CN112965428A - Four-rotor aircraft and control circuit thereof - Google Patents
Four-rotor aircraft and control circuit thereof Download PDFInfo
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- CN112965428A CN112965428A CN202110413893.2A CN202110413893A CN112965428A CN 112965428 A CN112965428 A CN 112965428A CN 202110413893 A CN202110413893 A CN 202110413893A CN 112965428 A CN112965428 A CN 112965428A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Abstract
The invention discloses a four-rotor aircraft and a control circuit thereof, wherein the control circuit comprises a power circuit, a motor driving circuit, a three-axis digital gyroscope circuit and a main control circuit, the power circuit is electrically connected with the motor driving circuit, the three-axis digital gyroscope circuit and the main control circuit, the main control circuit is also electrically connected with the motor driving circuit and the three-axis digital gyroscope circuit, and the power circuit is used for providing power for the motor driving circuit, the three-axis digital gyroscope circuit and the main control circuit; the three-axis digital gyroscope circuit is used for acquiring pose signals of the four-rotor aircraft; the main control circuit is used for sending a speed regulation signal to the motor driving circuit according to the pose signal acquired by the three-axis digital gyroscope circuit; the motor driving circuit is used for controlling the action of each motor according to the speed regulating signal. The invention solves the technical problem of unstable flight of the four-rotor aircraft in the prior art.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a four-rotor aircraft and a control circuit thereof.
Background
The concept of the Elev-8 quadrupcoper four-rotor aircraft is extended from an unmanned platform, and the four-rotor aircraft is provided with two pairs of propellers, wherein one pair of propellers rotates clockwise, the other pair of propellers rotates anticlockwise, so that the counter-torque generated by the high-speed rotation of the rotors is mutually offset, and the four rotors are distributed at four corners of the aircraft in a centrosymmetric manner and are driven by motors in a distributed manner. This design allows considerable flexibility and the increase in the number of rotors allows the rotor area to be significantly reduced, also making the structure of the aircraft more compact than that of a conventional helicopter. Unmanned aerial vehicle technology has grown long after gulf war and is widely used in a variety of areas, not limited to military.
The four-rotor aircraft mature in the prior art is applied to many fields, for example, the four-rotor aircraft is used for detecting environmental situations and enemy distribution positions in military street fighters with heavy personnel losses; monitoring terrorist behaviors in anti-terrorist activities, and providing real-time battlefield information for snipers; in civil use, a four-rotor aircraft is used for high-voltage power line hunting, pipeline, railway along-the-way conditions, aerial photography and the like; it can also provide a live implementation of the disaster in the event of a fire, flood, earthquake, nuclear accident, etc. In conclusion, the method has high application value in all aspects.
A typical conventional helicopter is equipped with a main rotor and a tail rotor, but other types of helicopters exist, such as dual-spool or tandem helicopters, coaxial helicopters, etc. The control system controls the steering engine to change the pitch angle of the propeller so as to control the attitude and the position of the helicopter. And the difference between the Elev-8 quadrocopter and the quadrocopter is that the speed of a propeller is changed by adjusting the rotating speed of four motors, so that the change of the lift force is realized, and the attitude and the position of the aircraft are controlled. The ELEV-8 quadrocopter does not have an automatic inclinator, and the lifting force of the whole machine is provided by four motors. Since the aircraft varies its lift by varying the propeller speed, which results in unstable dynamics, a control method is required that ensures long-term stability.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a four-rotor aircraft and a control circuit thereof, and solves the technical problem that the four-rotor aircraft in the prior art is unstable in flight.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a control circuit for a quad-rotor aircraft, comprising a power circuit, a motor driving circuit, a three-axis digital gyroscope circuit, and a main control circuit, wherein the power circuit is electrically connected to the motor driving circuit, the three-axis digital gyroscope circuit, and the main control circuit is electrically connected to the motor driving circuit and the three-axis digital gyroscope circuit,
the power supply circuit is used for supplying power to the motor driving circuit, the three-axis digital gyroscope circuit and the main control circuit;
the three-axis digital gyroscope circuit is used for acquiring pose signals of the four-rotor aircraft;
the main control circuit is used for sending a speed regulation signal to the motor driving circuit according to the pose signal acquired by the three-axis digital gyroscope circuit;
the motor driving circuit is used for controlling the action of each motor according to the speed regulating signal.
