CN113772081B - High-performance unmanned aerial vehicle steering engine - Google Patents
High-performance unmanned aerial vehicle steering engine Download PDFInfo
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- CN113772081B CN113772081B CN202111158423.2A CN202111158423A CN113772081B CN 113772081 B CN113772081 B CN 113772081B CN 202111158423 A CN202111158423 A CN 202111158423A CN 113772081 B CN113772081 B CN 113772081B
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 2
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a high-performance unmanned aerial vehicle steering engine, and belongs to the technical field of unmanned aerial vehicles. The high performance unmanned aerial vehicle steering engine includes: the first acquisition module is used for acquiring the current angle value of the steering engine of the unmanned aerial vehicle when the unmanned aerial vehicle is monitored to be electrified; the leveling module is used for controlling an internal reference circuit of the unmanned aerial vehicle steering engine to generate PWM signals with a first pulse width according to the current angle value; the second acquisition module is used for acquiring a voltage value and a current value of an annular sliding rheostat in a remote control rod remotely controlled by the unmanned aerial vehicle when the unmanned aerial vehicle flies; the flight control module is used for sending PWM signals with a second pulse width to the unmanned aerial vehicle control system through a rocker control system of the unmanned aerial vehicle according to the voltage value and the current value; the abnormal 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 abnormal. 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 unmanned aerial vehicle steering engine.
Background
The unmanned plane is called as unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. The unmanned aerial vehicle is a common name of unmanned aerial vehicle in fact, and compared with a manned aerial vehicle, the unmanned aerial vehicle has the advantages of small size, low manufacturing cost, convenience in use, low requirements on combat environment, stronger battlefield survivability and the like. Because the unmanned aerial vehicle has important significance for future air combat, all the main military countries in the world are tightening to develop the unmanned aerial vehicle. In civil aspects, the method is currently applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer shooting, express delivery transportation, disaster relief, wild animal observation, infectious disease monitoring, mapping, news reporting, electric power inspection, disaster relief, film and television shooting, romantic manufacturing and the like.
At present, unmanned aerial vehicle is basically all based on subaerial operator controls through manual control remote controller, and the operator only can carry out the judgement of just slightly to unmanned aerial vehicle's state through the visual inspection, and manual control often can't in time discover unmanned aerial vehicle's abnormal state, leads to unable in time to make its landing and causes the condition emergence of damage or crash when unmanned aerial vehicle is unusual, and security and reliability are lower.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a high-performance unmanned aerial vehicle steering engine, which is used for solving the problem that an unmanned aerial vehicle in the prior art cannot automatically monitor an abnormal state. The unmanned aerial vehicle rudder provided by the invention can automatically monitor the abnormal state of the unmanned aerial vehicle, and land the unmanned aerial vehicle when the abnormal state is monitored, so that the safety and reliability of the unmanned aerial vehicle are improved.
The embodiment of the invention provides a high-performance unmanned aerial vehicle steering engine, which comprises a steering engine body, a power module, a reference circuit and a control system, and further comprises:
The first acquisition module is used for acquiring the current angle value of the steering engine of the unmanned aerial vehicle when the unmanned aerial vehicle is monitored to be electrified;
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 the internal reference circuit of the steering engine of the unmanned aerial vehicle to generate a PWM 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 a voltage value and a current value of an annular sliding rheostat in a remote rod remotely controlled by the unmanned aerial vehicle when the unmanned aerial vehicle flies;
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 signal of the second pulse width to the control system through a rocker control system of the unmanned aerial vehicle;
The anomaly monitoring module is used for monitoring 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 steering engine rotates abnormally.
