CN111708374A - Distributed power unmanned aerial vehicle control system - Google Patents
Distributed power unmanned aerial vehicle control system Download PDFInfo
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- CN111708374A CN111708374A CN202010576583.8A CN202010576583A CN111708374A CN 111708374 A CN111708374 A CN 111708374A CN 202010576583 A CN202010576583 A CN 202010576583A CN 111708374 A CN111708374 A CN 111708374A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides a distributed power unmanned aerial vehicle control system, wherein a flight control module is used as an information processing center of the whole system, and is respectively connected with a combined navigation module and a data transmission radio module through a USART serial port, is connected with an airspeed and airflow angle acquisition module through an I2C bus, is connected with a voltage/current acquisition module through an ADC circuit interface, is connected with partial electric regulation/steering engine equipment through a PWM module, is connected with a control bus deconcentrator through a CAN bus, and is connected with a control bus decoding and PWM output module. The invention solves the problem that the distributed electric propulsion aircraft cannot be accurately controlled due to excessive control quantity, greatly reduces the number of signal lines, saves the aircraft cost, reduces the aircraft weight, realizes accurate control aiming at each control quantity and lays a foundation for the realization of the technology of a high-efficiency flight control law compared with the traditional mode.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to an unmanned aerial vehicle control system, and specifically relates to a distributed electric propulsion unmanned aerial vehicle control system.
Background
The distributed power unmanned aerial vehicle is a power system which is formed by arranging a plurality of small propellers above the positions of a fuselage, a wing leading edge or a wing trailing edge of an airplane and the like to replace a traditional large-size engine. The distributed power aircraft has the advantages of improving flight safety, improving pneumatic efficiency, improving endurance capacity, reducing engine power consumption, reducing noise pollution, reducing exhaust emission and the like. Meanwhile, due to the advantage of wide distribution of the propellers, the distributed electric propulsion airplane has vertical/short-distance take-off and landing capabilities. This makes distributed power aircraft have extensive prospect in civilian and military aviation field, and demonstration and design verification have been carried out in all countries at present to a plurality of models have entered the stage of trying to fly.
The current common electric propulsion unmanned aerial vehicle power system mostly comprises a brushless direct current motor and an electronic speed regulator, and an electric steering engine is adopted for driving an operation control surface. The control input of the steering engine and the electronic speed regulator is PWM wave signals, and the control quantity output by the flight control system hardware is PWM waves. The unmanned aerial vehicle has less control quantity, and general flight control system hardware can meet the output requirement of PWM wave control quantity. But distributed electric propulsion unmanned aerial vehicle has arranged a plurality of electronic culverts, and in addition each control plane controlled quantity, aircraft controlled quantity has increased several times than ordinary electric propulsion unmanned aerial vehicle, and if flight control system hardware control output still used PWM ripples this moment, then on the one hand too high to flight control system hardware design requirement, increase hardware cost, on the other hand need connect many control signal lines, and aircraft weight and cost increase by a wide margin are got unreliated.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a distributed power unmanned aerial vehicle control system. The invention aims to provide a mode for transmitting a control signal of an unmanned aerial vehicle aiming at the characteristics of large number of control channels and distribution around a power section of a distributed electric propulsion unmanned aerial vehicle so as to realize the aim of controlling the distributed electric propulsion unmanned aerial vehicle to each control quantity. A communication bus is adopted to lead out control signals of the flight control system, then a bus signal decoding module is designed by taking the power section as the center, the bus signals are decoded and converted into PWM wave signals to be output to each electric duct electronic speed regulator and an operation control surface of the power section, and accurate control over each channel is achieved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a distributed power unmanned aerial vehicle control system, includes flies control module, combination navigation module, airspeed and air current angle collection module, data transfer radio station module, voltage/electric current collection module, PWM output module, CAN bus output module, control bus deconcentrator, control bus decode and PWM output module.
