CN114368485B - Control circuit of micro unmanned aerial vehicle - Google Patents
Control circuit of micro unmanned aerial vehicle Download PDFInfo
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- CN114368485B CN114368485B CN202210267121.7A CN202210267121A CN114368485B CN 114368485 B CN114368485 B CN 114368485B CN 202210267121 A CN202210267121 A CN 202210267121A CN 114368485 B CN114368485 B CN 114368485B
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- 230000003247 decreasing effect Effects 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 9
- 229910052744 lithium Inorganic materials 0.000 description 9
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- 230000033228 biological regulation Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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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
- B64C39/028—Micro-sized aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/10—Control circuit supply, e.g. means for supplying power to the control circuit
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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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Dc-Dc Converters (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicles, and aims to provide a control circuit of a micro unmanned aerial vehicle, which comprises a main control unit, a power driving module and a power supply unit, wherein the controlled end of the power driving module is in communication connection with the main control unit; the power supply unit comprises a charging module, a buck-boost conversion module and a rechargeable battery, the output end of the charging module is electrically connected with the power supply end of the buck-boost conversion module and the power supply end of the rechargeable battery respectively, the output end of the rechargeable battery is electrically connected with the power supply end of the main control unit through the buck-boost conversion module, and the output end of the rechargeable battery is also electrically connected with the power supply end of the power driving module; the voltage increasing and decreasing conversion module is used for automatically increasing or decreasing the voltage input by the rechargeable battery so as to obtain stable output voltage. The power supply of the invention has high efficiency, is beneficial to increasing the endurance of the unmanned aerial vehicle, can reduce the volume of the unmanned aerial vehicle at the same time, and has small maintenance workload of the control circuit of the miniature unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control circuit of a micro unmanned aerial vehicle.
Background
The miniature four-axis unmanned aerial vehicle has the advantages of small size, light weight and the like, has the flexibility and portability which are difficult to reach by a common unmanned aerial vehicle by virtue of the miniature unmanned aerial vehicle, and has very wide development prospect in a plurality of fields.
At present, miniature four-axis unmanned aerial vehicle is when using, the single section power lithium cell (the operating voltage scope is 3.7~ 4.2V) that adopts the small volume generally supplies power to the power supply in the unmanned aerial vehicle, and step down the output power of lithium cell to 3.3V through LDO (low dropout linear regulator) and supply circuit such as microcontroller with the supply, however, under the condition that uses single section lithium cell to supply power for a plurality of power supplies of unmanned aerial vehicle, unmanned aerial vehicle takes off the load in the twinkling of an eye too big, can draw down lithium cell output voltage below 3V, if not boosting it this moment, can cause the LDO inefficacy, lead to circuits such as microcontroller to fall the electric restart in the low pressure, be unfavorable for unmanned aerial vehicle's use.
For solving the problem that the power failure of circuits such as the microcontroller and the like in the moment of takeoff of the unmanned aerial vehicle restarts, the following solutions have appeared in the prior art: a DC-DC (Direct Current power) boost converter is added in an unmanned aerial vehicle control circuit, the DC-DC boost converter boosts the input voltage of an output power supply of a lithium battery until the voltage is stabilized at 5V, and then the voltage of the 5V is reduced to 3.3V through an LDO (low dropout regulator) to supply power for an unmanned aerial vehicle system circuit. However, in the process of using the prior art, the inventor finds that at least the following problems exist in the prior art:
the power inefficiency can reduce unmanned aerial vehicle continuation of the journey. Specifically, the power supply is subjected to voltage conversion twice by means of sequentially performing voltage conversion through the DC-DC boost converter and the LDO, so that circuit redundancy is caused, and miniaturization of the unmanned aerial vehicle is not facilitated; meanwhile, the LDO has low efficiency, so that the total power efficiency of the unmanned aerial vehicle is low, and the endurance of the unmanned aerial vehicle is reduced.
Disclosure of Invention
In order to solve the technical problem at least to a certain extent, the invention provides a control circuit of a micro unmanned aerial vehicle.
