CN113734432A - Four rotor crafts and control system independently cruise - Google Patents
Four rotor crafts and control system independently cruise Download PDFInfo
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- CN113734432A CN113734432A CN202111143183.9A CN202111143183A CN113734432A CN 113734432 A CN113734432 A CN 113734432A CN 202111143183 A CN202111143183 A CN 202111143183A CN 113734432 A CN113734432 A CN 113734432A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
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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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention is suitable for the technical field of unmanned aerial vehicles, and provides an autonomous cruise quad-rotor aircraft and a control system, which comprise an airframe, wherein the surface of the airframe is transversely provided with four groups of connecting frames, the bottom of the airframe is provided with a control box, the other end of each group of connecting frames is provided with a rotor module, and a main control module, an attitude collector, an electric regulation driving module, a gyroscope, a power supply module, a Beidou module, an image acquisition module and a wireless control module are arranged in the control box. This four rotor crafts independently cruises, but in time adjustment flight attitude makes the flight of aircraft more stable, can combine china's big dipper navigation satellite positioning technology and four rotor crafts, can realize that four rotor crafts are automatic cruises, functions such as auto-tracing also provide a very good use platform for big dipper navigation satellite industrialization and marketization simultaneously.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an autonomous cruise quad-rotor aircraft.
Background
At present, the four-axis aircraft is widely used in military, civil and industrial fields, particularly in civil fields, and can be used for post-disaster search and rescue, target tracking and other places where workers cannot easily reach, so that the research significance of the four-axis aircraft is great.
The Beidou navigation satellite is an autonomous development and independent operation global satellite navigation system which is implemented in China, the state service institute formally announces that Beidou officially opens service in the Asia-Pacific region, the Beidou navigation satellite system plays an important role in guaranteeing the safety of national economy and society as a strategic emerging industry of China, and under the condition of the scale development of the foreign satellite navigation industrialization, particularly the GPS monopoly market application, how to improve the use confidence of the nation and change the system demand advantage into the market intensity and the industry intensity of the Beidou navigation satellite system is urgent for the application industrialization of the Beidou navigation satellite system.
Disclosure of Invention
The invention provides an autonomous cruise quad-rotor aircraft and a control system, and aims to solve the problem that the application industrialization of a Beidou satellite navigation system is urgent due to the fact that the use confidence of the nation is improved, the system demand advantages are changed into the market intensity and the industry intensity of the Beidou satellite navigation system.
The invention is realized in such a way, the autonomous cruise quadrotor aircraft comprises an aircraft body, a connecting frame is transversely arranged on the surface of the aircraft body, four groups of connecting frames are arranged on the connecting frames, a control box is arranged at the bottom of the aircraft body, a rotor wing module is arranged at the other end of each group of connecting frames, a main control module, an attitude collector, an electric regulation driving module, a gyroscope, a power supply module, a Beidou module, an image acquisition module and a wireless control module are arranged in the control box, the input end of the main control module is electrically connected with the output end of the power supply module, the input end of the main control module is in signal connection with the output end of the attitude collector, the output end of the gyroscope is in signal connection with the input end of the attitude collector, the input end of the main control module is in signal connection with the output end of the Beidou module, and the output end of the main control module is in signal connection with the output end of the image acquisition module, the output end of the main control module is in signal connection with the input end of the electric adjusting drive module, the output end of the electric adjusting drive module is in signal connection with the input end of the rotor wing module, and the main control module is in bidirectional signal connection with the wireless control module.
Preferably, the main control module adopts an MSP430F149 type single chip microcomputer, and the power supply module adopts an integrated switch voltage stabilizing block to supply power to the main control module.
Preferably, each group of rotor modules all adopts a new xida KV2600 brushless motor, the electric regulation drive modules adopt 40A electric regulation to drive the rotor modules, the electric regulation drive modules are provided with four groups, and each group of electric regulation drive modules is respectively matched with one group of rotor modules for use.
Preferably, the Beidou module adopts UM220 type Beidou BD 2.
Preferably, the bottom of each group of connecting frames is provided with a supporting leg in an inclined manner from top to bottom, and the inner side of the supporting leg is rotatably provided with a roller through a bearing.
Preferably, the device comprises a sensor module, an attitude control module, a navigation module, a displacement control module and an actuating mechanism, wherein the actuating mechanism is respectively connected with input end signals of the sensor module and the navigation module, the output end of the sensor module is connected with the input end signals of the attitude control module, the output end of the navigation module is connected with the input end signals of the displacement control module, the output end of the attitude control module is electrically connected with the actuating mechanism, and the output end of the displacement control module is electrically connected with the actuating mechanism.
Preferably, the displacement control module sends out a displacement control signal, and the displacement control signal is combined with the attitude control signal sent out by the attitude control module and then transmitted to the actuating mechanism.