The flight control module is used as an information processing center of the whole system, is respectively connected with the combined navigation module and the data transmission radio station module through a USART serial port, is connected with the airspeed and airflow angle acquisition module through an I2C bus, is connected with the voltage/current acquisition module through an ADC circuit interface, is connected with part electric modulation/steering engine equipment through the PWM module, is connected with a control bus deconcentrator through a CAN bus, and the control bus deconcentrator is connected with a control bus decoding and PWM output module.
The combined navigation module sends navigation data of an aircraft to the flight control module through a USART (Universal Serial bus interface), the voltage/current acquisition module sends power supply voltage and current data in the working process of the aircraft to the flight control module through an ADC (analog-to-digital converter) interface, the control bus deconcentrator sends data from the control bus decoding and PWM (pulse-width modulation) output module to the flight control module through a CAN (controller area network) bus, and the data transmission radio station sends data from a ground control station to the flight control module through a USART serial port; the flight control module sends the correction and configuration data of the integrated navigation module to the integrated navigation module through the same interface, the state data of the airplane is sent to the data transmission radio station, and the data transmission radio station sends the data to the ground control station; and the control data obtained by calculation of the flight control module is sent to the control bus decoding and PWM output module through the CAN bus and the control bus deconcentrator module.
The flight control module comprises a main controller MCU and a peripheral circuit, wherein the peripheral circuit comprises an I2C bus, a serial port USART, an ADC circuit, a CAN bus and a PWM interface, and the peripheral circuit is an important interface for communication between the main controller MCU and other equipment; the combined navigation module provides effective navigation information for the flight control module, the combined navigation module comprises an accelerometer, an air pressure/radar altimeter, a gyroscope, a satellite decoder and a magnetometer, a main controller of the combined navigation module is used for calculating real-time navigation information of the aircraft through fusion of the multi-source information, and then the navigation information is sent to the flight control module.
The control bus deconcentrator comprises a deconcentration plate and a bus interface, wherein the deconcentration plate is made of a PCB (printed circuit board); after the flight control CAN bus is connected to the distribution board, the flight control CAN bus is divided into a plurality of paths on the PCB circuit board according to the requirement and is output to the control bus decoding and PWM output module through the bus interface; and similarly, the voltage/current/duct rotating speed information acquired by the control bus decoding and PWM output module is also transmitted to the flight control module through the bus deconcentrator.
The control bus decoding and PWM output module comprises an MCU (microprogrammed control Unit) main controller and other peripheral circuits, and the other peripheral circuits comprise a real-time voltage/current acquisition circuit, a rotating speed acquisition circuit, a CAN (controller area network) bus interface circuit, a PWM output interface circuit and a reserved RS485/RS232 interface; the control bus decoding and PWM output module collects real-time voltage/current and rotating speed information, processes the real-time voltage/current and rotating speed information by the MCU main controller, and sends the information out through the CAN bus interface; meanwhile, the flight control module control signals received through the CAN bus interface are decoded by the MCU master controller and converted into PWM control signals, and the PWM control signals are output to execution mechanisms such as various ducts, steering engines and the like through the PWM output interface.
The control system has the advantages that the control system of the distributed electric propulsion airplane is designed, the CAN bus is used for transmitting control signals of the distributed electric propulsion airplane, the control bus deconcentrator and the control bus decoding and PWM output module are designed according to the characteristic that control objects are distributed around a power section, and the problem that the distributed electric propulsion airplane cannot be accurately controlled due to excessive control quantity is solved. Compared with the traditional mode, the method greatly reduces the number of signal lines, saves the cost of the airplane, reduces the weight of the airplane, realizes the precise control of each control quantity, and lays a foundation for the technical realization of a high-efficiency flight control law.
Drawings
Fig. 1 is a general structure diagram of a distributed electric propulsion unmanned aerial vehicle flight control system.
Fig. 2 is an architecture diagram of the integrated navigation module and flight control module.
Fig. 3 shows the control bus splitter.