The technical scheme adopted by the invention is as follows:
a control circuit of a micro unmanned aerial vehicle comprises a main control unit, a power driving module and a power supply unit, wherein a controlled end of the power driving module is in communication connection with the main control unit; the power supply unit comprises a charging module, a buck-boost conversion module and a rechargeable battery, wherein the output end of the charging module is electrically connected with the power supply end of the buck-boost conversion module and the power supply end of the rechargeable battery respectively, the output end of the rechargeable battery is electrically connected with the power supply end of the main control unit through the buck-boost conversion module, and the output end of the rechargeable battery is also electrically connected with the power supply end of the power driving module; the voltage increasing and decreasing conversion module is used for automatically increasing or decreasing the voltage input by the rechargeable battery so as to obtain stable output voltage.
In one possible design, the charging module comprises a charger, a first capacitor, a second capacitor, a first resistor and a second resistor, wherein the charger adopts a charging chip with the model number of BQ 21040;
the VIN pin of charger is used for the electricity to connect the power supply source, the VIN pin of charger still passes through first electric capacity ground connection, the ISET pin of charger passes through first resistance ground connection, the TS pin of charger passes through second resistance ground connection, the VOUT pin of charger passes through second electric capacity ground connection and regards as the output of charging module electricity respectively connects the feed end of buck-boost conversion module with rechargeable battery's feed end.
In one possible design, the charging module further includes a third resistor and a light emitting diode; the anode of the light-emitting diode is electrically connected with the VOUT pin of the charger through the third resistor, and the cathode of the light-emitting diode is electrically connected with the CHG pin of the charger.
In one possible design, the buck-boost conversion module includes a buck-boost converter, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor and an inductor, where the buck-boost converter adopts a buck-boost conversion chip of type TPS 63031;
the VIN pin of the buck-boost converter is used as a power supply end of the buck-boost conversion module and is respectively and electrically connected with the output end of the rechargeable battery and the output end of the charging module, the VIN pin of the buck-boost converter is grounded through the third capacitor, both the VINA pin and the EN pin of the buck-boost converter are grounded through the fourth capacitor, the PS pin of the buck-boost converter is in communication connection with the main control unit, the L1 pin and the L2 pin of the buck-boost converter are respectively connected with two ends of an inductor, the EPAD pin, the GND pin and the PGND pin of the buck-boost converter are all grounded, the FB pin and the VOUT pin of the buck-boost converter are electrically connected, and the VOUT pin of the buck-boost converter is grounded through a fifth capacitor and a sixth capacitor respectively and serves as the output end of the buck-boost conversion module to be electrically connected with the power supply end of the main control unit.
In one possible design, the power driving module comprises a switching element, a power source, a fourth resistor, a fifth resistor, a freewheeling diode and a seventh capacitor; the controlled pole of the switching element is in communication connection with the main control unit through the fourth resistor, the first output pole of the switching element is grounded, the second output pole of the switching element is in electric connection with one pole of the power source, the other pole of the power source serves as the power supply end of the power driving module and is electrically connected with the output end of the rechargeable battery, one end of the fifth resistor is electrically connected with the controlled pole of the switching element, the other end of the fifth resistor is grounded, and the freewheeling diode and the seventh capacitor are connected with the power source in parallel.
In one possible design, the power supply unit further comprises an electric quantity detection module, the electric quantity detection module is in communication connection with the main control unit, and a power supply end of the electric quantity detection module is electrically connected with an output end of the rechargeable battery; the electric quantity detection module is used for collecting voltage data of the rechargeable battery and then sending the voltage data to the main control unit.
