CN112947525B - Flight control system and flight control method of electric manned aircraft - Google Patents
Flight control system and flight control method of electric manned aircraft Download PDFInfo
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- CN112947525B CN112947525B CN202110264418.3A CN202110264418A CN112947525B CN 112947525 B CN112947525 B CN 112947525B CN 202110264418 A CN202110264418 A CN 202110264418A CN 112947525 B CN112947525 B CN 112947525B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The application relates to a flight control system and a flight control method of an electric manned aircraft. The flight control system of the electric manned aircraft comprises a central processor module, wherein the central processor module comprises at least two processors, the at least two processors comprise a first processor and a second processor, and the first processor and the second processor are mutually connected; the first processor is used for acquiring flight data of the electric manned aircraft, calculating the flight data to form a control instruction, and sending the control instruction to the second processor; the second processor is used for being connected with the first processor and a power system of the electric manned aircraft respectively, converting the control instruction received from the first processor into a control signal and outputting the control signal to the power system, so that the power system controls the flight of the electric manned aircraft according to the control signal. The scheme provided by the application can improve the control response speed and realize more rapid and real-time control of the electric manned aircraft.
Description
Technical Field
The application relates to the technical field of manned aircrafts, in particular to a flight control system and a flight control method of an electric manned aircraft.
Background
Manned aircraft compares in unmanned aerial vehicle, owing to carried personnel, requires more to the security. The control response speed of the flight power is an important reference factor for measuring the safety of the manned aircraft, and the faster the control response of the flight power is, the higher the safety of the manned aircraft is. In manned aircraft, power control is a very important part, because safety and sensitivity of flight are involved, and thus power control requires a flight control system (referred to as a flight control system for short) to quickly react to control. Particularly, when the flying height is not high enough, the control response speed of the flying power is required to be faster.
In the related art, the flight control system is a processor for processing all data. If the flight control system is controlled by a processor, the processor needs to acquire all data and perform data calculation to send a control signal to the power system. Therefore, the response speed is relatively slow, and the requirement of the manned aircraft on the control response speed of the flight power cannot be met.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a flight control system and a flight control method of an electric manned vehicle, and the flight control system and the flight control method of the electric manned vehicle can improve the control response speed and realize the faster and real-time control of the electric manned vehicle.
The application provides an electronic manned vehicle flight control system in the first aspect:
the system comprises a central processor module, wherein the central processor module comprises at least two processors, the at least two processors comprise a first processor and a second processor, and the first processor and the second processor are connected with each other;
the first processor is used for acquiring flight data of the electric manned aircraft, calculating the flight data to form a control instruction, and sending the control instruction to the second processor;
the second processor is used for being connected with the first processor and a power system of the electric manned aircraft respectively, converting the control instruction received by the first processor into a control signal, and outputting the control signal to the power system so that the power system controls the flight of the electric manned aircraft according to the control signal.
In one embodiment, the power system includes an electronic governor and an electric motor;
the second processor is connected with the electronic speed regulator, converts the control command received from the first processor into a control signal, and outputs the control signal to the electronic speed regulator, so that the electronic speed regulator controls the operation of the motor of the electric manned aircraft according to the control signal.
In one embodiment, the system further comprises a sensing system coupled to the first processor;
and the sensing system is used for providing sensing signals for the electric manned aircraft.
In one embodiment, the sensing system includes at least one of a navigation module, a sensor module, and a ranging module;
the navigation module is used for acquiring navigation data of the electric manned aircraft and sending the navigation data to the first processor for processing;
the sensor module is used for acquiring flight data and/or environmental data of the electric manned aircraft and sending the flight data and/or the environmental data to the first processor for processing;
the distance measurement module is used for measuring the distance between the electric manned aircraft and the ground or a set target and sending the distance between the electric manned aircraft and the ground or the set target to the first processor for processing.
In one embodiment, the system further comprises a serial bus s.bus module connected to the second processor;
and the S.BUS module is used for receiving a manipulation signal of a user as an S.BUS signal, sending the S.BUS signal to the second processor, and sending the S.BUS signal to the first processor for processing by the second processor.
In one embodiment, the second processor is connected with a set number of electronic speed regulators, and the control signals are respectively output to the set number of electronic speed regulators, and the set number is determined according to the number of rotors of the electric manned vehicle.
In one embodiment, the system further comprises a storage system coupled to the first processor;
the storage system is used for storing data.
In one embodiment, the memory system includes at least one of a data storage module and an F-RAM/EEPROM module;
the data storage module is used for storing the flight data of the electric manned aircraft acquired by the first processor;
and the F-RAM/EEPROM module is used for storing application programs and system operation data.