In an alternative embodiment, the leveling module is specifically configured to determine the first pulse width according to the following first formula:
Wherein L (T) represents a first pulse width of a signal period T; t represents a preset period of PWM signals generated by a reference circuit in the steering engine of the unmanned aerial vehicle; η represents a predetermined duty cycle of a PWM signal generated by a reference circuit inside the steering engine of the unmanned aerial vehicle; alpha is expressed as a 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 the following second formula:
Wherein L y (T) represents a second pulse width of the signal period T; u represents the voltage values at two ends of the annular slide rheostat; i represents the value of the current flowing through the annular slide rheostat; r max represents the maximum resistance value of the annular slide rheostat; θ max represents the maximum angle value of the remote lever which can move up and down from the middle position; lambda represents the preset angle transmission ratio of the remote control rod of the unmanned aerial vehicle and the steering engine of the unmanned aerial vehicle.
In an alternative embodiment, the anomaly monitoring module includes:
the angle rotation deviation calculation sub-module is used for calculating an angle rotation deviation value of the steering engine of the unmanned aerial vehicle;
The judging submodule is used for judging whether the angle rotation deviation value of the steering engine of the unmanned aerial vehicle does not exceed a preset threshold value;
And the landing control sub-module is used for determining that the steering engine of the unmanned aerial vehicle rotates abnormally when the judging result of the judging sub-module 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 sub-module includes:
The encoder is used for counting the rotation direction of the steering engine;
the calculating unit is used for calculating the angle rotation deviation value of the steering engine of the unmanned aerial vehicle according to the following third formula:
Wherein delta represents an angle 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 from-90 degrees to 90 degrees.
In an alternative embodiment, the predetermined threshold for the determination by the determination submodule is 0.5 °.
In an alternative embodiment, the landing control sub-module is further configured to, when determining that the steering engine of the unmanned aerial vehicle is abnormal, mark a current position, and store the mark data in a local and/or uploading remote terminal.
The high-performance unmanned aerial vehicle steering engine provided by the invention can obtain the control pulse width for leveling the wings of the unmanned aerial vehicle according to the angle of the current steering engine, so that the steering engine is automatically reset, the wings of the unmanned aerial vehicle are automatically leveled, and a foundation is laid for the flight of the unmanned aerial vehicle; the control pulse width of PWM waves corresponding to the steering engine of the unmanned aerial vehicle can be obtained according to the current change of the annular sliding rheostat in the remote rod remotely controlled by the unmanned aerial vehicle, so that a user can control the steering engine of the unmanned aerial vehicle through the control rocker and accurately control the unmanned aerial vehicle to ascend and descend; can also be right unmanned aerial vehicle steering wheel is monitored to the security of steering wheel operation when guaranteeing unmanned aerial vehicle and fly, and then in time descend unmanned aerial vehicle when monitoring that the steering wheel is unusual, improved unmanned aerial vehicle's security and reliability.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a steering engine of a high-performance unmanned aerial vehicle according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a steering engine of a high-performance 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 merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a high-performance unmanned aerial vehicle steering engine provided by the embodiment of the present invention, and the unmanned aerial vehicle steering engine 1 provided by the present invention, based on the existing unmanned aerial vehicle steering engine, as shown in fig. 1, 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 abnormality monitoring module 15. In fig. 1, for convenience of representation, other parts or components such as a steering engine body, a power module, a reference circuit, a control system and the like of the steering engine of the existing unmanned aerial vehicle are not shown.
The first acquisition module 11 is connected with the power supply module and is used for acquiring the current angle value of the steering engine of the unmanned aerial vehicle when the unmanned aerial vehicle is monitored to be electrified.
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 is 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 signal of the first pulse width so as to level the wing of the unmanned aerial vehicle, and the unmanned aerial vehicle can wait for taking off after the leveling is finished.