Fig. 4 is a structural diagram of the control bus decoding and PWM output module.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, a distributed power unmanned aerial vehicle control system comprises a flight control module, a combined navigation module, an airspeed and airflow angle acquisition module, a data transmission radio module, a voltage/current acquisition module, a PWM output module, a CAN bus output module, a control bus deconcentrator, and a control bus decoding and PWM output module. The combined navigation module, the airspeed and airflow angle acquisition module, the data transmission radio module, the voltage/current acquisition module, the PWM output module, the CAN bus output module, the control bus deconcentrator and the control bus decoding and PWM output module are respectively connected with the flight control module through the graphic interface, the flight control module receives navigation data, airspeed data, airflow angle data, ground control station data, voltage/current data and ducted rotating speed data of each module, then calculates to obtain control signals, then sends the control signals to the control bus deconcentrator through the CAN bus interface, and each control bus decoding and PWM output module receives bus signals and decodes and outputs the bus signals. The flight control module has a function of controlling signal bus output, the invention CAN be suitable for various control buses, and the CAN control bus is taken as an example, and the number of control bus deconcentrators is flexibly determined according to the number of power sections. The number of the control bus decoding and PWM wave output modules is determined by the number of the power sections, and meanwhile, the control bus decoding and PWM wave output modules have the functions of bus receiving decoding, multi-channel PWM wave output, current/voltage and bypass rotating speed acquisition.
As shown in fig. 2, the flight control module and the integrated navigation module. The combined navigation module collects three-axis magnetic field intensity, three-axis acceleration, three-axis gyroscope, real-time air pressure and ground radar signals, decodes satellite signals, integrates multi-element navigation information to output three-axis angular rate, real-time attitude angle, ground speed, longitude and latitude, altitude, real height and the like of the aircraft, then outputs the information to the flight control module in a determined data form through the USART, and meanwhile, the combined navigation module can receive navigation configuration and correction information sent by the flight control module through the USART interface. The sensors connected with the flight control module comprise an airspeed meter, an attack angle/sideslip angle sensor, a current/voltage sensor and the like, and the sensors can acquire data such as current/voltage, airspeed, flight attack angle, sideslip angle and the like of the power system in real time. On the basis, the main controller MCU CAN process flight tasks and sensor information in real time and utilize the obtained information to complete real-time calculation of a flight control law, and calculated control quantity is output to the control bus decoding and PWM output module through the CAN bus interface. In addition, the flight control module can send partial information to the ground control station through the data radio station according to the requirement, and can also receive data sent by the ground control station through the data radio station.
As shown in fig. 3, the control bus splitter is made of a PCB circuit with a standard interface, and the present invention is described in a one-to-three splitter structure, where each signal includes four wires, i.e., a power line, two communication signal lines, and a ground line. In the practical application process, the tree structure is formed according to the requirement, and the wire dividing ports are increased so as to reduce the number of wires. The CAN control signal output by the flight control module is firstly transferred to the deconcentrator through the universal interface, then the signal is divided into three paths on the deconcentrator board by utilizing the PCB, and a standard interface is installed at the signal output end of each path and is respectively connected to the control bus decoding and PWM output module to realize the signal shunting function.
As shown in fig. 4, the control bus decoding and PWM signal output module includes a CAN bus interface, a real-time current/voltage acquisition, a rotation speed acquisition, a PWM output interface, other forms of signal bus interface circuits, and a main control MCU. On one hand, the module receives CAN bus control signals in real time, decodes the CAN bus control signals into PWM signals, outputs the PWM signals to execution mechanisms such as electronic speed regulators and control steering engines of unmanned power sections, on the other hand, collects working voltage/current of electric ducts and duct rotating speed signals in real time, receives sensor signals in other communication bus forms in real time, and sends the signals to the flight control module through a CAN bus after the main controller completes decoding and communication packaging, so that multi-channel control and important information collection are realized.
Fig. 1 illustrates the overall structure and data flow direction of the present invention, fig. 2 illustrates the architecture of the flight control module and the integrated navigation module of the present invention in detail on the basis of fig. 1, fig. 3 illustrates the implementation and structure of the control bus splitter in detail on the basis of fig. 1, and fig. 4 illustrates the principle structure of the control bus decoding and PWM output module on the basis of fig. 1.