In one embodiment, the system further comprises a communication system coupled to the first processor;
the communication system is used for the electric manned aircraft to communicate with the outside.
In one embodiment, the communication system includes at least one of a communication module and a headset communication module;
the communication module is used for communicating with the outside in at least one communication mode of 4G, 5G, WIFI, bluetooth, wireless data transmission and wireless image transmission;
the earphone communication module is used for carrying out communication through an earphone.
In one embodiment, the system further comprises a display and control module coupled to the first processor;
and the display and control module is used for displaying flight data, environment data or navigation data.
The second aspect of the application provides a flight control method of an electric manned aircraft, which comprises the following steps:
receiving a control instruction sent by a main processor, wherein the control instruction is obtained by acquiring flight data of the electric manned aircraft and performing calculation processing on the flight data;
and converting the control instruction into a control signal, and outputting the control signal to the electronic speed regulator so that the electronic speed regulator controls the operation of a motor of the electric manned aircraft according to the control signal.
In one embodiment, the method further comprises:
receiving a manipulation signal of a user as an S.BUS signal;
and sending the S.BUS signal to the main processor for processing.
In one embodiment, the s.bus signal comprises multiple control channel signals for controlling the fore-and-aft, left-and-right, up-and-down, or rotational motion, respectively, of the electric manned vehicle.
The technical scheme provided by the application can comprise the following beneficial effects:
the electric manned aircraft flight control system comprises a central processor module, wherein the central processor module comprises at least two processors, the at least two processors comprise a first processor and a second processor, and the first processor and the second processor are connected with each other; the first processor is used for acquiring flight data of the electric manned aircraft, calculating the flight data to form a control instruction, and sending the control instruction to the second processor; the second processor is used for being connected with a power system of the electric manned aircraft, converting the control instruction received from the first processor into a control signal and outputting the control signal to the power system, so that the power system controls the flight of the electric manned aircraft according to the control signal. After setting up like this, divide into first treater and be responsible for calculation and processing of flight data, the second treater is responsible for electronic manned vehicle's driving system's control, the burden of all work of original only a treater processing has both been lightened, the computational resource load has been lightened, again through setting up solitary treater special control driving system, make the treater more timely and sensitive to driving system's control, electronic manned vehicle's power reaction rate is faster, flight control is real-time and swift, the requirement of electronic manned vehicle to the control reaction rate of flight power has been satisfied, thereby make electronic manned vehicle flight safer. In addition, by arranging at least two processors, the redundancy design of the processors is realized, and the safe and efficient use of the flight control system can be further ensured.
Furthermore, the input of an S.BUS signal is controlled through a second processor connected with the electronic speed regulator, the S.BUS signal is sent to a first processor which is responsible for calculation and processing of flight data through the second processor after the S.BUS signal is received, the first processor is combined with the obtained data to carry out processing and operation after receiving the S.BUS signal, a control instruction is formed according to the result after operation, the control instruction is returned to the second processor connected with the electronic speed regulator to be converted into a control signal, the electronic speed regulator is controlled according to the control signal, the operation of a motor of the electric manned vehicle is further controlled, and the flight control of the electric manned vehicle is realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a schematic structural diagram of an electric manned vehicle flight control system according to one embodiment of the present application;
FIG. 2 is a schematic structural diagram of an electric manned aircraft flight control system according to another embodiment of the present application;
FIG. 3 is a schematic structural diagram of an electric manned aircraft flight control system according to another embodiment of the present application;
FIG. 4 is a schematic flow chart diagram illustrating a method for controlling the flight of an electric manned vehicle according to one embodiment of the present application;
FIG. 5 is a schematic flow chart diagram illustrating a method for flight control of an electric manned vehicle according to another embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating takeoff control in a flight control method of an electric manned vehicle according to another embodiment of the present application;
fig. 7 is a schematic flow chart illustrating landing control in a flight control method of an electric manned vehicle according to another embodiment of the present application.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the related art, the response speed of the flight control system is relatively slow. In order to solve the above problems, the embodiment of the application provides an electric manned aircraft flight control system, which can improve the control response speed and can realize quick and real-time control of an aircraft.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an electric manned vehicle flight control system according to an embodiment of the present application.
