CN113772081A - High-performance steering engine of unmanned aerial vehicle - Google Patents
High-performance steering engine of unmanned aerial vehicle Download PDFInfo
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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
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention provides a high-performance steering engine of an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles. High performance unmanned aerial vehicle steering wheel includes: the first acquisition module is used for acquiring a current angle value of a steering engine of the unmanned aerial vehicle when the unmanned aerial vehicle is monitored to be powered on; the leveling module is used for controlling an internal reference circuit of the unmanned aerial vehicle steering engine to generate a PWM signal with a first pulse width according to the current angle value; the second acquisition module is used for acquiring the voltage value and the current value of an annular sliding rheostat inside a remote rod remotely controlled by the unmanned aerial vehicle during the flight of the unmanned aerial vehicle; the flight control module is used for sending a PWM signal of a second pulse width to the unmanned aerial vehicle control system through a system controlled by a rocker of the unmanned aerial vehicle according to the voltage value and the current value; and the abnormity monitoring module is used for judging whether the unmanned aerial vehicle steering engine rotates abnormally according to the angle rotation deviation value of the unmanned aerial vehicle steering engine and controlling the unmanned aerial vehicle to land when the unmanned aerial vehicle rotates abnormally. The invention can improve the safety and reliability of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a high-performance steering engine of an unmanned aerial vehicle.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned aerial vehicle operated by radio remote control equipment and a self-contained program control device. The unmanned aerial vehicle is a general name of an unmanned aerial vehicle, and compared with a manned aircraft, the unmanned aerial vehicle has the advantages of small volume, low manufacturing cost, convenience in use, low requirement on the operational environment, strong battlefield viability and the like. Since the unmanned aircraft has important significance for future air battles, the research and development work of the unmanned aircraft is carried out in all major military countries in the world. In civil applications, the method is currently applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, movie and television shooting, romantic manufacturing and the like.
At present, unmanned aerial vehicle controls through the manual control remote controller based on subaerial operator basically, and the operator can only carry out the judgement of just slightly to unmanned aerial vehicle's state through the range estimation, and manual control often can't in time discover unmanned aerial vehicle's abnormal state, leads to can't in time make its descending and cause the condition of damage or crash to take place when unmanned aerial vehicle is unusual, and security and reliability are lower.
Disclosure of Invention
In view of this, the embodiment of the invention provides a high-performance steering engine for an unmanned aerial vehicle, which is used for solving the problem that the unmanned aerial vehicle in the prior art cannot automatically monitor an abnormal state. The steering engine of the unmanned aerial vehicle can automatically monitor the abnormal state of the unmanned aerial vehicle, and can land the unmanned aerial vehicle when the abnormality is monitored, so that the safety and the reliability of the unmanned aerial vehicle are improved.
The embodiment of the invention provides a high-performance steering engine of an unmanned aerial vehicle, which comprises a steering engine body, a power supply module, a reference circuit and a control system, and further comprises:
the first acquisition module is used for acquiring a current angle value of a steering engine of the unmanned aerial vehicle when the unmanned aerial vehicle is monitored to be powered on;
the leveling module is used for determining a first pulse width according to the current angle value acquired by the first acquisition module and controlling an internal reference circuit of the unmanned aerial vehicle steering engine to generate a PWM (pulse width modulation) signal with the first pulse width so as to level the wing of the unmanned aerial vehicle;
the second acquisition module is used for acquiring the voltage value and the current value of an annular slide rheostat in a remote rod remotely controlled by the unmanned aerial vehicle during the flight of the unmanned aerial vehicle;
the flight control module is used for determining a second pulse width according to the voltage value and the current value of the annular slide rheostat and sending a PWM (pulse width modulation) signal of the second pulse width to the control system through a system controlled by a rocker of the unmanned aerial vehicle;
and the abnormity monitoring module is used for monitoring whether the unmanned aerial vehicle steering engine rotates abnormally or not according to the angle rotation deviation value of the unmanned aerial vehicle steering engine, and controlling the unmanned aerial vehicle to land when the unmanned aerial vehicle steering engine rotates abnormally.
In an alternative embodiment, the leveling module is specifically configured to determine the first pulse width according to a first formula:
wherein, L (T) represents a first pulse width with a signal period T; t represents a preset period of a PWM signal generated by a reference circuit inside the unmanned aerial vehicle steering engine; eta represents the preset duty ratio of the PWM signal generated by the internal reference circuit of the unmanned aerial vehicle steering engine; and alpha is expressed as the current angle value acquired by the first acquisition module.