Preferably, in the control circuit of the four-rotor aircraft, the main control circuit includes a Propeller microcontroller, a crystal oscillator, and a first capacitor, the P3, P2, P1, P0, P31, P30, P27, and P26 of the Propeller microcontroller are all connected to the motor driving circuit, the VDD3 of the Propeller microcontroller is connected to the power circuit and one end of the first capacitor, the other end of the first capacitor is grounded, the P14, P15, and P16 of the Propeller microcontroller are all connected to the three-axis digital gyroscope circuit, the X0 of the Propeller microcontroller is connected to one end of the crystal oscillator, and the C1 of the Propeller microcontroller is connected to the other end of the crystal oscillator.
Preferably, in the control circuit of the quad-rotor aircraft, the three-axis digital gyroscope circuit includes a three-axis gyroscope, a first resistor, a second capacitor, a third capacitor, a fourth capacitor and a fifth capacitor, the SDA end of the three-axis gyroscope is connected to the P15 end of the Propeller microcontroller and one end of the first resistor, the SCL end of the three-axis gyroscope is connected to the P16 end of the Propeller microcontroller and one end of the second resistor, the other ends of the first resistor and the second resistor are both connected to the power circuit, the CPOUT end of the three-axis gyroscope is grounded through the second capacitor, the VDD end of the three-axis gyroscope is connected to one end of the third capacitor and the power circuit, the other end of the third capacitor is grounded, the ULOGIC end of the three-axis gyroscope is connected to one end of the fourth capacitor and the power circuit, and the other end of the fourth capacitor is grounded, the REGOUT end of the three-axis gyroscope is grounded through a fifth capacitor, and the INT end of the three-axis gyroscope is connected with the P14 end of the Propelleter microcontroller.
Preferably, in the control circuit of the quad-rotor aircraft, the motor driving circuit includes a level conversion unit and a motor driving unit, the level conversion unit is connected to a P3 end, a P2 end, a P1 end, a P0 end, a P31 end, a P30 end, a P27 end and a P26 end of the Propeller microcontroller, the level conversion unit is electrically connected to the motor driving unit, the level conversion unit is configured to perform level conversion on a speed regulation signal output by the Propeller microcontroller, and the motor driving unit is configured to control each motor to operate according to the speed regulation signal after the level conversion.
Preferably, in the control circuit of the four-rotor aircraft, the level conversion unit includes a level conversion chip, a third resistor and a sixth capacitor, the a1, a2, A3, a4, a5, a6, a7 and A8 of the level conversion chip are respectively connected to the P3, P2, P1, P0, P31, P30, P27 and P26 of the Propeller microcontroller, the DE of the level conversion chip is connected to the power supply circuit through the third resistor, the VCCA of the level conversion chip is connected to one end of the power supply circuit and one end of the sixth capacitor, the other end of the sixth capacitor is grounded, the B1, B2, B7 and B8 of the level conversion chip are respectively connected to one end of a motor, and the B3, B4, B5 and B6 of the level conversion chip are all connected to the driving unit.
Preferably, in the control circuit of the quadrotor aircraft, the motor driving unit includes a motor driving chip, a P24 end, a P18 end, a P12 end and a P6 end of the motor driving chip are respectively connected to a B3 end, a B4 end, a B5 end and a B6 end of the level conversion chip, and a P23 end, a P17 end, a P11 end and a P5 end of the motor driving chip are respectively connected to the other end of a motor.
Preferably, in the control circuit of the four-rotor aircraft, the power supply circuit includes a fourth resistor, a seventh capacitor, an eighth capacitor, a first diode, and a voltage stabilizer, one end of the fourth resistor is connected to a 5V power supply, the other end of the fourth resistor is connected to an anode of the first diode and one end of the seventh capacitor, the other end of the seventh capacitor is grounded, a cathode of the first diode is connected to a VIN end of the voltage stabilizer, a VOUT end of the voltage stabilizer is connected to one end of the eighth capacitor, a VDD3 end of the Propeller microcontroller, the other end of the first resistor, the other end of the second resistor, a VDD end of the three-axis gyroscope, a ULOGIC end of the three-axis gyroscope, and a VCCA end of the level conversion chip, and is connected to a DE end of the level conversion chip through the third resistor, and the other end of the eighth capacitor is grounded.