Referring to fig. 1, the flight control system of the electric manned vehicle provided by the embodiment of the application:
the system comprises a central processor module 220, wherein the central processor module 220 comprises at least two processors, the at least two processors comprise a first processor 100 and a second processor 200, and the first processor 100 and the second processor 200 are connected with each other; the first processor 100 is configured to obtain flight data of the electric manned aircraft, perform calculation processing on the flight data to form a control instruction, and send the control instruction to the second processor 200;
the second processor 200 is connected to the first processor 100 and the power system 221 of the electric manned vehicle, respectively, converts the control command received from the first processor 100 into a control signal, and outputs the control signal to the power system 221, so that the power system 221 controls the flight of the electric manned vehicle according to the control signal.
Wherein, the power system 221 comprises an electronic governor 300 and a motor 301;
the second processor 200 is connected to the first processor 100 and the electronic governor 300, respectively, converts the control command received from the first processor 100 into a control signal, and outputs the control signal to the electronic governor 300, so that the electronic governor 300 controls the operation of the motor 301 of the electric manned vehicle according to the control signal output from the second processor 200.
The first processor 100 may be a master processor, and the second processor 200 may be a slave processor.
It can be seen from this embodiment that, the scheme that this application embodiment provided divides into that first treater is responsible for the calculation and the processing of flight data, and the second treater is responsible for the control of the driving system of electronic manned vehicle, has both lightened the burden that original only a treater handled all work, has lightened the operation resource load, and through setting up solitary treater special control driving system again, make the treater more timely and sensitive to driving system's control, electronic manned vehicle's power reaction rate is faster, flight control is real-time and swift, satisfied the requirement of electronic manned vehicle to the control reaction rate of flight power, thereby make electronic manned vehicle flight safer. In addition, by arranging at least two processors, the redundancy design of the processors is realized, and the safe and efficient use of the flight control system can be further ensured.
FIG. 2 is a schematic structural diagram of an electric manned vehicle flight control system according to another embodiment of the present application.
Referring to fig. 2, the flight control system of the electric manned vehicle provided in the embodiment of the present application includes a central processor module 220, the central processor module 220 includes a first processor 100 and a second processor 200, and the first processor 100 and the second processor 200 are connected to each other. The first processor 100 may be a master CPU (master processor), and the second processor 200 may be a slave CPU (slave processor). Also included in fig. 2 is power system 221 of the electric manned vehicle, where power system 221 includes electronic governor 300 and motor 301.
The second processor 200 is connected to the electronic governor 300 in the power system 221 of the electric manned vehicle, converts the control command received from the first processor 100 into a control signal, and outputs the control signal to the electronic governor 300 so that the electronic governor 300 controls the operation of the motor 301 of the electric manned vehicle by the control signal.
The system provided herein may further include a sensing system 222 coupled to the first processor 100. And a sensing system 222 for providing sensing signals, such as various navigation data, flight data, environmental data or distance data, for the electric manned vehicle.
The system provided herein may also include an interface system 224 coupled to the second processor 200. An interface system 224, for receiving the manipulation signal of the user as the s.bus signal through the serial bus, sending the s.bus signal to the second processor 200, and sending the s.bus signal to the first processor 100 for processing by the second processor 200.
The system provided herein may further include a storage system 223 coupled to the first processor 100. And the storage system 223 is used for storing data, such as flight data of the electric manned aircraft, application programs, system operation data and the like.
FIG. 3 is a schematic structural diagram of an electric manned aircraft flight control system according to another embodiment of the present application. The embodiment of the present application is described by taking an example that the flight control system of the electric manned vehicle includes a Central Processing Unit (CPU), but is not limited thereto.
Referring to fig. 3, the electric manned vehicle flight control system includes a central processor module 220. Also included in fig. 3 are power system 221, sensing system 222, storage system 223, interface system 224, communication system 225, etc. each connected to central processor module 220.
Power system 221 includes electronic governor 300 and motor 301. The central processor module 220 includes a first processor 100 and a second processor 200.
Wherein first processor 100 and second processor 200 are connected to each other, and second processor 200 is connected to first processor 100 and electronic governor 300, respectively. The first processor 100 may be a master CPU (master processor), and the second processor 200 may be a slave CPU (slave processor).
The first processor 100 is configured to acquire flight data of the electric manned aircraft, perform calculation processing on the flight data to form a control instruction, and send the control instruction to the second processor 200.
And a second processor 200 connected to the first processor 100 and the electronic governor 300, respectively, for converting the control command received from the first processor 100 into a control signal and outputting the control signal to the electronic governor 300. The second processor 200 may be connected to a set number of electronic governors 300, and output the control signals to the set number of electronic governors 300, respectively. The number of the setting may be 4 or 8, for example. In fig. 3, 8 electronic governors 300 are taken as an example, but not limited thereto, and the number of electronic governors 300 is determined according to the number of rotors of the electric manned vehicle, so that the number of rotors of the electric manned vehicle corresponding to 8 electronic governors 300 is 8, and in this case, the electric manned vehicle is also referred to as an eight-rotor vehicle.