In an alternative embodiment, the flight control module is specifically configured to determine the second pulse width according to a second formula:
wherein L isy(T) a second pulse width with a signal period T; u represents the voltage value at two ends of the annular slide rheostat; i represents a value of current flowing through the annular slide rheostat; rmaxRepresents the maximum resistance value of the annular slide rheostat; thetamaxA maximum angle value representing a maximum angle at which a remote mast of the drone can move up and down from a neutral position; and lambda represents the preset angle transmission ratio between a remote lever remotely controlled by the unmanned aerial vehicle and an unmanned aerial vehicle steering engine.
In an optional embodiment, the anomaly monitoring module includes:
the angle rotation deviation calculation submodule is used for calculating the angle rotation deviation value of the unmanned aerial vehicle steering engine;
the judgment submodule is used for judging whether the angle rotation deviation value of the unmanned aerial vehicle steering engine does not exceed a preset threshold value or not;
and the landing control submodule is used for determining that the steering engine of the unmanned aerial vehicle rotates abnormally when the judgment result of the judgment submodule is negative, and starting a preset landing program of the unmanned aerial vehicle to control the unmanned aerial vehicle to land.
In an alternative embodiment, the angular rotation deviation calculation submodule includes:
the encoder is used for counting the rotating directions of the steering engine;
the calculating unit is used for calculating the angle rotation deviation value of the unmanned aerial vehicle steering engine according to the following third formula:
wherein δ represents an angular rotation deviation value of the unmanned aerial vehicle steering engine, X represents an actual count value output by the encoder, and N represents a maximum count value output by the encoder when the unmanned aerial vehicle steering engine rotates upwards from-90 ° to 90 °.
In an alternative embodiment, the predetermined threshold value used by the determination submodule for determining is 0.5 °.
In an optional embodiment, the landing control sub-module is further configured to calibrate a current position when it is determined that the rotation of the drone steering engine is abnormal, and store calibration data in a local and/or upload remote terminal.
According to the high-performance steering engine of the unmanned aerial vehicle, the control pulse width for leveling the wings of the unmanned aerial vehicle can be obtained according to the angle of the current steering engine, so that the steering engine can be automatically reset, the wings of the unmanned aerial vehicle can be automatically leveled, and a foundation is laid for the flight of the unmanned aerial vehicle; the current change of the annular sliding rheostat in the remote rod remotely controlled by the unmanned aerial vehicle can be used for obtaining the control pulse width which is sent to the unmanned aerial vehicle steering engine by the system and corresponds to the PWM wave, so that a user can control the unmanned aerial vehicle steering engine by controlling the rocker and accurately control the ascending and descending of the unmanned aerial vehicle; still right the unmanned aerial vehicle steering wheel is monitored to the safety of steering wheel operation when guaranteeing unmanned aerial vehicle flight, and then in time descend unmanned aerial vehicle when monitoring the steering wheel unusual, improved unmanned aerial vehicle's security and reliability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a high-performance steering engine of an unmanned aerial vehicle according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a high-performance steering engine of an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a high-performance steering engine of an unmanned aerial vehicle according to a third embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a high-performance steering engine of an unmanned aerial vehicle according to an embodiment of the present invention, where the steering engine 1 of the unmanned aerial vehicle according to the present invention is based on an existing steering engine of an unmanned aerial vehicle, as shown in fig. 1, the steering engine further includes: the system comprises a first acquisition module 11, a leveling module 12, a second acquisition module 13, a flight control module 14 and an abnormity monitoring module 15. In fig. 1, other components or assemblies such as a steering engine body, a power supply module, a reference circuit, a control system and the like of the existing steering engine of the unmanned aerial vehicle are not shown for convenience of representation.
The first acquisition module 11 is connected with the power module and used for acquiring a current angle value of the steering engine of the unmanned aerial vehicle when the unmanned aerial vehicle is monitored to be powered on.
The leveling module 12 is connected with the internal reference circuit of the unmanned aerial vehicle steering engine and the first acquisition module 11 and used for determining a first pulse width according to the current angle value acquired by the first acquisition module 11 and controlling the internal reference circuit of the unmanned aerial vehicle steering engine to generate a PWM (pulse width modulation) signal of the first pulse width so as to level the wings of the unmanned aerial vehicle and wait for the unmanned aerial vehicle to take off after the leveling is finished.
And the second acquisition module 13 is connected with an annular sliding rheostat inside a remote rod remotely controlled by the unmanned aerial vehicle during flying of the unmanned aerial vehicle, and is used for acquiring voltage values at two ends of the annular sliding rheostat and current values flowing through the annular sliding rheostat.