Preferably, the control circuit of the four-rotor aircraft further comprises a USB-to-serial port circuit, the USB-to-serial port circuit is used for converting an external USB signal into a serial port signal and outputting the serial port signal to the main control circuit, wherein,
the USB-to-serial port circuit comprises a USB-to-serial port driving chip, a ninth capacitor, a tenth capacitor, a fifth resistor and a first triode, wherein an RXD end and a TXD end of the USB-to-serial port driving chip are connected with the main control circuit, a VCC end, a USBDM end and a USBDP end of the USB-to-serial port driving chip are connected with USB interfaces, a 3V3OUT end and a VCCIO end of the USB-to-serial port driving chip are grounded through the ninth capacitor, a DTR end of the USB-to-serial port driving chip is connected with one end of the tenth capacitor, the other end of the tenth capacitor is connected with a base of the first triode and one end of the fifth resistor, the other end of the fifth resistor and an emitting electrode of the first triode are grounded, and a collector electrode of the first triode is connected with the main control circuit.
Preferably, four rotor craft's control circuit still include indicating circuit, indicating circuit is used for instructing four rotor craft's operating condition, indicating circuit includes LED indicator, sixth resistance, seventh resistance and eighth resistance, the RED end of LED indicator passes through sixth resistance connection master control circuit, the BLU end of LED indicator passes through seventh resistance connection master control circuit, the GRN end of LED indicator passes through eighth resistance connection master control circuit.
In a second aspect, the invention provides a quad-rotor aircraft comprising a control circuit of a quad-rotor aircraft as described above.
Compared with the prior art, the four-rotor aircraft and the control circuit thereof provided by the invention have the advantages that the three-axis digital gyroscope circuit is used for acquiring the pose signals of the four-rotor aircraft, then the main control circuit is used for analyzing the pose signals and sending the speed regulating signals to the motor driving circuit, so that the motor driving circuit drives each motor to act according to the speed regulating signals, and thus each motor can fly according to a preset flight mode, the condition that the power of the aircraft is unstable is avoided, and the stable flight of the four-rotor aircraft is ensured.
Drawings
FIG. 1 is a block diagram of a preferred embodiment of a control circuit for a quad-rotor aircraft according to the present invention;
FIG. 2 is a schematic structural view of a preferred embodiment of a quad-rotor aircraft according to the present invention in forward flight;
FIG. 3 is a schematic structural view of a preferred embodiment of a quad-rotor aircraft flying to the left according to the present invention;
FIG. 4 is a schematic structural view of a preferred embodiment of the quad-rotor aircraft provided in accordance with the present invention in an elevated flight;
FIG. 5 is a schematic structural view of a preferred embodiment of a quad-rotor aircraft flying in yaw to the left according to the present invention;
FIG. 6 is a schematic structural view of a preferred embodiment of a quad-rotor aircraft provided in accordance with the present invention;
FIG. 7 is a schematic diagram of a preferred embodiment of the master control circuit in the control circuit of the quad-rotor aircraft provided in accordance with the present invention;
FIG. 8 is a schematic diagram of a preferred embodiment of the three-axis digital gyroscope circuitry in the control circuitry of the quad-rotor aircraft provided in accordance with the present invention;
FIG. 9 is a schematic diagram of a preferred embodiment of the motor drive circuit in the control circuit of the quad-rotor aircraft provided in accordance with the present invention;
FIG. 10 is a schematic diagram of a preferred embodiment of the power supply circuit for the control circuit of the quad-rotor aircraft provided in accordance with the present invention;
FIG. 11 is a schematic diagram of a preferred embodiment of the USB to serial circuit in the control circuit of the quad-rotor aircraft provided in the present invention;
FIG. 12 is a schematic diagram of a preferred embodiment of the indicating circuit in the control circuit of the quad-rotor aircraft provided in accordance with the present invention;
fig. 13 is a schematic diagram of a preferred embodiment of the buzzer circuit in the control circuit of the quad-rotor aircraft according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a control circuit of a four-rotor aircraft according to an embodiment of the present invention includes a power circuit 1, a motor driving circuit 2, a three-axis digital gyroscope circuit 3, and a main control circuit 4, where the power circuit 1 is electrically connected to the motor driving circuit 2, the three-axis digital gyroscope circuit 3, and the main control circuit 4 is further electrically connected to the motor driving circuit 2 and the three-axis digital gyroscope circuit 3.