And the electronic governor 300 is used for controlling the operation of a motor 301 of the electric manned vehicle according to the control signal output by the second processor 200. The number of the electronic speed regulators 300 is a set number, and the set number can be determined according to the number of the rotors of the electric manned vehicle; the second processor 200 is connected to a set number of electronic governors 300, and outputs control signals to the set number of electronic governors 300, respectively.
The electronic governor 300 may use a PWM (Pulse width modulation) low current signal of the flight control output to provide a controllable power current output for a motor, such as a brushless motor. The electronic governor 300 can rapidly translate the control signal into the magnitude of the armature voltage and the magnitude of the current to control the rotational speed of the motor.
That is to say, the main CPU (first processor 100) in the embodiment of the present application is configured to acquire data of various aspects of the aircraft, store state data in a flight process in the data storage module 107, perform fusion processing on the data, form a control instruction after the processing is completed, send the control instruction to the slave CPU (second processor 200), convert the control instruction into a control signal after the control instruction is received by the slave CPU (second processor 200), output the control signal to the electronic speed governor 300, and control the speed of the motor 301 through the electronic speed governor 300 to implement stable control on the aircraft.
The system of the embodiment of the present application may further include an interface system 224 connected to the second processor 200, and the interface system 224 may include the serial bus s.bus module 108.S.bus (Serial Bus) means Serial transmission and communication of PWM (Pulse width modulation) signals. The S.BUS is a digital bus, adopts a digital transmission mode, can be very conveniently adapted in an embedded system, and greatly improves the anti-interference performance. The S.BUS is a bus, which also means that one set of bus can be expanded to connect a plurality of devices without consuming excessive physical wires.
Specifically, the s.bus module 108 may receive a manipulation signal input by a user. The operation signal can be input in a physical key mode or a voice input mode. S.bus module 108 receives the manipulation signal and sends the s.bus signal to second processor 200 connected to electronic governor 300 as an s.bus signal. After receiving the s.bus signal, the second processor 200 sends the s.bus signal to the first processor 100, and the first processor 100 may perform calculation processing according to the s.bus signal or further in combination with other acquired data to form a control instruction, and send the control instruction to the second processor 200. The second processor 200 converts the control command received from the first processor 100 into a control signal, and outputs the control signal to the electronic governor 300, so that the electronic governor 300 controls the operation of the motor 301 of the electric manned vehicle according to the control signal.
The s.bus signal may include a plurality of control channel signals, for example, at least four control channel signals for controlling the front-back, left-right, up-down, and rotation of the electric manned vehicle. In one embodiment, the s.bus signal may also include control channel signals to switch flight modes, open parachutes, or take pictures.
That is, the slave CPU (second processor 200) of the embodiment of the present application may be connected to the electronic governor 300, which is an electrical tuning unit of the power system of the aircraft. The number of electronic governors 300 may be determined based on the number of rotors of the electric manned vehicle. Taking an eight-rotor aircraft as an example, the slave CPU (second processor 200) is connected to 8 electronic governors 300. The control signal of the pilot to the aircraft can be received by the s.bus module 108 and input to the slave CPU (second processor 200) as an s.bus signal, and the slave CPU (second processor 200) is sent to the master CPU (first processor 100) again to realize the control of the aircraft. The SBUS signal comprises at least 4 control channel signals, the front and back, left and right, up and down and rotation of the aircraft are respectively controlled, and other residual control channels can be used for switching flight modes of the aircraft, opening parachutes, photographing control and other expansion functions.
It can be found that in the embodiment of the present application, the slave CPU directly controls the operation of the electronic governor 300 and controls the input of the SBUS signal, and the master CPU only performs the calculation and data processing of the flight data, so that the load of the computing resources of the master CPU is reduced, the flight control is real-time and fast, and the aircraft has a fast response speed and a more agile response.
To collect navigational data for an electric manned vehicle, the system of the present embodiment may also include a sensing system 222. The sensing system 222 includes at least one of the navigation module 104, the sensor module 105, and the ranging module 106.