In one possible design, the main control unit comprises a main control module, and further comprises a posture detection module and a wireless signal transceiving module which are respectively in communication connection with the main control module, wherein a power supply end of the main control module, a power supply end of the posture detection module and a power supply end of the wireless signal transceiving module are electrically connected with an output end of the rechargeable battery through the buck-boost conversion module;
the attitude detection module is used for detecting the motion attitude of the unmanned aerial vehicle and outputting three-dimensional attitude data to the main control module in real time;
the wireless signal transceiver module is used for receiving a control signal sent by a user terminal and then sending the control signal to the main control module;
the main control module is used for receiving the three-dimensional attitude data sent by the attitude detection module and obtaining the attitude data of the current unmanned aerial vehicle according to the three-dimensional attitude data; the main control module is also used for receiving the control signal sent by the wireless signal transceiving module, obtaining motor increment data according to the control signal and the current attitude data of the unmanned aerial vehicle after receiving the control signal, and then sending a driving signal to the power driving module according to the motor increment data;
the power driving module is used for receiving the driving signal sent by the main control module so as to adjust the current unmanned aerial vehicle to a specified state.
In one possible design, the main control unit further includes a status indication module in communication connection with the main control module, and a power supply end of the status indication module is electrically connected with an output end of the rechargeable battery through the buck-boost conversion module; and the state indicating module is used for indicating the current running state of the unmanned aerial vehicle when receiving the indicating driving signal sent by the main control module.
In a possible design, the unmanned aerial vehicle control circuit further comprises a switching module in communication connection with the main control module, and the switching module is electrically connected with a power supply end of the charging module.
The beneficial effects of the invention are concentrated and expressed as follows:
1) the power is efficient, does benefit to and increases unmanned aerial vehicle continuation of the journey, can reduce unmanned aerial vehicle volume simultaneously, and miniature unmanned aerial vehicle control circuit's maintenance work volume is little. Specifically, in the implementation process of the unmanned aerial vehicle, when the rechargeable battery supplies power to the main control unit, the voltage-boosting and voltage-reducing conversion module can be automatically switched into a voltage-boosting or voltage-reducing mode according to the voltage input by the rechargeable battery, so that stable and accurate output voltage can be obtained and power can be supplied to the main control unit, the voltage efficiency can be improved, and the unmanned aerial vehicle can be continued; meanwhile, the volume of a control circuit of the miniature unmanned aerial vehicle can be reduced by only arranging one buck-boost conversion module; in addition, the invention avoids frequently replacing the battery by applying the form of the rechargeable battery, and is beneficial to reducing the maintenance workload of the user micro-unmanned aerial vehicle control circuit.
2) According to the invention, by adopting the high-power-density and high-efficiency DC-DC buck-boost converter with the model number of TPS63031, high-power output can be realized in a narrow space of 2.5mm multiplied by 2.5mm and with lower heat dissipation capacity; meanwhile, high-integration modules such as a single lithium battery charger and the like based on a highly integrated model BQ21040 only need a small amount of peripheral circuits to drive the unmanned aerial vehicle to work, and therefore the size of the frame of the miniature four-axis unmanned aerial vehicle can be effectively reduced.
Drawings
FIG. 1 is a control block diagram of the present invention;
FIG. 2 is a circuit schematic of the charging module of the present invention;
FIG. 3 is a schematic circuit diagram of the buck-boost conversion module of the present invention;
fig. 4 is a schematic circuit diagram of the power drive module of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It will be understood that when an element is referred to herein as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
Example 1:
the embodiment provides a micro-unmanned aerial vehicle control circuit, as shown in fig. 1, which includes a main control unit, a power driving module and a power supply unit, wherein a controlled end of the power driving module is in communication connection with the main control unit; the power supply unit comprises a charging module, a buck-boost conversion module and a rechargeable battery, wherein the output end of the charging module is electrically connected with the power supply end of the buck-boost conversion module and the power supply end of the rechargeable battery respectively, the output end of the rechargeable battery is electrically connected with the power supply end of the main control unit through the buck-boost conversion module, and the output end of the rechargeable battery is also electrically connected with the power supply end of the power driving module; the voltage increasing and decreasing conversion module is used for automatically increasing or decreasing the voltage input by the rechargeable battery so as to obtain stable output voltage.
In this embodiment, the rechargeable battery is a single-section power lithium battery with light weight and small volume, so as to supply power to the buck-boost conversion module, the main control unit, the power driving module and other modules.