And the flight control module 14 is configured to determine a second pulse width according to the voltage value and the current value of the annular sliding rheostat, and send a PWM signal of the second pulse width to the control system through a system controlled by a rocker of the unmanned aerial vehicle. Specifically, the user controls the remote lever of unmanned aerial vehicle remote control when unmanned aerial vehicle flies, then can calculate out the deflection angle of current remote lever, the inside annular slide rheostat that is of remote lever of unmanned aerial vehicle remote control, through the PWM signal of the deflection angle control system of remote lever sending for unmanned aerial vehicle steering wheel second pulse width, thereby make the unmanned aerial vehicle steering wheel drive the wing and carry out corresponding rotation control unmanned aerial vehicle's rising and decline.
And the abnormity monitoring module 15 is used for monitoring whether the unmanned aerial vehicle steering engine rotates abnormally or not according to the angle rotation deviation value of the unmanned aerial vehicle steering engine, and controlling the unmanned aerial vehicle to land when the unmanned aerial vehicle steering engine rotates abnormally.
In an alternative embodiment, the leveling module 12 is specifically configured to determine the first pulse width according to the following first formula:
wherein, L (T) represents a first pulse width with a signal period T; t represents a preset period of a PWM signal generated by a reference circuit inside the unmanned aerial vehicle steering engine; eta represents the preset duty ratio of the PWM signal generated by the internal reference circuit of the unmanned aerial vehicle steering engine; alpha is the current angle value acquired by the first acquisition module, alpha is more than or equal to-90 degrees and less than or equal to 90 degrees, when alpha is more than or equal to 0, the steering engine horizontally rotates upwards by | alpha | angle, and when alpha is less than 0, the steering engine horizontally rotates downwards by | alpha | angle.
In an alternative embodiment, the flight control module is specifically configured to determine the second pulse width according to a second formula:
wherein L isy(T) a second pulse width with a signal period T; u represents the voltage value at two ends of the annular slide rheostat; i represents a value of current flowing through the annular slide rheostat; rmaxRepresents the maximum resistance value of the annular slide rheostat; thetamaxA maximum angle value representing a maximum angle at which a remote mast of the drone can move up and down from a neutral position; and lambda represents the preset angle transmission ratio between a remote lever remotely controlled by the unmanned aerial vehicle and an unmanned aerial vehicle steering engine. Wherein, for any drone, Rmax、θmaxAnd λ are predetermined values.
In an alternative embodiment, as shown in fig. 2, the anomaly monitoring module 15 may further include:
and the angular rotation deviation calculation submodule 151 is used for calculating the angular rotation deviation value of the unmanned aerial vehicle steering engine.
And a judgment submodule 152, configured to judge whether the angle rotation deviation value of the unmanned aerial vehicle steering engine does not exceed a predetermined threshold value.
Preferably, the predetermined threshold is 0.5 °.
And the landing control submodule 153 is used for determining that the rotation of the unmanned aerial vehicle steering engine is abnormal when the judgment result of the judgment submodule 152 is negative, and starting a preset unmanned aerial vehicle landing program to control the unmanned aerial vehicle to land.
In an alternative embodiment, as shown in fig. 3, the angular rotation deviation calculation submodule 151 may include:
and the encoder 201 is used for counting the rotating directions of the steering engine, if X is larger than or equal to 0, the encoder counts in the direction of horizontally upward rotation of the steering engine, and if X is smaller than 0, the encoder counts in the direction of horizontally downward rotation of the steering engine.
The calculating unit 202 is configured to calculate an angular rotation deviation value of the unmanned aerial vehicle steering engine according to a third formula:
wherein δ represents an angular rotation deviation value of the unmanned aerial vehicle steering engine, X represents an actual count value output by the encoder, and N represents a maximum count value output by the encoder when the unmanned aerial vehicle steering engine rotates upwards from-90 ° to 90 °.
In one embodiment, when the predetermined threshold is 0.5 °, if | δ | ≦ 0.5 ° calculated by the calculation unit 202, it indicates that the drone steering engine is currently rotating normally, and if | δ | >0.5 °, it indicates that the drone steering engine is currently rotating abnormally.
In an optional embodiment, the landing control sub-module 153 is further configured to calibrate a current position when it is determined that the steering engine of the drone rotates abnormally, and store calibration data in a local and/or upload remote terminal for later maintenance or problem sourcing.
