of a circuit structure of a steering engine driver 100 according to the present invention. The steering engine driver 100 includes a CAN bus interface 110, a controller 120, a plurality of driving circuits 130, a voltage reduction module 140, and a plurality of current detection circuits 150. The controller 120 is electrically connected to the CAN bus interface 110, the plurality of driving circuits 130, and the plurality of current detection circuits 150, and the voltage reduction module 140 is electrically connected to the plurality of current detection circuits 150.
The CAN bus interface 110 is used for being connected with a CAN bus to receive a steering engine control message transmitted by flight control and transmit the steering engine control message to the controller 120.
It should be noted that the CAN bus interface 110 may be an interface circuit that implements the physical layer of the ISO11898 standard CAN protocol.
The steering engine control message comprises a steering engine identification code of the target steering engine and a steering engine control instruction. The steering engine identification code is used for identifying a steering engine to be controlled, namely a target steering engine; and the steering engine control command is used for controlling the target steering engine to make corresponding action.
Each driving circuit 130 can be electrically connected to one steering engine and is used for driving the corresponding steering engine to operate under the control of the controller 120.
Specifically, the driving circuit 130 may perform level conversion on the PWM control signal and enable the sending of the PWM control signal, so as to drive the corresponding steering engine to operate.
In an alternative embodiment, the driving circuit 130 may be implemented by using a voltage conversion chip of SN74LVC1T45 or SN74LVC2T45 type.
The communication method between the driving Circuit 130 and the controller 120 may be, but not limited to, a two-wire Serial bus (I2C), a Serial Peripheral Interface (SPI), a Universal Asynchronous Receiver/Transmitter (UART), and the like.
Each current detection circuit 150 can be electrically connected to one steering engine, and is configured to detect actuation current information of the corresponding steering engine, and transmit the actuation current information to the controller 120.
The actuation current information CAN represent the current operation state of the steering engine, so that after the current detection circuit 150 detects the actuation current information corresponding to the steering engine, the actuation current information is transmitted to the controller 120, so that the controller 120 sends the actuation current information to the flight control through the CAN bus interface 110, and the flight control confirms the posture of the unmanned aerial vehicle.
Similarly, the communication method between the current detection circuit 150 and the controller 120 can be, but not limited to, I2C, SPI, UART, or the like.
In an alternative embodiment, the current sense circuit 150 may be implemented using an INA226 current/power type chip.
The controller 120 is configured to generate a PWM control signal according to the steering engine control instruction, and send the PWM control signal to the driving circuit 130 corresponding to the target steering engine based on the steering engine identification code, so as to drive the target steering engine to operate.
In fact, the steering engine control message further includes a header, a message identification code, and a check code. When the CAN bus interface 110 detects that there is a message on the CAN bus, it sends an interrupt signal to the controller 120, and the controller 120 determines whether the received message is a steering engine control message according to whether the header and the check code receive a valid message, and then determines whether the received message is a steering engine control message according to the message identification code, and generates a PWM control signal according to the steering engine control command if it is determined that the received message is a steering engine control message.
The controller 120 may calculate a duty ratio according to the steering engine control command, and generate a PWM control signal based on the duty ratio, thereby transmitting the PWM control signal to the drive circuit 130 corresponding to the target steering engine.
The controller 120 is also configured to send the received actuation current information to the flight control via the CAN bus interface 110.
The received actuating current information is sent to the flight control, so that the attitude control system of the unmanned aerial vehicle forms a closed loop, and the reliability of operation is improved.
In an alternative embodiment, the controller 120 may be an STM32F405 ARM single chip. Of course, in other embodiments, the controller 120 may select different processing chips according to the specific requirements of the user.
The voltage reduction module 140 is configured to convert the received input voltage into a working voltage, and transmit the working voltage to the plurality of steering engines through the plurality of current detection circuits 150 to supply power to the plurality of steering engines.
It is understood that the voltage step-down module 140 is a UBEC, which can supply power to the steering engine and a part of the circuitry of the steering engine driver 100.
In an alternative embodiment, the steering engine driver 100 includes a CAN bus interface 110, a controller 120, a plurality of driving circuits 130, a voltage reduction module 140, and a plurality of current detection circuits 150, which are distributed as shown in fig. 2.
The voltage dropping module 140 is integrated on the first circuit board 160, and the CAN bus interface 110, the controller 120, the plurality of driving circuits 130, and the plurality of current detecting circuits 150 are integrated on the second circuit board 170. In addition, the second circuit board 170 is connected to the first circuit board 160 by a connector.