The power efficiency of this application is high, does benefit to and increases unmanned aerial vehicle continuation of the journey, can reduce unmanned aerial vehicle volume simultaneously, and miniature unmanned aerial vehicle control circuit's maintenance work volume is little. Specifically, in the implementation process of the embodiment, when the rechargeable battery supplies power to the main control unit, the voltage step-up/step-down conversion module can automatically switch to the voltage step-up or step-down mode according to the voltage input by the rechargeable battery, so as to obtain stable and accurate output voltage and supply power to the main control unit, thereby facilitating the improvement of voltage efficiency and the increase of unmanned aerial vehicle endurance; meanwhile, the volume of the control circuit of the miniature unmanned aerial vehicle can be reduced by only arranging one buck-boost conversion module; in addition, the rechargeable battery is adopted in the embodiment, frequent battery replacement is avoided, and the maintenance workload of the user micro-unmanned aerial vehicle control circuit is favorably reduced.
As shown in fig. 2, the charging module includes a charger U201, a first capacitor C201, a second capacitor C202, a first resistor R201, and a second resistor R202, where the charger U201 adopts a charging chip of model BQ 21040;
the VIN pin of the charger U201 is used for being electrically connected with a power supply source, the VIN pin of the charger U201 is grounded through a first capacitor C201, the ISET pin of the charger U201 is grounded through a first resistor R201, the TS pin of the charger U201 is grounded through a second resistor R202, the VOUT pin of the charger U201 is grounded through a second capacitor C202 and serves as the output end of the charging module to be respectively and electrically connected with the power supply end of the buck-boost conversion module and the power supply end of the rechargeable battery.
In this embodiment, the charger U201 employs a highly integrated single lithium battery charging chip BQ21040, and the power supply state and charging current sensing functions are fully integrated, so that the charger U has the functions of a high-precision current and voltage regulation loop, charging state display, and automatic charging termination.
Specifically, the charger U201 may be used to charge the rechargeable battery and supply power to the main control unit and the power driving module when the load does not exceed the available current. The VOUT pin of the charger U201 is a current limiting source, which has inherent short circuit protection, and when the voltage of the rechargeable battery is lower than the low voltage threshold, the trickle charging stage is entered, the charging current is 20% of the fast charging current, once the voltage of the rechargeable battery is charged to the low voltage threshold, the constant current fast charging is started, and the fast charging current can be adjusted by the resistance value of the first resistor R201. The internal control loop of the charger U201 monitors the temperature of the charger U201 itself during all charging phases, and if the charger U201 reaches 125 ℃, the charger U201 enters thermal regulation and reduces the charging current as needed to prevent further temperature rise, and when the charger U201 reaches 150 ℃, the thermal shutdown protection is turned on. Further, once the rechargeable battery is charged to full charge voltage, the voltage loop within the charger U201 controls and maintains the rechargeable battery at full charge voltage until the charging current gradually decreases to a termination threshold, at which time the corresponding termination current is set to 10% of the fast charge current.
In this embodiment, the charging module further includes a third resistor R203 and a light emitting diode LED 201; the anode of the light emitting diode LED201 is electrically connected to the VOUT pin of the charger U201 through the third resistor R203, and the cathode of the light emitting diode LED201 is electrically connected to the CHG pin of the charger U201. In this embodiment, the light emitting diode LED201 is used to indicate the operation state of the charging module, for example, when the charging module charges the rechargeable battery, the light emitting diode LED201 is turned on, otherwise, the light emitting diode LED201 is turned off to indicate charging; the third resistor R203 is used to suppress the transient current in the path of the LED201 to prevent the LED201 from being damaged. Specifically, the CHG pin of the charger U201 is at a low level only in the first charging period, at which time the light emitting diode LED201 lights up, and the charger U201 turns off when the charging current reaches the termination threshold or the power supply is not accessed, at which time the light emitting diode LED201 lights off.