Specifically, power supply circuit 1 is used for giving motor drive circuit 2, triaxial digital gyroscope circuit 3 and main control circuit 4 provide the power, and is concrete, power supply circuit gives after being used for turning into the power of input 3.3V power motor drive circuit 2, triaxial digital gyroscope circuit 3 and main control circuit 4 supply power, guarantee motor drive circuit 2, triaxial digital gyroscope circuit 3 and main control circuit 4's steady operation.
Triaxial digital gyroscope circuit 3 is used for gathering four rotor craft's position appearance signal, the position appearance signal is used for reflecting four rotor craft's angle information such as roll angle, angle of pitch and course angle, through gathering four rotor craft's position appearance signal can make master control circuit 4 basis the position appearance signal carries out four rotor craft's position appearance and adjusts, in order to guarantee four rotor craft's stable flight.
The main control circuit 4 is used for sending a speed regulating signal to the motor driving circuit 2 according to the pose signal acquired by the three-axis digital gyroscope circuit 3, and when the pose signal is acquired by the three-axis digital gyroscope circuit 3, the main control circuit 4 judges whether the pose of the four-rotor aircraft is correct according to the pose signal acquired by the three-axis digital gyroscope circuit 3 and a preset pose signal, so that the pose of the four-rotor aircraft is adjusted according to the pose signal to ensure the stable flight of the four-rotor aircraft.
The motor driving circuit 2 is configured to control the actions of the motors according to the speed regulating signal sent by the main control circuit 43, specifically, please refer to fig. 2 to 6, the four-rotor aircraft has four motors symmetrically distributed in four directions of the main body, the rotors are located on the same horizontal plane, the radii and specifications of the rotors are the same, the rotation directions of the two rotors located on the same axis are opposite, during specific implementation, one of the rotors is temporarily set as a nose, alternate rotors are tails, adjacent rotors are located on the left side and are left rotors, and the right side is a rotor. Reducing the speed of the nose rotor while increasing the speed of the tail rotor causes the fuselage to tilt forward, and if this attitude is maintained continuously, the component of the rotor thrust in the horizontal direction causes the aircraft to fly forward as shown in fig. 2, and backward. Reducing the speed of the left rotor while increasing the speed of the right rotor tilts the fuselage to the left, and maintaining this attitude the component of the rotor thrust in the horizontal direction causes the aircraft to fly to the left as shown in figure 3 and to the right for the same reason. Increasing the speed of the four rotors in synchrony raises the aircraft altitude as shown in figure 4, and decreasing the synchrony lowers the altitude. By synchronously increasing the rotational speed of the inter-phase rotors and decreasing the rotational speed of the other set of inter-phase rotors, the torque imbalance of the rotor members can be used to yaw the aircraft left as shown in fig. 5, and to yaw right in the same manner.
According to the invention, the three-axis digital gyroscope circuit 3 is used for acquiring the pose signals of the four-rotor aircraft, then the main control circuit 4 is used for analyzing the pose signals and sending speed regulation signals to the motor driving circuit 2, so that the motor driving circuit 2 drives each motor to act according to the speed regulation signals, thus each motor can fly according to a preset flight mode, the condition of unstable aircraft power is avoided, and the stable flight of the four-rotor aircraft is ensured.
With reference to fig. 7, the main control circuit 4 includes a Propeller microcontroller U1, a crystal oscillator X1, and a first capacitor C1, the P3, P2, P1, P0, P31, P30, P27, and P26 of the Propeller microcontroller U1 are all connected to the motor driving circuit 2, the VDD3 of the Propeller microcontroller U1 is connected to the power supply circuit 1 and one end of the first capacitor C1, the other end of the first capacitor C1 is grounded, the P14, P15, and P16 of the Propeller microcontroller U1 are connected to the three-axis digital gyroscope circuit 3, the X0 of the Propeller microcontroller U1 is connected to one end of the crystal oscillator X1, and the C1 of the Propeller microcontroller U1 is connected to the other end of the crystal oscillator X1.
Specifically, the Propeller microcontroller U1 is a Propeller P8X32A single chip microcomputer control board, has eight 32-bit kernels, and can provide incredible power and flexibility. The Propeller microcontroller U1 is used for receiving the position and posture signal that triaxial digital gyroscope circuit 3 sent, then according to the position and posture signal generation the speed governing signal to make each motor carry out the speed governing back according to the speed governing signal, make four rotor craft fly according to preset flight mode, avoid four rotor craft to appear the unstable condition of flight.
