CN111216884B - Automatic control device for engagement of box type launching unmanned aerial vehicle engine and propeller - Google Patents
Automatic control device for engagement of box type launching unmanned aerial vehicle engine and propeller Download PDFInfo
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- CN111216884B CN111216884B CN202010089373.6A CN202010089373A CN111216884B CN 111216884 B CN111216884 B CN 111216884B CN 202010089373 A CN202010089373 A CN 202010089373A CN 111216884 B CN111216884 B CN 111216884B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
Abstract
The invention relates to an automatic control device for meshing an engine and a propeller of a box-type launching unmanned aerial vehicle, which adopts a minimum application system taking a microprocessor as a core, designs an electrical interface of a controller, can set time data according to the meshing time of different engines and propellers and ensures that the engines and the propellers are reliably meshed. Meanwhile, two paths of in-place signals are designed, so that the situation that the control circuit misjudges that the unmanned aerial vehicle is in a transmitting state and the engine is mistakenly controlled to be meshed with the propeller can be prevented.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and relates to an automatic control device for a box-type launch unmanned aerial vehicle, which can automatically control an engine to be meshed with a propeller.
Background
Box-type launching unmanned aerial vehicle is kept in the launching box at ordinary times. When the unmanned aerial vehicle is launched, firstly, an engine of the unmanned aerial vehicle is started in a launching box, and due to the limitation of the height of the launching box, after the engine is started, a propeller is not allowed to rotate along with the engine, and the unmanned aerial vehicle is in a state that the engine and the propeller are not meshed; after unmanned aerial vehicle transmission left the transmission case, the automatic control device of unmanned aerial vehicle engine and screw meshing can control engine and screw meshing, and the screw rotates along with the engine, provides thrust for unmanned aerial vehicle flight. If the propeller is meshed with the engine in the launching box, the unmanned aerial vehicle and the launching box can be damaged; if meshing is too late or not reliably meshed after the unmanned aerial vehicle launches leave the transmission box, the situation such as stall, crash and the like caused by insufficient thrust or no thrust after the unmanned aerial vehicle launches. At present, no relevant patent of an automatic control device for meshing an engine and a propeller of a box-type launching unmanned aerial vehicle is found.
Disclosure of Invention
Technical problem to be solved
In order to solve the problem of reliable meshing of an engine and a propeller during the launching of a box type unmanned aerial vehicle, the invention designs a device which can automatically acquire the launching state of the unmanned aerial vehicle, set data according to the stored time and automatically control the meshing of the engine and the propeller. The device can also modify the stored time setting data through instructions, meets the use requirements of meshing of different engines and propellers, and has high universality.
Technical scheme
An automatic control device for engagement of a box-type launching unmanned aerial vehicle engine and a propeller is characterized by comprising an instruction receiving circuit, a data sending circuit, a data storage circuit, a control circuit, an in-place signal logic processing circuit, a control signal logic processing circuit and a propeller engagement control circuit,
the instruction receiving circuit is an RS232 signal receiver, the input end of the instruction receiving circuit is connected with an external control device for receiving a remote control instruction, and the output end of the instruction receiving circuit is connected with a pin UxRXD1, namely a pin P3.6 of the control circuit;
the data transmitting circuit is an RS232 signal transmitter, the input end of the data transmitting circuit is connected with a pin UxTXD1 of the control circuit, namely a pin P3.7, and the output end of the data transmitting circuit is connected with external control equipment to output working data;
the data storage circuit is a FLASH storage circuit, and the input end and the output end of the data storage circuit are respectively connected with pins P3.0 and P3.1 of a control circuit;