In an optional embodiment, mounting holes are formed around the first circuit board 160 and the second circuit board 170, and the relative positions of the first circuit board 160 and the second circuit board 170 can be fixed by the cooperation of the connecting member and the mounting holes.
In addition, steering engine driver 100 still includes a plurality of conductive columns 180, and the one end of a plurality of conductive columns 180 is connected with first circuit board 160, and the other end of a plurality of conductive columns 180 is connected with second circuit board 170, and the one end of a plurality of conductive columns 180 is connected with voltage reduction module 140 is electric, and a plurality of current detection circuit 150 of the other end of a plurality of conductive columns 180 are connected electrically.
Through setting up and leading electrical pillar 180, can pass through current detection circuit 150 with the voltage that voltage reduction module 140 provided and transmit to the steering wheel to for the steering wheel power supply. In an alternative embodiment, the conductive post 180 is a metal post.
Second embodiment
The invention provides an unmanned aerial vehicle which comprises a flight control unit, a plurality of steering engines, an airborne power supply and steering engine drivers 100 provided by the first embodiment, wherein the flight control unit is electrically connected with a CAN bus interface 110 of each steering engine driver 100, the steering engine drivers 100 are electrically connected with the plurality of steering engines, and the airborne power supply is electrically connected with voltage reduction modules 140 of the steering engine drivers 100.
That is, in an alternative embodiment, the unmanned aerial vehicle may only include one steering engine driver 100, and all steering engines included in the unmanned aerial vehicle are driven to operate by the steering engine driver 100.
However, in the airplane with a large aspect ratio, if one steering engine driver 100 is used to drive all the steering engines to operate, the wiring may be complicated. Therefore, in another alternative embodiment, the unmanned aerial vehicle may also include a plurality of steering engine drivers 100, and each steering engine driver 100 may be electrically connected to at least one steering engine of the plurality of steering engines to drive the steering engine to operate.
As shown in fig. 3, the unmanned aerial vehicle may include No. 1 steering engine, No. 2 steering engine, No. 3 steering engine, No. 4 steering engine, No. 1 steering engine driver, No. 2 steering engine driver and No. 3 steering engine driver. The No. 1 steering engine, the No. 2 steering engine, the No. 3 steering engine and the No. 4 steering engine are respectively used for controlling the postures of the left aileron, the right aileron, the vertical tail and the horizontal tail of the unmanned aerial vehicle; wherein No. 1 steering wheel driver is connected with No. 1 steering wheel electricity, No. 2 steering wheel drivers is connected with No. 2 steering wheel electricity, and No. 3 steering wheel drivers is connected with No. 3 steering wheel, No. 4 steering wheel electricity.
The whole control process is described by taking the control of No. 4 steering engine as an example. Firstly, generating a steering engine control message by flight control, and broadcasting the steering engine control message to a CAN bus; but only the No. 3 steering engine driver can receive the steering engine control message at this time, determine the target steering engine according to the steering engine identification code included in the steering engine control message, then generate a PWM control signal according to the steering engine control command, and send the PWM control signal to the driving circuit 130 electrically corresponding to the No. 4 steering engine based on the steering engine identification code so as to drive the No. 4 steering engine to electrically operate.
Third embodiment
The invention provides a steering engine driving method which is applied to a controller 120 of a steering engine driver 100 provided by a first embodiment. Fig. 4 is a flowchart of a steering engine driving method according to the present invention.
The method comprises the following steps:
and S401, receiving the steering engine control message forwarded by the CAN bus interface 110.
The steering engine control message comprises a steering engine identification code of the target steering engine and a steering engine control instruction.
And S402, generating a PWM control signal according to the steering engine control command.
And S403, sending a PWM control signal to the driving circuit 130 corresponding to the target steering engine based on the steering engine identification code so as to drive the target steering engine to operate.
In summary, the steering engine driver provided by the invention comprises: the controller is electrically connected with the CAN bus interface and the driving circuits, the driving circuits correspond to the steering engines one by one, the CAN bus interface is used for receiving steering engine control messages transmitted by flight control and transmitting the steering engine control messages to the controller, the steering engine control messages comprise steering engine identification codes of target steering engines and steering engine control instructions, and the controller is used for generating PWM control signals according to the steering engine control instructions and sending the PWM control signals to the driving circuits corresponding to the target steering engines based on the steering engine identification codes so as to drive the target steering engines to operate. Because the CAN bus replaces voltage mode pulse width modulation to be used as a control signal transmission mode, the risk that the steering engine is interfered by other high-power electric equipment or radio equipment is reduced, and the flight safety is improved; meanwhile, a point-to-point signal transmission mode is replaced by the CAN bus, so that the complexity of avionic wiring is reduced; in addition, a steering engine driver can control a plurality of steering engines simultaneously, effectively increases the utilization ratio of the steering engine driver, and achieves the effect of saving cost.