With continued reference to fig. 8, the tri-axial digital gyroscope circuit 3 includes a tri-axial gyroscope U2, a first resistor R1, a second resistor R2, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, and a fifth capacitor C5, a SDA terminal of the tri-axial gyroscope U2 is connected to a P15 terminal of the Propeller microcontroller U1 and one terminal of the first resistor R1, an SCL terminal of the tri-axial gyroscope U2 is connected to a P16 terminal of the Propeller microcontroller U1 and one terminal of the second resistor R2, the other terminal of the first resistor R1 and the other terminal of the second resistor R2 are both connected to the power circuit 1, a CPOUT terminal of the tri-axial gyroscope U2 is grounded via the second capacitor C2, a tri-axial gyroscope U2 terminal of the tri-axial gyroscope U2 is connected to one terminal of the third capacitor C3 and one terminal of the power circuit 1, the other terminal of the third capacitor C3 is grounded, and one terminal of the tri-axial gyroscope U2 is connected to the third capacitor U4 and one terminal of the fourth capacitor C5, the other end of the fourth capacitor C4 is grounded, the REGOUT end of the tri-axis gyroscope U2 is grounded through a fifth capacitor C5, and the INT end of the tri-axis gyroscope U2 is connected to the P14 end of the Propeller microcontroller U1.
Specifically, a first resistor R1 and a second resistor R2 are pull-up resistors, a second capacitor C2, a third capacitor C3, a fourth capacitor C4 and a fifth capacitor C5 play a role in filtering, and a three-axis gyroscope U2 is used for acquiring pose signals of the four-rotor aircraft and sending the pose signals to the Propeller microcontroller U1, so that after the pose signals are analyzed by the Propeller microcontroller U1, the actions of the motors are controlled, and the four-rotor aircraft is made to realize different flight states. In a preferred embodiment, the model of the three-axis gyroscope U2 is MPU6050, the performance is stable, and the response speed is fast, but in other embodiments, the three-axis gyroscope U2 may also be another model, which is not limited in the present invention.
Referring to fig. 9, the motor driving circuit 2 includes a level converting unit 21 and a motor driving unit 22, the level converting unit 21 is connected to a P3 terminal, a P2 terminal, a P1 terminal, a P0 terminal, a P31 terminal, a P30 terminal, a P27 terminal, and a P26 terminal of the Propeller microcontroller U1, the level converting unit 21 is electrically connected to the motor driving unit 22, the level converting unit 21 is configured to perform level conversion on a speed regulating signal output by the Propeller microcontroller U1, and the motor driving unit 22 is configured to control each motor to operate according to the speed regulating signal after the level conversion.
Specifically, since the speed regulation signal output by the Propeller microcontroller U1 cannot directly drive the motor driving unit 22, before the speed regulation signal is sent to the motor driving unit 22, the speed regulation signal needs to be subjected to level conversion, so that the motor driving unit 22 can drive each motor to operate after receiving the speed regulation signal with a proper level.
With reference to fig. 9, the level shifter unit 21 includes a level shifter chip U3, a third resistor R3, and a sixth capacitor C6, the a1, a2, A3, A4, a5, a6, A7, and a8 of the level shifter chip U3 are respectively connected to the P3, P2, P1, P0, P31, P30, P27, and P26 of the Propeller microcontroller U1, the DE of the level shifter chip U3 is connected to the power circuit 1 through the third resistor R3, the ca of the level shifter chip U3 is connected to one end of the power circuit 1 and one end of a sixth capacitor C6, the other end of the sixth capacitor C6 is connected to ground, the B1, and vcb 72 of the level shifter chip U3 are respectively connected to the level shifter chip U1, B1, and B1 of the level shifter chip U3622 are respectively connected to the motor driving unit U1 and B3622.
Specifically, the level conversion chip U3 may perform level conversion on four sets of speed control signals sent by the Propeller microcontroller U1, and in specific implementation, convert a 1.8V signal sent by the Propeller microcontroller U1 into a 3.3V signal and send the signal to the motor driving unit 22, so that the motor driving unit 22 drives each motor to operate.