Claims (4)
1. The utility model provides a distributed power unmanned aerial vehicle control system, includes flies control module, combination navigation module, airspeed and air current angle collection module, data transfer station module, voltage/electric current collection module, PWM output module, CAN bus output module, control bus deconcentrator, control bus decode and PWM output module, its characterized in that:
the flight control module is used as an information processing center of the whole system, is respectively connected with the combined navigation module and the data transmission radio station module through a USART serial port, is connected with the airspeed and airflow angle acquisition module through an I2C bus, is connected with the voltage/current acquisition module through an ADC circuit interface, is connected with part of electric tuning/steering engine equipment through the PWM module, is connected with a control bus deconcentrator through a CAN bus, and the control bus deconcentrator is connected with a control bus decoding and PWM output module;
the combined navigation module sends navigation data of an aircraft to the flight control module through a USART (Universal Serial bus interface), the voltage/current acquisition module sends power supply voltage and current data in the working process of the aircraft to the flight control module through an ADC (analog-to-digital converter) interface, the control bus deconcentrator sends data from the control bus decoding and PWM (pulse-width modulation) output module to the flight control module through a CAN (controller area network) bus, and the data transmission radio station sends data from a ground control station to the flight control module through a USART serial port; the flight control module sends the correction and configuration data of the integrated navigation module to the integrated navigation module through the same interface, the state data of the airplane is sent to the data transmission radio station, and the data transmission radio station sends the data to the ground control station; and the control data obtained by calculation of the flight control module is sent to the control bus decoding and PWM output module through the CAN bus and the control bus deconcentrator module.
2. The distributed power drone control system of claim 1, wherein:
the flight control module comprises a main controller MCU and a peripheral circuit, wherein the peripheral circuit comprises an I2C bus, a serial port USART, an ADC circuit, a CAN bus and a PWM interface, and the peripheral circuit is an important interface for communication between the main controller MCU and other equipment; the combined navigation module provides effective navigation information for the flight control module, the combined navigation module comprises an accelerometer, an air pressure/radar altimeter, a gyroscope, a satellite decoder and a magnetometer, a main controller of the combined navigation module is used for calculating real-time navigation information of the aircraft through fusion of the multi-source information, and then the navigation information is sent to the flight control module.
3. The distributed power drone control system of claim 1, wherein:
the control bus deconcentrator comprises a deconcentration plate and a bus interface, wherein the deconcentration plate is made of a PCB (printed circuit board); after the flight control CAN bus is connected to the distribution board, the flight control CAN bus is divided into a plurality of paths on the PCB circuit board according to the requirement and is output to the control bus decoding and PWM output module through the bus interface; and similarly, the voltage/current/duct rotating speed information acquired by the control bus decoding and PWM output module is also transmitted to the flight control module through the bus deconcentrator.
4. The distributed power drone control system of claim 1, wherein:
the control bus decoding and PWM output module comprises an MCU (microprogrammed control Unit) main controller and other peripheral circuits, and the other peripheral circuits comprise a real-time voltage/current acquisition circuit, a rotating speed acquisition circuit, a CAN (controller area network) bus interface circuit, a PWM output interface circuit and a reserved RS485/RS232 interface; the control bus decoding and PWM output module collects real-time voltage/current and rotating speed information, processes the real-time voltage/current and rotating speed information by the MCU main controller, and sends the information out through the CAN bus interface; meanwhile, the flight control module control signals received through the CAN bus interface are decoded by the MCU master controller and converted into PWM control signals, and the PWM control signals are output to execution mechanisms such as various ducts, steering engines and the like through the PWM output interface.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113359803A (en) * | 2021-07-08 | 2021-09-07 | 沃飞长空科技(成都)有限公司 | Bus control device of unmanned aerial vehicle actuating mechanism, unmanned aerial vehicle and control system |
| CN113405712A (en) * | 2021-06-14 | 2021-09-17 | 西北工业大学 | Real-time thrust testing system and method for distributed electric propulsion unmanned aerial vehicle |
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