the control circuit is a known MPS430 processor minimum application system, the input end of the control circuit receives a control instruction sent by an RS232 signal receiver, and the output end of the control circuit is connected with a control signal logic processing circuit; when receiving the control command, the decision method of the control command data frame appointed by the application program is used for identifyingIdentifying propeller engagement time setting information and storing the information in a data storage circuit; when the power-on works, the control circuit reads the stored time setting data T from the storage circuit set Acquiring an output signal of the unmanned aerial vehicle on-site detection circuit according to a 5ms period, wherein when the signal is at a low level, the unmanned aerial vehicle is not transmitted, the control circuit is in a standby state, and the output end outputs the low level to the signal logic processing circuit; when this signal is the high level to can gather high level signal 500ms in succession, indicate that unmanned aerial vehicle has launched, control circuit is T with gathering unmanned aerial vehicle high level signal constantly start Starting point, starting timing T, when T-T start ≥T set When the signal is detected, the output end outputs a high level to the signal logic processing circuit;
the in-place signal logic processing circuit is a logic AND gate circuit, the input end of the in-place signal logic processing circuit is connected with two paths of in-place signals of the unmanned aerial vehicle, and the output end of the in-place signal logic processing circuit is connected with the control signal logic processing circuit; when the unmanned aerial vehicles are in place, the two unmanned aerial vehicle in-place signals are low level; when the unmanned aerial vehicles are not in place, the two unmanned aerial vehicle in-place signals are high level; when the two paths of unmanned aerial vehicles are high in-place signals, the output end of the in-place signal logic processing circuit outputs high level; when one path of unmanned aerial vehicle is at a low level, the output end still outputs at the low level;
the control signal logic processing circuit is a logic AND gate circuit, the control signal logic processing circuit is provided with two input ends, the first input end is connected with the output end of the on-site signal logic processing circuit, the second input end is connected with the output end of the control circuit, and the output end of the control signal logic processing circuit is connected with the control input end of the propeller meshing control circuit; when the signals of two input ends of the circuit are all in high level, the output end outputs high level, and when the signal of one input end is in low level, the output end is in low level;
the propeller meshing control circuit is a relay circuit and is provided with two input ends, the first input end is connected with the output end of the control signal logic processing circuit, the second input end is connected with a propeller meshing working voltage, and the output end is connected with propeller meshing equipment; when the input end of the first path is at low level, the relay in the circuit is not attracted, and the input end of the second path is not conducted with the output end of the circuit; when the input of the first way was the high level, the relay actuation, then the input of the second way switches on with this circuit output, for screw meshing equipment provides operating voltage, unmanned aerial vehicle engine and screw begin to mesh.
Advantageous effects
The invention provides an automatic control device for engagement of an engine and a propeller of a box-type launching unmanned aerial vehicle, which adopts a minimum application system taking a microprocessor as a core, designs an electrical interface of a controller, can set time data according to the engagement time of different engines and propellers, and ensures reliable engagement of the engines and the propellers. Meanwhile, two paths of in-place signals are designed, so that the situation that the control circuit misjudges that the unmanned aerial vehicle is in a transmitting state and the engine is mistakenly controlled to be meshed with the propeller can be prevented.
Drawings
FIG. 1 is a schematic representation of the present invention
Detailed Description
The invention will now be further described with reference to the following examples, and the accompanying drawings:
as shown in FIG. 1, the present invention includes a command receiving circuit, a data transmitting circuit, a data storage circuit, a control circuit, an in-situ signal logic processing circuit, a control signal logic processing circuit, and a propeller engagement control circuit.
The instruction receiving circuit is an RS232 signal receiver. The input end is connected with external control equipment, and the output end is connected with a pin (namely a pin P3.6) of a control circuit UxRXD 1.
The data return circuit is an RS232 signal transmitter. The input end is connected with a pin of UxTXD1, namely a pin P3.7, and the output end is connected with external control equipment.
The data storage circuit is a FLASH storage circuit. The input end is connected with a pin P3.0 of the control circuit, and the output end is connected with a pin P3.1 of the control circuit.