The navigation module 104 is connected to the first processor 100, and is configured to collect navigation data of the electric manned vehicle, send the navigation data to the first processor 100, and process the navigation data by the first processor 100. The first processor 100 can combine with other related data information to perform calculation processing on the navigation data to form a control command, send the control command to the second processor 200, and enable the second processor 200 to control the electronic speed regulator 300 according to the control command, so as to control the operation of the motor 301. The navigation module may be a GPS (Global Positioning System) module, but is not limited thereto.
To collect flight data and/or environmental data for the electric manned vehicle, the system of the embodiments of the present application may further include a sensor module 105.
The sensor module 105 is connected with the first processor 100 and is used for acquiring flight data and/or environmental data of the electric manned aircraft, sending the flight data and/or the environmental data to the first processor 100, and calculating and processing the flight data and/or the environmental data by the first processor 100.
Specifically, the sensor module 105 is arranged to collect flight data and/or environmental data of the electric manned aircraft, the collected flight data and/or environmental data are sent to the first processor 100, the first processor 100 is used for calculating and processing the flight data and/or environmental data in combination with other relevant data information to form a control command and send to the second processor 200, and the second processor 200 is used for controlling the electronic speed regulator 300 according to the control command so as to control the operation of the motor. The sensor module 105 may optionally use a gyroscope, an accelerometer, a magnetometer, a barometer, or other devices to collect flight data and/or environmental data of the manned electric vehicle. The flight data may be, for example, flight attitude, aircraft angle, aircraft acceleration, etc.; the environmental data may be, for example, air pressure, air temperature, air humidity, etc. The electric manned aircraft can acquire information of the direction of the aircraft through the gyroscope, acquire information of the acceleration of the aircraft in real time through the accelerometer, acquire the magnetic field intensity and the direction of the aircraft through the magnetometer to determine the direction of the aircraft, and measure the air pressure value of the environment where the aircraft is located through the barometer.
In order to collect the flight altitude information of the electric manned vehicle, the system of the embodiment of the application may further include a ranging module 106.
The distance measuring module 106 is connected to the first processor 100, and is configured to measure a distance between the electric manned vehicle and the ground, send the distance between the electric manned vehicle and the ground to the first processor 100, and process the distance between the electric manned vehicle and the ground by the first processor 100. The distance measuring module 106 is arranged to collect the flight altitude information of the electric manned aircraft, the collected flight altitude information is sent to the first processor 100, the first processor 100 is combined with other related data information to calculate and process the flight altitude information, a control instruction is formed and sent to the second processor 200, and the second processor 200 controls the electronic speed regulator 300 according to the control instruction so as to control the operation of the motor. The ranging module 106 may optionally use radar for detection.
In order to store all the data collected by the electric manned vehicle, the system of the embodiment of the present application may further include a storage system 223. Memory system 223 includes at least one of data storage module 107, F-RAM/EEPROM module 109.
The data storage module 107 is connected to the first processor 100 for storing the flight data received from the first processor 100. The module responsible for collecting data, for example, the navigation module 104, sends the collected data to the first processor 100, and the first processor 100 not only processes the received data, but also sends the data to the data storage module 107 for storage. The data storage module 107 may be stored by using an external storage device, such as an SD Card (Secure Digital Memory Card). The SD card may be connected to the first processor 100 through an SPI (Serial Peripheral Interface) or SDIO (Secure Digital Input and Output) Interface.
In order to avoid the memory data loss after power failure and store the data generated by the first processor 100 during the processing and operation, in this embodiment, the system may further include an F-RAM (ferroelectric random access memory)/EEPROM (electrically erasable and programmable read only memory) module 109.
The F-RAM/EEPROM module 109 is connected to the first processor 100 for storing current application programs, system operational data, and for use after the aircraft is started. Since the F-RAM/EEPROM module 109 is an internal memory with non-volatility, data is not lost after power loss. The signal sent by the s.bus module 108 to the first processor 100 can also be stored in the F-RAM/EEPROM module 109 for recording, and when the electric manned vehicle is accidentally damaged and powered down, the operation command before damage can be recorded in the F-RAM/EEPROM module 109.
In one implementation, the system of the present embodiment may further include a communication system 225 for communicating with the outside by the electric manned vehicle. The communication system 225 may include at least one of the communication module 110 and the headset communication module 111.
The communication module 110 is connected to the first processor 100 and is configured to perform data transmission with the ground, for example, pictures and/or videos taken by the electric manned vehicle may be transmitted. The communication module can transmit data in wireless communication in at least one communication mode of 4G, 5G, WIFI, bluetooth, wireless data transmission (data transmission for short) and wireless image transmission (image transmission for short) and the like.
The headset communication module 111 is connected to the first processor 100 for communication through a headset.