According to the high-performance steering engine of the unmanned aerial vehicle, the control pulse width for leveling the wings of the unmanned aerial vehicle can be obtained according to the angle of the current steering engine, so that the steering engine can be automatically reset, the wings of the unmanned aerial vehicle can be automatically leveled, and a foundation is laid for the flight of the unmanned aerial vehicle; the current change of the annular sliding rheostat in the remote rod remotely controlled by the unmanned aerial vehicle can be used for obtaining the control pulse width which is sent to the unmanned aerial vehicle steering engine by the system and corresponds to the PWM wave, so that a user can control the unmanned aerial vehicle steering engine by controlling the rocker and accurately control the ascending and descending of the unmanned aerial vehicle; still right the unmanned aerial vehicle steering wheel is monitored to the safety of steering wheel operation when guaranteeing unmanned aerial vehicle flight, and then in time descend unmanned aerial vehicle when monitoring the steering wheel unusual, improved unmanned aerial vehicle's security and reliability.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The utility model provides a high performance unmanned aerial vehicle steering wheel, includes steering wheel body, power module, reference circuit, control system, its characterized in that includes:
the first acquisition module is used for acquiring a current angle value of a steering engine of the unmanned aerial vehicle when the unmanned aerial vehicle is monitored to be powered on;
the leveling module is used for determining a first pulse width according to the current angle value acquired by the first acquisition module and controlling an internal reference circuit of the unmanned aerial vehicle steering engine to generate a PWM (pulse width modulation) signal with the first pulse width so as to level the wing of the unmanned aerial vehicle;
the second acquisition module is used for acquiring the voltage value and the current value of an annular slide rheostat in a remote rod remotely controlled by the unmanned aerial vehicle during the flight of the unmanned aerial vehicle;
the flight control module is used for determining a second pulse width according to the voltage value and the current value of the annular slide rheostat and sending a PWM (pulse width modulation) signal of the second pulse width to the control system through a system controlled by a rocker of the unmanned aerial vehicle;
and the abnormity monitoring module is used for monitoring whether the unmanned aerial vehicle steering engine rotates abnormally or not according to the angle rotation deviation value of the unmanned aerial vehicle steering engine, and controlling the unmanned aerial vehicle to land when the unmanned aerial vehicle steering engine rotates abnormally.
2. The high performance drone steering engine of claim 1, wherein the leveling module is specifically configured to determine the first pulse width according to a first equation:
wherein, L (T) represents a first pulse width with a signal period T; t represents a preset period of a PWM signal generated by a reference circuit inside the unmanned aerial vehicle steering engine; eta represents the preset duty ratio of the PWM signal generated by the internal reference circuit of the unmanned aerial vehicle steering engine; and alpha is expressed as the current angle value acquired by the first acquisition module.
3. The high performance drone steering engine of claim 2, wherein the flight control module is specifically configured to determine the second pulse width according to a second equation:
wherein L isy(T) a second pulse width with a signal period T; u represents the voltage value at two ends of the annular slide rheostat; i represents a value of current flowing through the annular slide rheostat; rmaxRepresents the maximum resistance value of the annular slide rheostat; thetamaxA maximum angle value representing a maximum angle at which a remote mast of the drone can move up and down from a neutral position; and lambda represents the preset angle transmission ratio between a remote lever remotely controlled by the unmanned aerial vehicle and an unmanned aerial vehicle steering engine.
4. The high performance drone steering engine of claim 3, wherein the anomaly monitoring module includes:
the angle rotation deviation calculation submodule is used for calculating the angle rotation deviation value of the unmanned aerial vehicle steering engine;
the judgment submodule is used for judging whether the angle rotation deviation value of the unmanned aerial vehicle steering engine does not exceed a preset threshold value or not;
and the landing control submodule is used for determining that the steering engine of the unmanned aerial vehicle rotates abnormally when the judgment result of the judgment submodule is negative, and starting a preset landing program of the unmanned aerial vehicle to control the unmanned aerial vehicle to land.
5. The high performance drone steering engine of claim 4, wherein the angular rotation deviation calculation submodule includes:
the encoder is used for counting the rotating directions of the steering engine;
the calculating unit is used for calculating the angle rotation deviation value of the unmanned aerial vehicle steering engine according to the following third formula:
wherein δ represents an angular rotation deviation value of the unmanned aerial vehicle steering engine, X represents an actual count value output by the encoder, and N represents a maximum count value output by the encoder when the unmanned aerial vehicle steering engine rotates upwards from-90 ° to 90 °.
6. The high performance drone steering engine of claim 4, wherein the predetermined threshold for the judgment by the judgment sub-module is 0.5 °.
7. The high performance drone steering engine of any one of claims 1 to 6, wherein the landing control sub-module is further configured to calibrate a current position when it is determined that the drone steering engine is rotating abnormally, and to store calibration data locally and/or at an upload remote terminal.
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| CN116692022A (en) * | 2023-07-13 | 2023-09-05 | 上海莘汭驱动技术有限公司 | Calibrating device for unmanned aerial vehicle steering engine system installation and using method thereof |
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