The second acquisition module 13 is connected with the annular sliding rheostat inside the remote rod remotely controlled by the unmanned aerial vehicle when the unmanned aerial vehicle flies, 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 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 signal with the second pulse width to the control system through a rocker control system of the unmanned aerial vehicle. Specifically, when unmanned aerial vehicle flies, user control unmanned aerial vehicle remote control's tele-rod, then can calculate the deflection angle of current tele-rod, unmanned aerial vehicle remote control's tele-rod is inside to be annular slide rheostat, through the PWM signal of the second pulse width of unmanned aerial vehicle steering wheel is sent to the deflection angle control system of tele-rod, and then makes unmanned aerial vehicle steering wheel drive the wing and carries out corresponding rotation thereby control unmanned aerial vehicle's rising and decline.
The anomaly monitoring module 15 is configured to monitor whether the unmanned aerial vehicle steering engine rotates abnormally according to the angular rotation deviation value of the unmanned aerial vehicle steering engine, and control 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 equation:
wherein L (T) represents a first pulse width of a signal period T; t represents a preset period of PWM signals generated by a reference circuit in the steering engine of the unmanned aerial vehicle; η represents a predetermined duty cycle of a PWM signal generated by a reference circuit inside the steering engine of the unmanned aerial vehicle; alpha is the current angle value acquired by the first acquisition module, alpha is more than or equal to minus 90 degrees and less than or equal to 90 degrees, alpha is more than or equal to 0 and represents the steering engine to horizontally rotate upwards by an angle of |alpha| and alpha is less than 0 and represents the steering engine to horizontally rotate downwards by an angle of |alpha|.
In an alternative embodiment, the flight control module is specifically configured to determine the second pulse width according to the following second formula:
Wherein L y (T) represents a second pulse width of the signal period T; u represents the voltage values at two ends of the annular slide rheostat; i represents the value of the current flowing through the annular slide rheostat; r max represents the maximum resistance value of the annular slide rheostat; θ max represents the maximum angle value of the remote lever which can move up and down from the middle position; lambda represents the preset angle transmission ratio of the remote control rod of the unmanned aerial vehicle and the steering engine of the unmanned aerial vehicle. Wherein, for any unmanned aerial vehicle, R max、θmax, lambda are predetermined values.
In an alternative embodiment, as shown in fig. 2, the anomaly monitoring module 15 may further include:
the angular rotation deviation calculation sub-module 151 is configured to calculate an angular rotation deviation value of the steering engine of the unmanned aerial vehicle.
The judging sub-module 152 is configured to judge whether the angular rotation deviation value of the steering engine of the unmanned aerial vehicle does not exceed a predetermined threshold.
Preferably, the predetermined threshold is 0.5 °.
And the landing control sub-module 153 is configured to determine that the steering engine of the unmanned aerial vehicle rotates abnormally when the determination result of the determination sub-module 152 is no, and start a preset landing program of the unmanned aerial vehicle to control the unmanned aerial vehicle to land.
In an alternative embodiment, as shown in fig. 3, the angular rotation deviation calculation sub-module 151 may include:
And the encoder 201 is used for counting the rotation direction of the steering engine, if X is larger than or equal to 0, the encoder counts in the rotation direction of the steering engine horizontally upwards, and if X is smaller than 0, the encoder counts in the rotation direction of the steering engine horizontally downwards.
A calculating unit 202, configured to calculate an angular rotation deviation value of the steering engine of the unmanned aerial vehicle according to the following third formula:
Wherein delta represents an angle 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 from-90 degrees to 90 degrees.
In an embodiment, when the predetermined threshold is 0.5 °, if the |δ| calculated by the calculating unit 202 is less than or equal to 0.5 °, it indicates that the unmanned aerial vehicle steering engine is rotating normally, and if |δ| >0.5 °, it indicates that the unmanned aerial vehicle steering engine is rotating abnormally.
In an alternative embodiment, the landing control sub-module 153 is further configured to determine the current location when the steering engine of the unmanned aerial vehicle is abnormal, and store the calibration data in the local and/or uploading remote terminal for later maintenance or problem sourcing use.