As shown in fig. 3, the buck-boost conversion module includes a buck-boost converter U202, a third capacitor C203, a fourth capacitor C204, a fifth capacitor C205, a sixth capacitor C206, and an inductor L201, where the buck-boost converter U202 is a buck-boost conversion chip of a model number TPS 63031;
the VIN pin of the buck-boost converter U202 is used as a power supply end of the buck-boost conversion module and is respectively electrically connected with the output end of the rechargeable battery and the output end of the charging module, the VIN pin of the buck-boost converter U202 is also grounded through the third capacitor C203, the VINA pin and the EN pin of the buck-boost converter U202 are both grounded through the fourth capacitor C204, the PS pin of the buck-boost converter U202 is in communication connection with the main control unit, the L1 pin and the L2 pin of the buck-boost converter U202 are respectively connected with two ends of an inductor L201, the EPAD pin, the GND pin and the PGND pin of the buck-boost converter U202 are all grounded, the FB pin and the VOUT pin of the buck-boost converter U202 are electrically connected, and the VOUT pin of the buck-boost converter U202 is grounded through a fifth capacitor C205 and a sixth capacitor C206 respectively and serves as the output end of the buck-boost conversion module to be electrically connected with the power supply end of the main control unit.
In this embodiment, the main control unit controls the switch of the power saving mode in the buck-boost conversion module through the PS pin of the buck-boost converter U202, the FB pin of the buck-boost converter U202 is used to sense the output voltage and then feeds back the output voltage to the buck-boost converter U202, and the buck-boost converter U202 can compare the feedback voltage with the internal reference voltage by trimming the internal resistor voltage divider therein, so as to generate a stable and accurate output voltage. The buck-boost converter U202 adopts a buck-boost conversion chip with the model of TPS63031, and enters an energy-saving mode under the condition of low load current, so that high efficiency is kept in the whole load current range, in addition, voltage stabilization operation can be carried out in the input voltage range of 1.8V-5.5V, then the output voltage is 3.3V, and in the process, the buck-boost converter U202 can be automatically switched into a buck mode or a boost mode according to the input voltage, so that seamless conversion is realized between the two modes. Specifically, when the input voltage is higher than the output voltage, the buck-boost converter U202 operates as a buck converter, and when the input voltage is lower than the output voltage, the buck-boost converter U202 operates as a boost converter, and both operation modes of the buck-boost converter U202 are used for outputting a voltage of 3.3V for supplying power to the main control unit.
Specifically, in the prior art, the operating voltage is boosted to 5V by the DC-DC boost converter and then stepped down to 3.3V by the LDO, and the efficiency of the LDO is much lower than that of the DC-DC converter, for example, the average efficiency of the TI (texas instrument) chip for the DC-DC boost converter with 3.6V-4.2V boosted to 5V is about 90%, and the LDO efficiency with 5V stepped down to 3.3V is 3.3/5 × 100% =66%, which results in the maximum efficiency of the total power supply being 90% × 66% ≈ 60%, i.e., the total power efficiency is lower than 60%. The type that adopts in this application is TPS 63031's buck-boost converter U202, its efficiency curve is more than 90% generally, and efficiency is the highest 96% that reaches under the step-down condition to make the power efficiency of this application effectively promote.
As shown in fig. 4, the power driving module includes a switching element Q401, a power source M401, a fourth resistor R401, a fifth resistor R402, a freewheeling diode D401 and a seventh capacitor C401; the controlled pole of the switching element Q401 is in communication connection with the main control unit through the fourth resistor R401, the first output pole of the switching element Q401 is grounded, the second output pole of the switching element Q401 is electrically connected with one pole of the power source M401, the other pole of the power source M401 is electrically connected with the output end of the rechargeable battery as the power supply end of the power driving module, one end of the fifth resistor R402 is electrically connected with the controlled pole of the switching element Q401, the other end of the fifth resistor R402 is grounded, and the freewheeling diode D401 and the seventh capacitor C401 are both connected in parallel with the power source M401. In this embodiment, the switching element Q401 may be implemented by, but not limited to, a switching element Q401 such as a MOS transistor or a triode, when the switching element Q401 is a MOS transistor, for example, an N-type MOS transistor, a gate of the switching element Q401 is used as a controlled pole of the switching element Q401 and is in communication connection with the main control unit through the fourth resistor R401, a source of the switching element Q401 is used as a first output pole of the switching element Q401 and is grounded, and a drain of the switching element Q401 is used as a second output pole of the switching element Q401 and is electrically connected to one pole of the power source M401, at this time, when the main control unit inputs a high level to the gate of the switching element Q401, the switching element Q401 is turned on, the rechargeable battery supplies power to the power source M401, and the power source M401 operates, thereby implementing the switching control of the power source M401 by the main control unit. In addition, power source M401 in this embodiment can but not only be limited to adopting power source M401 such as motor, cylinder, specifically, in this embodiment, power source M401 adopts the drag cup motor, and it has outstanding energy-conserving characteristic, sensitive convenient control characteristic and stable operating characteristic, can effectively promote miniature four-axis unmanned aerial vehicle's wholeness ability.