Preferably, the actuating mechanism, the sensor module and the attitude control module form an inner control loop, and the actuating mechanism, the navigation module and the displacement control module form an outer control loop.
Compared with the prior art, the invention has the beneficial effects that:
(1) the autonomous cruise quad-rotor aircraft is mainly provided with a main control module which is mainly responsible for receiving aircraft attitude data, resolving flight attitude PID algorithm, outputting PWM signals, and the like, adopts an attitude collector of an AHRS module (9-axis attitude instrument) to collect the current flight attitude data of the aircraft, utilizes an electric regulation to drive an actuating mechanism, and uses UM220 Beidou BD2 as a Beidou navigation module, the module works stably, the hardware compatibility is good, the device also adopts a fuzzy control algorithm to process the current attitude data, meanwhile, the PWM increase and decrease of the corresponding motor is solved, the flying posture is adjusted in time, the flying of the aircraft is more stable, the Beidou navigation satellite positioning technology and the four-rotor aircraft can be combined in China, the functions of automatic cruise, automatic tracking and the like of the four-rotor aircraft can be realized, and a good use platform is provided for industrialization and marketization of the Beidou navigation satellite.
(2) This four rotor crafts independently cruises, the displacement control return circuit that sets up can make four rotor crafts realize that the fixed point hovers or follow the flight of the route orbit signal that the ground coordinate system plans, control signal can set up through programming or produce by navigation, attitude control return circuit mainly is used for realizing the stable flight gesture of four rotor crafts or the state of hovering, acquire sensor information in real time by the controller and produce control signal, under the control signal effect that two control return circuits produced jointly, the rotational speed of four rotors of real time control, make four rotor crafts can realize hovering and various flight gestures according to control signal's requirement.
Drawings
FIG. 1 is a schematic front view of the structure of the present invention;
FIG. 2 is a schematic top view of the structure of the present invention;
FIG. 3 is a schematic block diagram of a hardware implementation of the system of the present invention;
FIG. 4 is a schematic block diagram of the control system circuit of the present invention;
FIG. 5 is a flow chart of the control system implementation of the present invention.
In the figure: the robot comprises a robot body 1, a connecting frame 2, a control box 3, a rotor wing module 4, a main control module 5, an attitude collector 6, an electric regulation driving module 7, a gyroscope 8, a power supply module 9, a Beidou module 10, an image acquisition module 11, a wireless control module 12, supporting legs 13 and rollers 14.
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. 1-5, the present invention provides a technical solution: the utility model provides a four rotor crafts independently cruise, includes organism 1, the surface of organism 1 transversely is provided with link 2, link 2 is provided with four groups, link 2 of setting can play the effect of connection, the bottom of organism 1 is provided with control box 3, control box 3 of setting can be in its inside hardware installation that will control the device, the other end of every link 2 of group is provided with rotor module 4, rotor module 4 of setting can make the device realize taking off the function etc..
The inside of control box 3 is provided with main control module 5, gesture collector 6, electricity accent drive module 7, gyroscope 8, power module 9, big dipper module 10, image acquisition module 11 and wireless control module 12, main control module 5's input is connected with power module 9's output electricity, usable power module 9 supplies power to main control module 5, main control module 5's input and gesture collector 6's output signal connection, gyroscope 8's output and gesture collector 6's input signal connection.
The device attitude change that takes place at the flight in-process when the gyroscope 8 that sets up changes and transmits for gesture collector 6, then utilize gesture collector 6 to transmit for master control module 5, the master control module 5 who sets up is mainly responsible for aircraft attitude data reception, flight attitude PID algorithm is solved and PWM signal output control etc. gesture collector 6 can gather the current flight attitude data of aircraft, the gesture that utilizes gyroscope 8 can more accurate reaction present aircraft, so that to the attitude adjustment of self.
The input of main control module 5 and the output end signal connection of big dipper module 10, the output of main control module 5 and the output end signal connection of image acquisition module 11, the output of main control module 5 and the input end signal connection of electricity accent drive module 7, the output of electricity accent drive module 7 and the input end signal connection of rotor module 4, main control module 5 and 12 two-way signal connection of wireless control module.
The big dipper module 10 that sets up can transmit the navigation information of destination for main control module 5, make main control module 5 constantly adjust the motion state of rotor module 4 through electricity accent drive module 7, thereby realize automatic cruise, the drive module 7 can carry out uninterrupted control to rotor module 4 to electricity accent of setting, wireless control module 12 that sets up can carry out remote operation to main control module 5, the image acquisition module 11 that sets up can make unmanned aerial vehicle carry out the figure collection to the destination.
Further, the main control module 5 adopts an MSP430F149 type single chip microcomputer, and the power supply module 9 adopts an integrated switch voltage stabilizing block to supply power to the main control module 5.