The high-performance unmanned aerial vehicle steering engine provided by the invention can obtain the control pulse width for leveling the wings of the unmanned aerial vehicle according to the angle of the current steering engine, so that the steering engine is automatically reset, the wings of the unmanned aerial vehicle are automatically leveled, and a foundation is laid for the flight of the unmanned aerial vehicle; the control pulse width of PWM waves corresponding to the steering engine of the unmanned aerial vehicle can be obtained according to the current change of the annular sliding rheostat in the remote rod remotely controlled by the unmanned aerial vehicle, so that a user can control the steering engine of the unmanned aerial vehicle through the control rocker and accurately control the unmanned aerial vehicle to ascend and descend; can also be right unmanned aerial vehicle steering wheel is monitored to the security of steering wheel operation when guaranteeing unmanned aerial vehicle and fly, and then in time descend unmanned aerial vehicle when monitoring that the steering wheel is unusual, improved unmanned aerial vehicle's security and reliability.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof. The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (4)
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 the current angle value of the steering engine of the unmanned aerial vehicle when the unmanned aerial vehicle is monitored to be electrified;
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 the internal reference circuit of the steering engine of the unmanned aerial vehicle to generate a PWM 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 a voltage value and a current value of an annular sliding rheostat in a rocker remotely controlled by the unmanned aerial vehicle when the unmanned aerial vehicle flies;
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 signal of the second pulse width to the control system through a rocker control system of the unmanned aerial vehicle;
the abnormality monitoring module is used for monitoring 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 steering engine rotates abnormally;
the leveling module is specifically configured to determine a first pulse width according to the following first formula:
Wherein L (T) represents a first pulse width of a signal period T; t represents a preset period of PWM signals generated by a reference circuit in the steering engine of the unmanned aerial vehicle; η represents a predetermined duty cycle of a PWM signal generated by a reference circuit inside the steering engine of the unmanned aerial vehicle; alpha is represented as a current angle value acquired by the first acquisition module;
the flight control module is specifically configured to determine the second pulse width according to the following second formula:
Wherein L y (T) represents a second pulse width of the signal period T; u represents the voltage values at two ends of the annular slide rheostat; i represents the value of the current flowing through the annular slide rheostat; r max represents the maximum resistance value of the annular slide rheostat; θ max represents the maximum angle value of the rocker remotely controlled by the unmanned aerial vehicle, which can move up and down from the middle position; lambda represents a preset angle transmission ratio of a rocker remotely controlled by the unmanned aerial vehicle and a steering engine of the unmanned aerial vehicle;
wherein, the unusual monitoring module includes:
the angle rotation deviation calculation sub-module is used for calculating an angle rotation deviation value of the steering engine of the unmanned aerial vehicle;
The judging submodule is used for judging whether the angle rotation deviation value of the steering engine of the unmanned aerial vehicle does not exceed a preset threshold value;
And the landing control sub-module is used for determining that the steering engine of the unmanned aerial vehicle rotates abnormally when the judging result of the judging sub-module is negative, and starting a preset landing program of the unmanned aerial vehicle to control the unmanned aerial vehicle to land.
2. The high performance unmanned aerial vehicle steering engine of claim 1, wherein the angular rotation deviation calculation sub-module comprises:
The encoder is used for counting the rotation direction of the steering engine;
the calculating unit is used for calculating the angle rotation deviation value of the steering engine of the unmanned aerial vehicle according to the following third formula:
Wherein delta represents an angle 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 from-90 degrees to 90 degrees.
3. The high performance unmanned aerial vehicle steering engine of claim 1, wherein the predetermined threshold for judgment is 0.5 °.
4. A high performance unmanned aerial vehicle steering engine according to any of claims 1 to 3, wherein the landing control sub-module is further operable to mark the current position when an anomaly in the unmanned aerial vehicle steering engine rotation is determined, and to store the mark data locally and/or to upload the remote terminal.
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| CN116692022B (en) * | 2023-07-13 | 2024-03-08 | 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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