It should be noted that the fourth resistor R401 is a current-limiting resistor, which can limit the instantaneous current generated by the controlled pole of the switching element Q401 due to the parasitic capacitance, so as to suppress the oscillation; the fifth resistor R402 connected in parallel between the controlled pole and the first output pole of the switching element Q401 can suppress oscillation generated by junction capacitance between the controlled pole and the first output pole of the switching element Q401, thereby ensuring reliable cut-off of the switching element Q401 when voltage is input into the switching element Q401; meanwhile, the freewheeling diode D401 is connected with the power source M401 in parallel, so that the counter electromotive force generated when the motor stops can be eliminated, the power source M401 is prevented from being damaged, and the components connected with the power source M401 are prevented from being broken down; in addition, the seventh capacitor C401 is connected in parallel with the power source M401, which provides a low impedance path to bypass the excessive voltage spike when the power source M401 is turned on, thereby reducing the pulse interference.
Among the prior art, miniature four-axis unmanned aerial vehicle generally adopts PCB (Printed Circuit Board) as the frame, and miniature unmanned aerial vehicle control Circuit adopts general Circuit mostly, adopts the form assembly that a plurality of PCBs piled up simultaneously, and this kind of assembly mode integrated level is low, and the Circuit is redundant, causes the frame volume great.
In order to solve the above problems, in this embodiment, by using the high power density and high efficiency (96%) DC-DC buck-boost converter U202 of model number TPS63031, high power output (800 mA 3.3V) can be achieved in a narrow space of 2.5mm × 2.5mm and with a low heat dissipation amount; meanwhile, based on an attitude sensor of an MEMS (Micro-Electro-Mechanical System, Micro Electro-Mechanical System) and a module with high integration level, such as a single lithium battery charger U201 with a BQ21040 type being highly integrated, the unmanned aerial vehicle can be driven to work only by a small amount of peripheral circuits, and therefore the size of the frame of the Micro four-axis unmanned aerial vehicle can be effectively reduced.
In this embodiment, the power supply unit further includes an electric quantity detection module, the electric quantity detection module is in communication connection with the main control unit, and a power supply end of the electric quantity detection module is electrically connected with an output end of the rechargeable battery; the electric quantity detection module is used for collecting voltage data of the rechargeable battery and then sending the voltage data to the main control unit.
In this embodiment, the main control unit includes a main control module, and further includes a posture detection module and a wireless signal transceiver module which are respectively in communication connection with the main control module, and a power supply end of the main control module, a power supply end of the posture detection module, and a power supply end of the wireless signal transceiver module are all electrically connected with an output end of the rechargeable battery through the buck-boost conversion module; specifically, the master control module may be, but is not limited to, a microcontroller of model number STM32F103CBT 6.
The attitude detection module is used for detecting the motion attitude of the unmanned aerial vehicle and outputting three-dimensional attitude data to the main control module in real time; it should be noted that the three-dimensional attitude data includes, but is not limited to, acceleration data and angular velocity data;
the wireless signal transceiver module is used for receiving a control signal sent by a user terminal and then sending the control signal to the main control module;
the main control module is used for receiving the three-dimensional attitude data sent by the attitude detection module and obtaining the attitude data of the current unmanned aerial vehicle according to the three-dimensional attitude data; the main control module is also used for receiving the control signal sent by the wireless signal transceiving module, obtaining motor increment data according to the control signal and the current attitude data of the unmanned aerial vehicle after receiving the control signal, and then sending a driving signal to the power driving module according to the motor increment data;
the power driving module is used for receiving the driving signal sent by the main control module so as to adjust the current unmanned aerial vehicle to a specified state.