The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and all such changes or substitutions are included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a steering wheel driver for drive a plurality of steering wheels, its characterized in that, steering wheel driver includes: the controller is electrically connected with the CAN bus interface and the plurality of driving circuits, and the plurality of driving circuits correspond to the plurality of steering engines one by one;
the CAN bus interface is used for receiving steering engine control messages transmitted by flight control and transmitting the steering engine control messages to the controller, wherein the steering engine control messages comprise steering engine identification codes of target steering engines in the steering engines and steering engine control instructions;
the controller is used for generating PWM control signals according to the steering engine control instructions and sending the PWM control signals to the driving circuit corresponding to the target steering engine based on the steering engine identification codes so as to drive the target steering engine to operate.
2. The steering engine driver of claim 1, further comprising a plurality of current detection circuits electrically connected to the controller, the plurality of current detection circuits corresponding to the plurality of steering engines one-to-one;
each current detection circuit is used for detecting the actuating current information of the corresponding steering engine and transmitting the actuating current information to the controller;
the controller is also used for sending the received actuating current information to the flight control through the CAN bus interface.
3. The steering engine driver of claim 2, further comprising a voltage reduction module electrically connected to the plurality of current detection circuits;
the voltage reduction module is used for converting the received input voltage into working voltage;
the voltage reduction module is also used for transmitting the working voltage to the steering engines through the current detection circuits so as to supply power to the steering engines.
4. The steering engine driver of claim 3, wherein the steering engine driver comprises a first circuit board, and the voltage reduction module is integrated on the first circuit board.
5. The steering engine driver of claim 4, further comprising a second circuit board and a connector, wherein the second circuit board is connected to the first circuit board through the connector, and the CAN bus interface, the controller, the plurality of driving circuits and the plurality of current detection circuits are integrated on the second circuit board.
6. The steering engine driver of claim 5, further comprising a plurality of conductive posts, wherein one ends of the plurality of conductive posts are connected to the first circuit board, the other ends of the plurality of conductive posts are connected to the second circuit board, one ends of the plurality of conductive posts are electrically connected to the voltage-reducing module, and the other ends of the plurality of conductive posts are electrically connected to the plurality of current detection circuits.
7. The steering engine driver of claim 5, wherein the first circuit board and the second circuit board are both provided with mounting holes, and two ends of the connecting member are respectively located in the mounting holes of the first circuit board and the mounting holes of the second circuit board.
8. A steering engine driving method applied to a controller of a steering engine driver according to any one of claims 1 to 7, the method comprising:
receiving a steering engine control message forwarded by a CAN bus interface, wherein the steering engine control message comprises a steering engine identification code of a target steering engine and a steering engine control instruction;
generating a PWM control signal according to the steering engine control instruction;
and sending the PWM control signal to a driving circuit corresponding to the target steering engine based on the steering engine identification code so as to drive the target steering engine to operate.
9. An unmanned aerial vehicle, characterized in that, unmanned aerial vehicle includes flight control, a plurality of steering wheel and the steering wheel driver of any one of claims 1-7, flight control with each the CAN bus interface electricity of steering wheel driver is connected, steering wheel driver with a plurality of steering wheel electricity are connected.
10. The unmanned aerial vehicle of claim 9, further comprising an onboard power supply electrically connected to the voltage reduction module of the steering engine driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911320720.5A CN110963024A (en) | 2019-12-19 | 2019-12-19 | Steering engine driver, steering engine driving method and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911320720.5A CN110963024A (en) | 2019-12-19 | 2019-12-19 | Steering engine driver, steering engine driving method and unmanned aerial vehicle |
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| CN110963024A true CN110963024A (en) | 2020-04-07 |
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| CN201911320720.5A Pending CN110963024A (en) | 2019-12-19 | 2019-12-19 | Steering engine driver, steering engine driving method and unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112684743A (en) * | 2020-12-25 | 2021-04-20 | 兰州飞行控制有限责任公司 | Helicopter series steering engine control system and control method based on CAN bus structure |
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