The control circuit is a well-known MPS430 processor minimum application system, the input end receives a control instruction sent by the RS232 signal receiver, and the output end is connected with the control signal logic processing circuit. When receiving the control command, using the application program to contractThe method for determining the content of the control instruction frame identifies propeller engagement time setting information and stores the information in a data storage circuit. When the power-on work is carried out, the control circuit firstly reads the set timing time information from the storage circuit and collects the output signal of the unmanned aerial vehicle on-site detection circuit in real time, the control circuit starts timing by taking the moment when the unmanned aerial vehicle is not on-site signal collected as a starting point and the set timing time information obtained from the storage circuit as an end point, and when the timing is finished, the output end outputs high level to the signal logic processing circuit. The method comprises the following specific steps: when the power-on works, the control circuit firstly reads the stored time setting data T from the storage circuit set Acquiring an output signal of the unmanned aerial vehicle on-site detection circuit according to a 5ms period, wherein when the signal is at a low level, the unmanned aerial vehicle is not transmitted, the control circuit is in a standby state, and the output end outputs the low level to the signal logic processing circuit; when this signal is the high level to can gather high level signal 500ms in succession, indicate that unmanned aerial vehicle has launched, control circuit is T with gathering unmanned aerial vehicle high level signal moment start Starting point, starting timing T, when T-T start ≥T set And the output end outputs high level to the signal logic processing circuit.
The in-place signal logic processing circuit is a logic AND gate circuit. The input end is connected with two paths of unmanned aerial vehicle in-place signals, and the output end is connected with a control signal logic processing circuit. When the unmanned aerial vehicle is in place (not transmitted), the in-place signals of the two unmanned aerial vehicles are at a low level, and when the unmanned aerial vehicle is not in place (transmitted), the in-place signals of the two unmanned aerial vehicles are at a high level. When the two paths of unmanned aerial vehicles are high in-place signals, the output end of the in-place signal logic processing circuit is high-level output. When there is unmanned aerial vehicle of the same way on the throne the signal be the low level, the output still is low level output.
The control signal logic processing circuit is a logic AND gate circuit. The circuit has two input ends, the first input end is connected with the output end of the on-site signal logic processing circuit, the second input end is connected with the output end of the control circuit, and the output end of the circuit is connected with the control input end of the propeller meshing control circuit. When the signals of two input ends of the circuit are both at high level, the output end outputs high level, and when the signal of one input end is at low level, the output end is at low level.
The propeller engagement control circuit is a relay circuit. The propeller meshing device is provided with two input ends, wherein the first input end is connected with the output end of the control signal logic processing circuit, the second input end is connected with the propeller meshing working voltage, and the output end is connected with the propeller meshing device. When the input end of the first path is at low level, the relay in the circuit is not attracted, and the input end of the second path is not conducted with the output end of the circuit; when the first input end is at a high level, the relay is actuated, the second input end is communicated with the output end of the circuit, working voltage is provided for the propeller meshing equipment, and the engine of the unmanned aerial vehicle and the propeller start to mesh.
Claims (1)
1. An automatic control device for engagement of a box-type launching unmanned aerial vehicle engine and a propeller is characterized by comprising an instruction receiving circuit, a data sending circuit, a data storage circuit, a control circuit, an in-place signal logic processing circuit, a control signal logic processing circuit and a propeller engagement control circuit,
the instruction receiving circuit is an RS232 signal receiver, the input end of the instruction receiving circuit is connected with an external control device for receiving a remote control instruction, and the output end of the instruction receiving circuit is connected with a pin UxRXD1, namely a pin P3.6 of the control circuit;
the data transmitting circuit is an RS232 signal transmitter, the input end of the data transmitting circuit is connected with a pin (namely a pin P3.7) of the control circuit UxTXD1, and the output end of the data transmitting circuit is connected with external control equipment to output working data;
the data storage circuit is a FLASH storage circuit, and the input end and the output end of the data storage circuit are respectively connected with pins P3.0 and P3.1 of the control circuit;