In this embodiment, the main control unit further includes a status indication module in communication connection with the main control module, and a power supply end of the status indication module is electrically connected to an output end of the rechargeable battery through the buck-boost conversion module; and the state indicating module is used for indicating the current running state of the unmanned aerial vehicle when receiving the indicating driving signal sent by the main control module.
In this embodiment, the control circuit of the micro unmanned aerial vehicle further comprises a switching module in communication connection with the main control module, and the switching module is electrically connected with the power supply end of the charging module. In this embodiment, the switching module may be, but not limited to, a USB interface Type-C interface, and the like, and specifically, the switching module is electrically connected to the VIN pin of the charger U201, so that the power supply supplies power to the charger U201 through the switching module, and meanwhile, the terminal devices such as a PC may be connected to the main control module through the switching module, so that the terminal devices such as the PC may obtain data such as debugging parameters of the main control module.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Finally, it should be noted that the present invention is not limited to the above alternative embodiments, and that various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined by the appended claims, which are intended to be interpreted according to the breadth to which the description is entitled.
Claims (8)
1. The utility model provides a miniature unmanned aerial vehicle control circuit which characterized in that: the power-driven device comprises a main control unit, a power driving module and a power supply unit, wherein a controlled end of the power driving module is in communication connection with the main control unit; the power supply unit comprises a charging module, a buck-boost conversion module and a rechargeable battery, wherein the output end of the charging module is electrically connected with the power supply end of the buck-boost conversion module and the power supply end of the rechargeable battery respectively, the output end of the rechargeable battery is electrically connected with the power supply end of the main control unit through the buck-boost conversion module, and the output end of the rechargeable battery is also electrically connected with the power supply end of the power driving module; the voltage-boosting and voltage-reducing conversion module is used for automatically carrying out voltage reduction or voltage stabilization on the voltage input by the rechargeable battery so as to obtain stable output voltage;
the buck-boost conversion module comprises a buck-boost converter (U202), a third capacitor (C203), a fourth capacitor (C204), a fifth capacitor (C205), a sixth capacitor (C206) and an inductor (L201), wherein the buck-boost converter (U202) adopts a buck-boost conversion chip with the model number of TPS 63031;
the VIN pin of the buck-boost converter (U202) is used as the power supply end of the buck-boost conversion module and is respectively electrically connected with the output end of the rechargeable battery and the output end of the charging module, the VIN pin of the buck-boost converter (U202) is also grounded through the third capacitor (C203), the VINA pin and the EN pin of the buck-boost converter (U202) are both grounded through the fourth capacitor (C204), the PS pin of the buck-boost converter (U202) is in communication connection with the main control unit, the L1 pin and the L2 pin of the buck-boost converter (U202) are respectively connected with the two ends of an inductor (L35201), the EPAD pin, the GND pin and the PGND pin of the buck-boost converter (U202) are all grounded, the FB pin and the VOUT pin of the buck-boost converter (U202) are electrically connected, the VOUT pin of the buck-boost converter (U202) is grounded through the fifth capacitor (C205) and the sixth capacitor (C206) respectively and is used as the output end of the buck-boost conversion module is electrically connected with the output end of the buck-boost conversion module The power supply end of the main control unit.
2. The unmanned aerial vehicle control circuit of claim 1, wherein: the charging module comprises a charger (U201), a first capacitor (C201), a second capacitor (C202), a first resistor (R201) and a second resistor (R202), wherein the charger (U201) adopts a charging chip with the model number of BQ 21040;
the VIN pin of charger (U201) is used for the electricity to connect the power supply, the VIN pin of charger (U201) still passes through first electric capacity (C201) ground connection, the ISET pin of charger (U201) passes through first resistance (R201) ground connection, the TS pin of charger (U201) passes through second resistance (R202) ground connection, the VOUT pin of charger (U201) passes through second electric capacity (C202) ground connection and regards as the output of the module of charging electricity connects respectively the supply terminal of buck-boost conversion module with rechargeable battery's supply terminal.