In one implementation, the system of the present application embodiment may further include a display and control module 112.
The display and control module 112 is connected to the first processor 100 for displaying flight data, environmental data or navigation data. For example for displaying flight data, meteorological environment data, data internal to the aircraft itself or navigation map data, etc.
In one implementation, the system of the embodiment of the present application may further include a safety switch and sound module 113.
The safety switch and sound module 113 is connected to the first processor 100, and is configured to set a safety switch to ensure circuit safety, set a speaker or set a buzzer for reminding, for example, to send a reminder in an initialization or takeoff control process of the electric manned vehicle.
The above detailed description describes the flight control system of the electric manned vehicle shown in the embodiment of the present application, and the following further describes a method for performing flight control by using the flight control system of the electric manned vehicle and a corresponding embodiment.
Fig. 4 is a schematic flow chart illustrating a flight control method of the electric manned vehicle according to an embodiment of the application.
Referring to fig. 4, the flight control method of the electric manned aircraft comprises the following steps:
step S401, receiving a control instruction sent by a main processor, wherein the control instruction is obtained by the main processor acquiring flight data of the electric manned aircraft and performing calculation processing.
Step S402, converting the control instruction into a control signal, and outputting the control signal to the electronic speed regulator so that the electronic speed regulator controls the operation of the motor of the electric manned aircraft according to the control signal.
FIG. 5 is a schematic flow chart diagram illustrating a method for controlling the flight of an electric manned vehicle according to another embodiment of the present application. The interaction flow between the slave processor and the master processor of the electric manned vehicle is illustrated in fig. 5.
Referring to fig. 5, the flight control method of the electric manned vehicle includes the steps of:
step S501, the main processor acquires flight data of the electric manned aircraft, and the flight data is calculated to form a first control instruction.
In this step, the main processor may acquire data of various aspects of the aircraft, which may be data of various aspects collected by a navigation module, a sensor module, a ranging module, and the like.
In step S502, the master processor sends the first control instruction to the slave processor.
In step S503, the master processor forms a second control instruction according to the s.bus signal sent from the slave processor.
And the slave processor receives the operation signal of the user as an S.BUS signal, sends the S.BUS signal to the master processor for processing, and the master processor performs calculation processing on the S.BUS signal to form a second control instruction.
It should be noted that there is no necessary order relationship between steps S503 and S502.
Step S504, the processor converts the first control instruction or the second control instruction into a control signal and sends the control signal to the electronic speed regulator.
In the step, the slave processor converts the first control command or the second control command received from the master processor into a control signal and sends the control signal to the electronic speed regulator.
And step S505, the electronic speed regulator controls the operation of the motor of the electric manned aircraft according to the control signal.
In the step, the electronic speed regulator controls the operation of a motor of the electric manned aircraft according to the control signal, and the stable control of the aircraft is realized by controlling the rotating speed of the motor.
Fig. 6 is a schematic flow chart illustrating takeoff control in a flight control method of an electric manned vehicle according to an embodiment of the application. The embodiment is described taking the process of takeoff control as an example.
Before the electronic manned vehicle takes off, electronic manned vehicle generally carries out the start-up process earlier, includes: after the navigation module, the sensor module, the ranging module and the data storage module are respectively initialized or are sequentially initialized successfully, interactive communication is carried out between the navigation module, the sensor module, the ranging module and the data storage module and other modules, and then the electric manned aircraft sends out sound prompt for successful starting; if the navigation module, the sensor module, the ranging module and the data storage module are respectively initialized or are sequentially initialized to fail, the electric manned aircraft sends out sound prompt of failure in starting.
Referring to fig. 6, the flight control method of the electric manned vehicle includes:
step S601, the main processor acquires the set takeoff height information of the electric manned aircraft.
Step S602, the electric manned aircraft carries out electric quantity self-checking, whether the self-checking is successful or not is judged, if the self-checking is successful, the step S603 is carried out, and if the self-checking is failed, the step S608 is carried out.
Step S603, the electric manned vehicle performs navigation positioning data self-check, determines whether the self-check is successful, and if the self-check is successful, the step S604 is performed, and if the self-check is failed, the step S608 is performed.
And step S604, the electric manned aircraft carries out sensor data self-checking, whether the self-checking is successful or not is judged, if the self-checking is successful, the step S605 is carried out, and if the self-checking is failed, the step S608 is carried out.
And step S605, the master processor generates a control command and sends the control command to the slave processor, and the slave processor converts the control command into a control signal and sends the control signal to the electronic speed regulator.