In this embodiment, the power supply module 9 supplies power by using the integrated switching regulator block, so that the power supply of the main control module 5 is stable and efficient.
Further, each rotor module 4 of group all adopts new xida KV2600 brushless motor, and the rotor module 4 is driven to the electricity regulation drive module 7 adoption 40A electricity regulation, and electricity regulation drive module 7 is provided with four groups, and every electricity regulation drive module 7 of group uses with a set of rotor module 4 cooperation respectively.
In the embodiment, the KV2600 brushless motor is adopted for driving, so that the sensitivity of the KV brushless motor to voltage is increased, the rotating speed can be better controlled, and the KV brushless motor can work on the rotating speed through voltage due to the adoption of 40A electric regulation driving.
Further, the big dipper module 10 adopts UM220 type big dipper BD 2.
In the embodiment, the module works stably and has good hardware compatibility.
Further, the bottom of each group of connecting frames 2 is provided with a supporting leg 13 inclined from top to bottom, and the inner side of the supporting leg 13 is rotatably provided with a roller 14 through a bearing.
In this embodiment, the supporting legs 13 are provided to support the device, and the rollers 14 are provided to have a certain moving capability after the device is lowered, so as to avoid the problem of falling down due to sudden stop.
The device comprises a sensor module, an attitude control module, a navigation module, a displacement control module and an actuating mechanism, wherein the actuating mechanism is respectively in signal connection with input ends of the sensor module and the navigation module, an output end of the sensor module is in signal connection with an input end of the attitude control module, an output end of the navigation module is in signal connection with an input end of the displacement control module, an output end of the attitude control module is electrically connected with the actuating mechanism, and an output end of the displacement control module is electrically connected with the actuating mechanism.
In this embodiment, since the actuator is respectively in signal connection with the sensor module and the navigation module, the motion state information of the actuator can be respectively transmitted to the sensor module and the navigation module, and then the sensor module can transmit the information to the attitude control module, and after the attitude control module receives the information, the attitude information is transmitted to the actuator, and when the actuator receives the attitude information, the actuator can perform adjustment.
Furthermore, the displacement control module sends out a displacement control signal, and the displacement control signal is combined with the attitude control signal sent out by the attitude control module and then transmitted to the actuating mechanism.
In the embodiment, the navigation module sends the information to the displacement control module when receiving the information, and the displacement control module sends the displacement information when receiving the information, so that the displacement information and the attitude information are combined and simultaneously transmitted to the execution mechanism, and the execution mechanism adjusts the attitude of the execution mechanism by decoding.
Furthermore, the actuating mechanism, the sensor module and the attitude control module form an inner control loop, and the actuating mechanism, the navigation module and the displacement control module form an outer control loop.
In this embodiment, the displacement control loop may enable the aircraft to realize fixed-point hovering or fly along a path track signal planned by a ground coordinate system, the control signal may be set by programming or generated by a navigation system, the attitude control loop is mainly used to realize a stable flying attitude or hovering state of the aircraft, and the main control module 5 acquires sensor information in real time to generate the control signal.
The working principle and the using process of the invention are as follows: firstly, the Beidou module 10 is used for collecting current coordinate information, the wireless control module 12 is waited for receiving a cruise target and a cruise instruction, a PWM driving signal is output, a motor is started, receiving effective data sent by the AHRS module at intervals in the serial port interrupt service function, and finally, entering a circulation function, continuously detecting whether AHRS data is received or not, entering an attitude control function once effective attitude data is received, outputting a corresponding PWM signal to enable the device to approach a cruise target and reach the cruise target to return after a task is finished, in the attitude control function, when different attitudes are calculated by using the current roll and pitch data of the device and combining a fuzzy control algorithm, each group of rotor modules 4 need to be continuously adjusted by using an electric regulation driving module 7, therefore, the attitude data is continuously received, the data is resolved, and the adjustment quantity is output, so that the quadcopter can stably fly.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a four rotor crafts independently cruise which characterized in that: comprises a machine body (1), wherein a connecting frame (2) is transversely arranged on the surface of the machine body (1), four groups of connecting frames (2) are arranged, a control box (3) is arranged at the bottom of the machine body (1), a rotor wing module (4) is arranged at the other end of each group of connecting frames (2), a main control module (5), an attitude collector (6), an electric adjusting drive module (7), a gyroscope (8), a power supply module (9), a Beidou module (10), an image acquisition module (11) and a wireless control module (12) are arranged in the control box (3), the input end of the main control module (5) is electrically connected with the output end of the power supply module (9), the input end of the main control module (5) is in signal connection with the output end of the attitude collector (6), the output end of the gyroscope (8) is in signal connection with the input end of the attitude collector (6), the input of main control module (5) with the output end signal connection of big dipper module (10), the output of main control module (5) with the output end signal connection of image acquisition module (11), the output of main control module (5) with the input end signal connection of electrically adjusting drive module (7), the output of electrically adjusting drive module (7) with the input end signal connection of rotor module (4), main control module (5) with wireless control module (12) both-way signal connection.