Referring to fig. 9, the motor driving unit 22 includes a motor driving chip U4, wherein the terminals P24, P18, P12 and P6 of the motor driving chip U4 are respectively connected to the terminals B3, B4, B5 and B6 of the level shifter chip U3, and the terminals P23, P17, P11 and P5 of the motor driving chip U4 are respectively connected to another end of a motor.
Specifically, the motor driving chip U4 may receive a speed control signal after level conversion, and then send a control signal to each motor by using a pin, so that each motor performs speed control correspondingly, and then drives each motor to realize different actions, so that the quad-rotor aircraft realizes different states.
Referring to fig. 10, the power circuit 1 includes a fourth resistor R4, a seventh capacitor C7, an eighth capacitor C8, a first diode D1, and a voltage regulator U5, one end of the fourth resistor R4 is connected with a 5V power supply, the other end of the fourth resistor R4 is connected with the positive electrode of the first diode D1 and one end of the seventh capacitor C7, the other end of the seventh capacitor C7 is grounded, the negative electrode of the first diode D1 is connected to the VIN terminal of the voltage regulator U4, the VOUT end of the voltage regulator U4 is connected to one end of the eighth capacitor C8, the VDD3 end of the Propeller microcontroller U1, the other end of the first resistor R1, the other end of the second resistor R2, the VDD end of the tri-axis gyroscope U2, the ULOGIC end of the tri-axis gyroscope U2, and the VCCA end of the level conversion chip U3, and is connected to the DE end of the level conversion chip U3 through the third resistor R3, and the other end of the eighth capacitor C8 is grounded.
Specifically, the fourth resistor R4 is a pull-up resistor, the seventh capacitor C7, the eighth capacitor C8 and the first diode D1 all play a role in filter protection, and the voltage regulator U4 is configured to supply power to each module circuit after a 5V power supply is converted into a 3.3V power supply, so as to ensure the stability of the power supply.
Referring to fig. 11, the control circuit of the quad-rotor craft further includes a USB to serial port circuit, the USB to serial port circuit is configured to convert an external USB signal into a serial port signal and output the serial port signal to the main control circuit 4, where the USB to serial port circuit includes a USB to serial port driving chip U6, a ninth capacitor C9, a tenth capacitor C10, a fifth resistor R5, and a first triode Q1, the RXD and the TXD of the USB to serial port driving chip U6 are both connected to the main control circuit 1, specifically, the P30 and the P31 of the Propeller microcontroller U1 are respectively connected to the USB port, the VCC, the USBDM, and the USBDP of the USB to serial port driving chip U6 are all connected to USB interfaces, the 3V3OUT and VCCIO of the USB to serial port driving chip U6 are both grounded through the ninth capacitor C9, the DTR end of the USB to serial port driving chip U36 is connected to one end of the tenth capacitor C10, and the other end of the first capacitor C1 is connected to the first triode Q1, the other end of the fifth resistor R5 and the emitter of the first triode Q1 are both grounded, and the collector of the first triode Q1 is connected to the main control circuit 4, specifically to the RES terminal of the Propeller microcontroller U1.
Specifically, the USB to serial port driver U6 is configured to convert a USB signal into a serial port signal, and when an external signal is input, the USB to serial port driver U6 converts the external signal, and then outputs the serial port signal to the Propeller microcontroller U1, and the Propeller microcontroller U1 adjusts the pose of the quad-rotor aircraft correspondingly according to the input signal and the pose signal acquired by the triaxial gyroscope U2. In a specific implementation, the USB to serial driver U6 may be a chip with a model number FT232RL, and certainly, in other embodiments, the USB to serial driver U6 may also be a chip with another model number, which is not limited in the present invention.
Referring to fig. 12, the control circuit of the four-rotor aircraft further includes an indication circuit, the indication circuit is configured to indicate an operating state of the four-rotor aircraft, the indication circuit includes an LED indicator U7, a sixth resistor R6, a seventh resistor R7, and an eighth resistor R8, a RED terminal of the LED indicator U7 is connected to the main control circuit 1 through a sixth resistor R6, specifically to a P5 terminal of the Propeller microcontroller U1, a BLU terminal of the LED indicator U7 is connected to the main control circuit 1 through a seventh resistor R7, specifically to a P4 terminal of the Propeller microcontroller U1, and a GRN terminal of the LED indicator U7 is connected to the main control circuit 1 through an eighth resistor, specifically to a P6 terminal of the Propeller microcontroller U1.