And step S606, the electronic speed regulator controls the motor of the electric manned aircraft to enter an idle state according to the control signal.
Specifically, after the electric manned vehicle receives the set takeoff height and successively passes through three self-checking steps of electric quantity self-checking, navigation positioning data self-checking and sensor data self-checking, a main processor of the electric manned vehicle carries out calculation processing according to data of all aspects to form a control command and sends the control command to a slave processor, and the slave processor controls a motor to enter an idling state through an electronic speed regulator until the electric manned vehicle takes off.
And step S607, the electric manned aircraft takes off to the target height after the motor enters the idle state.
And step S608, when the takeoff fails, the electric manned aircraft makes a sound for reminding.
Fig. 7 is a schematic flow chart illustrating landing control in a flight control method of an electric manned vehicle according to an embodiment of the present application. This embodiment will be described by taking the process of the landing control as an example.
Referring to fig. 7, the flight control method of the electric manned vehicle includes the steps of:
step S701, the main processor of the electric manned aircraft acquires landing target location information.
Step S702, the electric manned vehicle flies to a safe height away from the ground.
For example, the electric manned vehicle flies to a safe height of 50 meters from the ground, so that the electric manned vehicle maintains the safe height of 50 meters.
And step S703, the electric manned vehicle keeps the safe altitude to fly above the target point.
Step S704, the main processor of the electric manned vehicle sends a first control instruction which is descended to the set height above the target point at the first speed to the slave processor, the slave processor converts the first control instruction into a first control signal and outputs the first control signal to the electronic speed regulator, and the electric manned vehicle is descended to the set height above the target point at the first speed by controlling the motor to operate through the electronic speed regulator.
For example, the motor is controlled to operate through an electronic speed regulator, so that the electric manned aircraft can land to a position 20 meters above a target point at a first speed. The set height is, for example, 20 meters, but is not limited thereto, and may be 25 meters or the like.
Step S705, the master processor sends a second control instruction which lands on the ground of the target point at a second speed to the slave processor, the slave processor converts the second control instruction into a second control signal and outputs the second control signal to the electronic speed regulator, and the electronic speed regulator controls the motor to operate so that the electric manned aircraft lands on the ground of the target point at the second speed.
The aircraft landing process is completed through the cooperation of the two processors. And after the main processor analyzes the received data, corresponding control instructions are respectively formed, the control instructions are sent to the auxiliary processor, and the auxiliary processor converts the received control instructions into control signals to control the operation of the motor so as to control the flight power of the aircraft. Through dividing the owner from the processor, both alleviateed original burden that only a treater handled all work, alleviateed the operation resource load, again through setting up solitary treater special control electronic governor for the treater is more timely and sensitive to electronic governor's control, and electronic manned vehicle's power reaction rate is faster, and flight control is real-time and swift, has satisfied electronic manned vehicle to the requirement of the control reaction rate of flight power, thereby makes electronic manned vehicle flight safer. In addition, by arranging at least two processors, the redundancy design of the processors is realized, and the safe and efficient use of the flight control system can be further ensured.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the applications disclosed herein may be implemented as electronic hardware, computer software, or combinations of both.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (9)
1. The utility model provides an electronic manned vehicle flight control system which characterized in that:
the system comprises a central processing unit module, wherein the central processing unit module comprises at least two processors, the at least two processors comprise a first processor and a second processor, and the first processor and the second processor are connected with each other, wherein the first processor is used as a main processor, and the second processor is used as a secondary processor;
the first processor is used for acquiring flight data of the electric manned aircraft, calculating the flight data to form a control instruction, and sending the control instruction to the second processor;
the second processor is used for being connected with the first processor and a power system of the electric manned vehicle respectively, converting the control instruction received from the first processor into a control signal, and outputting the control signal to the power system so that the power system controls the flight of the electric manned vehicle according to the control signal, wherein the control signal is a PWM signal;
the system also includes a serial bus s.bus module connected to the second processor;
the S.BUS module is used for receiving an operation signal input by a pilot to the electric manned vehicle in a physical key mode or a voice input mode to serve as an S.BUS signal, sending the S.BUS signal to the second processor, sending the S.BUS signal to the first processor by the second processor for processing, wherein the S.BUS signal comprises a plurality of control channel signals, at least four control channel signals for controlling the front and back, left and right, up and down and rotation of the electric manned vehicle and control channel signals for switching a flight mode, opening a parachute or taking a picture; wherein the power system comprises an electronic speed regulator and a motor;
the second processor is connected with the electronic speed regulator, converts the control command received from the first processor into a control signal, and outputs the control signal to the electronic speed regulator so that the electronic speed regulator controls the operation of a motor of the electric manned aircraft according to the control signal;
the second processor is connected with the electronic speed regulators with the set number, and outputs the control signals to the electronic speed regulators with the set number respectively, wherein the set number is determined according to the number of the rotors of the electric manned aircraft.