2. An autonomous cruise quad-rotor aircraft according to claim 1, wherein: the main control module (5) adopts an MSP430F149 type single chip microcomputer, and the power supply module (9) adopts an integrated switch voltage stabilizing block to supply power to the main control module (5).
3. An autonomous cruise quad-rotor aircraft according to claim 1, wherein: each group of rotor wing module (4) all adopts new xida KV2600 brushless motor, drive rotor wing module (4) is driven in the adoption of 40A electricity accent to electricity accent drive module (7), electricity accent drive module (7) are provided with four groups, and every group electricity accent drive module (7) uses with a set of rotor wing module (4) cooperation respectively.
4. An autonomous cruise quad-rotor aircraft according to claim 1, wherein: the Beidou module (10) adopts UM220 type Beidou BD 2.
5. An autonomous cruise quad-rotor aircraft according to claim 1, wherein: the bottom of each group of connecting frames (2) is provided with supporting legs (13) in an inclined manner from top to bottom, and the inner sides of the supporting legs (13) are rotatably provided with rollers (14) through bearings.
6. An autonomous cruise quadrotor control system, characterized in that: the autonomous cruise quadrotor aircraft control system is mounted on the autonomous cruise quadrotor aircraft according to claims 1-5, and comprises a sensor module, an attitude control module, a navigation module, a displacement control module and an actuating mechanism, wherein the actuating mechanism is respectively in signal connection with the input ends of the sensor module and the navigation module, the output end of the sensor module is in signal connection with the input end of the attitude control module, the output end of the navigation module is in signal connection with the input end of the displacement control module, the output end of the attitude control module is electrically connected with the actuating mechanism, and the output end of the displacement control module is electrically connected with the actuating mechanism.
7. An autonomous cruise quad-rotor aircraft control system according to claim 6, wherein: and the displacement control module sends out a displacement control signal, and the displacement control signal is combined with the attitude control signal sent out by the attitude control module and then transmitted to the actuating mechanism.
8. An autonomous cruise quad-rotor aircraft control system according to claim 7, wherein: the actuating mechanism, the sensor module and the attitude control module form an inner control loop, and the actuating mechanism, the navigation module and the displacement control module form an outer control loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111143183.9A CN113734432A (en) | 2021-09-28 | 2021-09-28 | Four rotor crafts and control system independently cruise |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111143183.9A CN113734432A (en) | 2021-09-28 | 2021-09-28 | Four rotor crafts and control system independently cruise |
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| CN113734432A true CN113734432A (en) | 2021-12-03 |
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| CN202111143183.9A Pending CN113734432A (en) | 2021-09-28 | 2021-09-28 | Four rotor crafts and control system independently cruise |
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| CN103645740A (en) * | 2013-12-30 | 2014-03-19 | 中国科学院自动化研究所 | Intelligent cruise robot based on wireless charging odd-shaft aircraft |
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| CN206757406U (en) * | 2016-10-27 | 2017-12-15 | 昆明理工大学 | The four rotor wing unmanned aerial vehicle mountain highway mud-rock flow cruising inspection systems based on Big Dipper positioning |
| CN110134133A (en) * | 2019-05-24 | 2019-08-16 | 中国科学院地理科学与资源研究所 | A kind of more rotor automatic control UAV system |
| KR20210007064A (en) * | 2019-07-09 | 2021-01-20 | 이상창 | FPGA-based drone flight control computer with LiDAR |
-
2021
- 2021-09-28 CN CN202111143183.9A patent/CN113734432A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050063224A (en) * | 2003-12-22 | 2005-06-28 | 한국항공우주연구원 | A navigation system for integrating star sensor and gyroscope |
| CN103645740A (en) * | 2013-12-30 | 2014-03-19 | 中国科学院自动化研究所 | Intelligent cruise robot based on wireless charging odd-shaft aircraft |
| CN206757406U (en) * | 2016-10-27 | 2017-12-15 | 昆明理工大学 | The four rotor wing unmanned aerial vehicle mountain highway mud-rock flow cruising inspection systems based on Big Dipper positioning |
| CN106970651A (en) * | 2017-06-06 | 2017-07-21 | 南京理工大学泰州科技学院 | A kind of the autonomous flight system and control method of four rotor wing unmanned aerial vehicles of view-based access control model navigation |
| CN110134133A (en) * | 2019-05-24 | 2019-08-16 | 中国科学院地理科学与资源研究所 | A kind of more rotor automatic control UAV system |
| KR20210007064A (en) * | 2019-07-09 | 2021-01-20 | 이상창 | FPGA-based drone flight control computer with LiDAR |
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