Particularly, LED indicator U7 can realize three kinds of states, sends red blue green three kinds of light promptly, and every kind of light corresponds four rotor craft's different operating condition, through the different signals that Propelleter microcontroller U1 sent realize four rotor craft's different operating condition indicates to make things convenient for the staff to obtain four rotor craft's operating condition in real time.
Further, as shown in fig. 13, the control circuit of the four-rotor aircraft further comprises a buzzer circuit, the buzzer circuit is used for realizing the alarm of the four-rotor aircraft, and when the four-rotor aircraft works abnormally, the buzzer circuit sends out an alarm signal to prompt a user so that the user can make a response quickly. The specific principle of the buzzer circuit is shown in fig. 13, and is connected to the P7 end of the Propeller microcontroller U1, which is not described herein again.
Based on the control circuit of the four-rotor aircraft, the invention also correspondingly provides the four-rotor aircraft, which comprises the control circuit of the four-rotor aircraft according to the embodiments. The control circuit of the four-rotor aircraft has the technical effects that the four-rotor aircraft also has, so the details are not repeated herein.
In summary, according to the four-rotor aircraft and the control circuit thereof provided by the invention, the three-axis digital gyroscope circuit is used for acquiring the pose signals of the four-rotor aircraft, and then the main control circuit is used for analyzing the pose signals and sending the speed regulation signals to the motor driving circuit, so that the motor driving circuit drives each motor to act according to the speed regulation signals, and thus each motor can fly according to a preset flight mode, the condition of unstable aircraft power is avoided, and stable flight of the four-rotor aircraft is ensured.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A control circuit of a four-rotor aircraft is characterized by comprising a power circuit, a motor driving circuit, a three-axis digital gyroscope circuit and a main control circuit, wherein the power circuit is electrically connected with the motor driving circuit, the three-axis digital gyroscope circuit and the main control circuit, the main control circuit is also electrically connected with the motor driving circuit and the three-axis digital gyroscope circuit, wherein,
the power supply circuit is used for supplying power to the motor driving circuit, the three-axis digital gyroscope circuit and the main control circuit;
the three-axis digital gyroscope circuit is used for acquiring pose signals of the four-rotor aircraft;
the main control circuit is used for sending a speed regulation signal to the motor driving circuit according to the pose signal acquired by the three-axis digital gyroscope circuit;
the motor driving circuit is used for controlling the action of each motor according to the speed regulating signal.
2. The control circuit of a quad-rotor aircraft according to claim 1, wherein the master control circuit comprises a Propeller microcontroller, a crystal oscillator and a first capacitor, the P3, P2, P1, P0, P31, P30, P27 and P26 terminals of the Propeller microcontroller are all connected to the motor driving circuit, the VDD3 terminal of the Propeller microcontroller is connected to the power circuit and one end of the first capacitor, the other end of the first capacitor is grounded, the P14, P15 and P16 terminals of the Propeller microcontroller are all connected to the three-axis digital gyroscope circuit, the X0 terminal of the Propeller microcontroller is connected to one end of the crystal oscillator, and the C1 terminal of the Propeller microcontroller is connected to the other end of the crystal oscillator.
3. The control circuit for a quad-rotor aircraft according to claim 2, wherein the tri-axial digital gyroscope circuit comprises a tri-axial gyroscope, a first resistor, a second capacitor, a third capacitor, a fourth capacitor, and a fifth capacitor, the SDA terminal of the tri-axial gyroscope is connected to the P15 terminal of the Propelleter microcontroller and to one terminal of the first resistor, the SCL terminal of the tri-axial gyroscope is connected to the P16 terminal of the Propelleter microcontroller and to one terminal of the second resistor, the other terminals of the first resistor and the second resistor are both connected to the power circuit, the CPOUT terminal of the tri-axial gyroscope is grounded through the second capacitor, the VDD terminal of the tri-axial gyroscope is connected to one terminal of the third capacitor and to the power circuit, the other terminal of the third capacitor is grounded, and the ULOGIC terminal of the tri-axial gyroscope is connected to one terminal of the fourth capacitor and to the power circuit, the other end of the fourth capacitor is grounded, the REGOUT end of the three-axis gyroscope is grounded through a fifth capacitor, and the INT end of the three-axis gyroscope is connected with the P14 end of the Propelleter microcontroller.