the control circuit is a known MPS430 processor minimum application system, the input end of the control circuit receives a control instruction sent by an RS232 signal receiver, and the output end of the control circuit is connected with a control signal logic processing circuit; when a control instruction is received, identifying propeller engagement time setting information by using a judgment method of a control instruction data frame agreed by an application program, and storing the information in a data storage circuit; when the power-on works, the control circuit firstly reads the stored time from the storage circuitInter setting data T set Acquiring an output signal of the unmanned aerial vehicle on-site detection circuit according to a 5ms period, wherein when the signal is at a low level, the unmanned aerial vehicle is not transmitted, the control circuit is in a standby state, and the output end outputs the low level to the signal logic processing circuit; when this signal is the high level to can gather high level signal 500ms in succession, indicate that unmanned aerial vehicle has launched, control circuit is T with gathering unmanned aerial vehicle high level signal moment start Starting point, starting timing T, when T-T start ≥T set When the signal is detected, the output end outputs a high level to the signal logic processing circuit;
the in-place signal logic processing circuit is a logic AND gate circuit, the input end of the in-place signal logic processing circuit is connected with two paths of in-place signals of the unmanned aerial vehicle, and the output end of the in-place signal logic processing circuit is connected with the control signal logic processing circuit; when the unmanned aerial vehicles are in place, the two unmanned aerial vehicle in-place signals are at low level; when the unmanned aerial vehicles are not in place, the two unmanned aerial vehicle in-place signals are high level; when the two paths of unmanned aerial vehicles are high in-place signals, the output end of the in-place signal logic processing circuit outputs high level; when one path of unmanned aerial vehicle is at a low level, the output end still outputs at the low level;
the control signal logic processing circuit is a logic AND gate circuit, the control signal logic processing circuit is provided with two input ends, the first input end is connected with the output end of the on-site signal logic processing circuit, the second input end is connected with the output end of the control circuit, and the output end of the control signal logic processing circuit is connected with the control input end of the propeller meshing control circuit; when the signals of two input ends of the circuit are all in high level, the output end outputs high level, and when the signal of one input end is in low level, the output end is in low level;
the propeller meshing control circuit is a relay circuit and is provided with two input ends, the first input end is connected with the output end of the control signal logic processing circuit, the second input end is connected with a propeller meshing working voltage, and the output end is connected with propeller meshing equipment; when the input end of the first path is at low level, the relay in the circuit is not attracted, and the input end of the second path is not conducted with the output end of the circuit; when the first input end is at a high level, the relay is actuated, the second input end is communicated with the output end of the circuit, working voltage is provided for the propeller meshing equipment, and the engine of the unmanned aerial vehicle and the propeller start to mesh.
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| CN202010089373.6A CN111216884B (en) | 2020-02-12 | 2020-02-12 | Automatic control device for engagement of box type launching unmanned aerial vehicle engine and propeller |
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| CN202010089373.6A CN111216884B (en) | 2020-02-12 | 2020-02-12 | Automatic control device for engagement of box type launching unmanned aerial vehicle engine and propeller |
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| IT1293410B1 (en) * | 1997-07-04 | 1999-03-01 | Finmeccanica Spa | METHOD OF SURVEILLANCE OF A TRANSMISSION UNIT IN A VEHICLE EQUIPPED WITH ACCELEROMETRIC SENSORS, ESPECIALLY IN A HELICOPTER. |
| EP1386770A1 (en) * | 2002-08-02 | 2004-02-04 | Jenn Jiangq Ltd. | Motorized beach vehicle |
| CN203428022U (en) * | 2013-07-30 | 2014-02-12 | 王劲 | Electromagnetic variable-pitch propeller of unmanned aerial vehicle |
| US9415862B2 (en) * | 2013-12-18 | 2016-08-16 | Merlin Technology, Inc. | Control interface, system and method |
| SE539042C2 (en) * | 2014-06-30 | 2017-03-28 | Scania Cv Ab | Device for engine room ventilation with self-draw |
| FR3026386B1 (en) * | 2014-09-30 | 2016-10-21 | Airbus Helicopters | GIRAVION WITH STABILIZER DEVICE |
| US10400858B2 (en) * | 2016-06-09 | 2019-09-03 | Pratt & Whitney Canada Corp. | Reduction gearbox for aircraft engine |
| CN106853767B (en) * | 2016-12-16 | 2019-02-15 | 电子科技大学 | A kind of oil-electricity-flywheel hybrid electric drive system and driving method |
| EP3369660B1 (en) * | 2017-03-02 | 2019-12-18 | Ge Avio S.r.l. | System and method for testing control logic for a propeller of a gas turbine engine |
| CN109866924B (en) * | 2019-03-25 | 2021-04-30 | 西安科技大学 | Electric overhead line defect eliminating unmanned aerial vehicle and defect eliminating method thereof |
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