2. The electric manned vehicle flight control system of claim 1, wherein:
the system further includes a sensing system coupled to the first processor;
and the sensing system is used for providing sensing signals for the electric manned aircraft.
3. The electric manned vehicle flight control system of claim 2, wherein:
the sensing system comprises at least one of a navigation module, a sensor module and a ranging module;
the navigation module is used for acquiring navigation data of the electric manned aircraft and sending the navigation data to the first processor for processing;
the sensor module is used for acquiring flight data and/or environmental data of the electric manned aircraft and sending the flight data and/or the environmental data to the first processor for processing;
the distance measurement module is used for measuring the distance between the electric manned aircraft and the ground or a set target and sending the distance between the electric manned aircraft and the ground or the set target to the first processor for processing.
4. The electric manned vehicle flight control system of claim 1, wherein:
the system further includes a storage system coupled to the first processor;
the storage system is used for storing data.
5. The electric manned vehicle flight control system of claim 4, wherein:
the storage system comprises at least one of a data storage module and an F-RAM/EEPROM module;
the data storage module is used for storing the flight data of the electric manned aircraft acquired by the first processor;
and the F-RAM/EEPROM module is used for storing application programs and system operation data.
6. The electric manned vehicle flight control system of claim 1, wherein:
the system further includes a communication system connected to the first processor;
the communication system is used for the electric manned aircraft to communicate with the outside.
7. The electric manned vehicle flight control system of claim 6, wherein:
the communication system comprises at least one of a communication module and a headset communication module;
the communication module is used for communicating with the outside in at least one communication mode of 4G, 5G, WIFI, bluetooth, wireless data transmission and wireless image transmission;
the earphone communication module is used for carrying out communication through an earphone.
8. The electric manned vehicle flight control system of claim 1, wherein:
the system further comprises a display and control module connected to the first processor;
and the display and control module is used for displaying flight data, environment data or navigation data.
9. A flight control method of an electric manned aircraft is characterized by comprising the following steps:
receiving a control instruction sent by a main processor, wherein the control instruction is obtained by the main processor after the main processor acquires flight data of the electric manned vehicle and performs calculation processing, the flight control system of the electric manned vehicle comprises a central processor module, the central processor module comprises at least two processors, the at least two processors comprise a first processor and a second processor, the first processor and the second processor are connected with each other, the first processor serves as the main processor, and the second processor serves as the slave processor;
converting a control instruction received from the master processor into a control signal by a slave processor, and outputting the control signal to an electronic speed regulator connected with the slave processor so that the electronic speed regulator controls the operation of a motor of the electric manned vehicle according to the control signal, wherein the control signal is a PWM (pulse width modulation) signal;
the method further comprises the following steps:
an S.BUS module connected with the slave processor receives an operation signal input by a pilot to the electric manned vehicle in a physical key mode or a voice input mode to serve as an S.BUS signal, and the S.BUS signal is sent to the slave processor;
the slave processor sends the S.BUS signal to the master processor for processing, wherein the S.BUS signal comprises a plurality of control channel signals, at least four control channel signals for controlling the front and back, left and right, up and down and rotation of the electric manned vehicle, and control channel signals for switching flight modes, opening parachutes or taking pictures;
the slave processor is connected with a set number of electronic speed regulators, and outputs the control signals to the set number of electronic speed regulators respectively, wherein the set number is determined according to the number of rotors of the electric manned aircraft.
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| CN113904882B (en) * | 2021-09-24 | 2023-08-18 | 广东汇天航空航天科技有限公司 | Communication control system and communication control method for multiple MCU units |
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| CN105867414B (en) * | 2016-04-18 | 2018-08-07 | 浙江大学 | A kind of UAV Flight Control System of multisensor redundancy backup |
| CN107450591A (en) * | 2017-08-23 | 2017-12-08 | 浙江工业大学 | Based on the tall and handsome unmanned plane motion tracking system up to TX2 processors |
| CN207133659U (en) * | 2017-08-30 | 2018-03-23 | 上海拓攻机器人有限公司 | A kind of unmanned vehicle tele-control system |
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| CN109521785B (en) * | 2018-12-29 | 2021-07-27 | 西安电子科技大学 | Intelligent rotor craft system capable of being shot with oneself |
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