4. The control circuit of a quad-rotor aircraft according to claim 3, wherein the motor driving circuit comprises a level conversion unit and a motor driving unit, the level conversion unit is connected with the P3 terminal, the P2 terminal, the P1 terminal, the P0 terminal, the P31 terminal, the P30 terminal, the P27 terminal and the P26 terminal of the Propelleter microcontroller, the level conversion unit is electrically connected with the motor driving unit, the level conversion unit is used for performing level conversion on the speed regulating signal output by the Propelleter microcontroller, and the motor driving unit is used for controlling each motor to act according to the level-converted speed regulating signal.
5. The control circuit of a quadrotor aircraft as claimed in claim 4, wherein the level conversion unit comprises a level conversion chip, a third resistor and a sixth capacitor, the a1, a2, A3, A4, A5, a6, a7 and a8 of the level conversion chip are respectively connected to the P3, P2, P1, P0, P31, P30, P27 and P26 terminals of the Propeller microcontroller, the DE terminal of the level conversion chip is connected to the power circuit through the third resistor, the VCCA terminal of the level conversion chip is connected to the power circuit and one terminal of the sixth capacitor, the other terminal of the sixth capacitor is connected to ground, the B1, B2, B7 and B8 terminals of the level conversion chip are respectively connected to one terminal of a motor, and the B3, B4, B5 and B6 terminals of the level conversion chip are respectively connected to the driving unit.
6. The control circuit of a quadrotor aircraft as claimed in claim 5, wherein the motor driving unit comprises a motor driving chip, the terminals P24, P18, P12 and P6 of the motor driving chip are respectively connected with the terminals B3, B4, B5 and B6 of the level shifting chip, and the terminals P23, P17, P11 and P5 of the motor driving chip are respectively connected with the other end of a motor.
7. The control circuit for a quad-rotor aircraft according to claim 6, wherein the power circuit includes a fourth resistor, a seventh capacitor, an eighth capacitor, a first diode, and a voltage regulator, one end of the fourth resistor is connected with a 5V power supply, the other end of the fourth resistor is connected with the anode of the first diode and one end of the seventh capacitor, the other end of the seventh capacitor is grounded, the negative electrode of the first diode is connected with the VIN end of the voltage stabilizer, the VOUT end of the voltage stabilizer is connected with one end of the eighth capacitor, the VDD3 end of the Propelleter microcontroller, the other end of the first resistor, the other end of the second resistor, the VDD end of the triaxial gyroscope, the ULOGIC end of the triaxial gyroscope and the VCCA end of the level conversion chip, and is connected with the DE end of the level conversion chip through the third resistor, and the other end of the eighth capacitor is grounded.
8. The control circuit of a quad-rotor aircraft according to claim 1, further comprising a USB-to-serial circuit for converting an external USB signal into a serial signal and outputting the serial signal to the main control circuit,
the USB-to-serial port circuit comprises a USB-to-serial port driving chip, a ninth capacitor, a tenth capacitor, a fifth resistor and a first triode, wherein an RXD end and a TXD end of the USB-to-serial port driving chip are connected with the main control circuit, a VCC end, a USBDM end and a USBDP end of the USB-to-serial port driving chip are connected with USB interfaces, a 3V3OUT end and a VCCIO end of the USB-to-serial port driving chip are grounded through the ninth capacitor, a DTR end of the USB-to-serial port driving chip is connected with one end of the tenth capacitor, the other end of the tenth capacitor is connected with a base of the first triode and one end of the fifth resistor, the other end of the fifth resistor and an emitting electrode of the first triode are grounded, and a collector electrode of the first triode is connected with the main control circuit.
9. The control circuit of a quad-rotor craft according to claim 1, further comprising an indication circuit for indicating the operating status of the quad-rotor craft, wherein the indication circuit comprises an LED indicator, a sixth resistor, a seventh resistor and an eighth resistor, the RED terminal of the LED indicator is connected to the master control circuit through the sixth resistor, the BLU terminal of the LED indicator is connected to the master control circuit through the seventh resistor, and the GRN terminal of the LED indicator is connected to the master control circuit through the eighth resistor.
10. A quad-rotor aircraft, comprising a control circuit of a quad-rotor aircraft according to any of claims 1-9.
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