3. The unmanned aerial vehicle control circuit of claim 2, wherein: the charging module further comprises a third resistor (R203) and a light emitting diode (LED 201); the anode of the light-emitting diode (LED 201) is electrically connected with the VOUT pin of the charger (U201) through the third resistor (R203), and the cathode of the light-emitting diode (LED 201) is electrically connected with the CHG pin of the charger (U201).
4. The unmanned aerial vehicle control circuit of claim 1, wherein: the power driving module comprises a switching element (Q401), a power source (M401), a fourth resistor (R401), a fifth resistor (R402), a freewheeling diode (D401) and a seventh capacitor (C401); the controlled pole of the switching element (Q401) is in communication connection with a main control unit through the fourth resistor (R401), the first output pole of the switching element (Q401) is grounded, the second output pole of the switching element (Q401) is electrically connected with one pole of a power source (M401), the other pole of the power source (M401) serves as a power supply end of the power driving module and is electrically connected with the output end of the rechargeable battery, one end of the fifth resistor (R402) is electrically connected with the controlled pole of the switching element (Q401), the other end of the fifth resistor (R402) is grounded, and the freewheeling diode (D401) and the seventh capacitor (C401) are both connected with the power source (M401) in parallel.
5. The unmanned aerial vehicle control circuit of claim 1, wherein: the power supply unit further comprises an electric quantity detection module, the electric quantity detection module is in communication connection with the main control unit, and a power supply end of the electric quantity detection module is electrically connected with an output end of the rechargeable battery; the electric quantity detection module is used for collecting voltage data of the rechargeable battery and then sending the voltage data to the main control unit.
6. A unmanned aerial vehicle control circuit according to claim 1, wherein: the main control unit comprises a main control module, a posture detection module and a wireless signal transceiving module which are respectively in communication connection with the main control module, and a power supply end of the main control module, a power supply end of the posture detection module and a power supply end of the wireless signal transceiving module are all electrically connected with an output end of the rechargeable battery through the buck-boost conversion module;
the attitude detection module is used for detecting the motion attitude of the unmanned aerial vehicle and outputting three-dimensional attitude data to the main control module in real time;
the wireless signal transceiver module is used for receiving a control signal sent by a user terminal and then sending the control signal to the main control module;
the main control module is used for receiving the three-dimensional attitude data sent by the attitude detection module and obtaining the attitude data of the current unmanned aerial vehicle according to the three-dimensional attitude data; the main control module is also used for receiving the control signal sent by the wireless signal transceiving module, obtaining motor increment data according to the control signal and the current attitude data of the unmanned aerial vehicle after receiving the control signal, and then sending a driving signal to the power driving module according to the motor increment data;
the power driving module is used for receiving the driving signal sent by the main control module so as to adjust the current unmanned aerial vehicle to a specified state.
7. The unmanned aerial vehicle control circuit of claim 6, wherein: the main control unit further comprises a state indicating module in communication connection with the main control module, and a power supply end of the state indicating module is electrically connected with an output end of the rechargeable battery through the voltage boosting and reducing conversion module; and the state indicating module is used for indicating the current running state of the unmanned aerial vehicle when receiving the indicating driving signal sent by the main control module.
8. The unmanned aerial vehicle control circuit of claim 6, wherein: miniature unmanned aerial vehicle control circuit still include with host system communication connection's switching module, switching module with the power supply end electricity of the module that charges is connected.
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| WO2017128113A1 (en) * | 2016-01-27 | 2017-08-03 | 深圳市大疆创新科技有限公司 | Power supply control circuitry, electronic speed regulator, unmanned aerial vehicle, and control method |
| CN210821900U (en) * | 2019-06-24 | 2020-06-23 | 深圳市科比特航空科技有限公司 | Integrated control charging circuit and device for unmanned aerial vehicle |
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| CN101572425A (en) * | 2009-06-15 | 2009-11-04 | 江苏工业学院 | Buck-boost adjustable quick charger |
| CN104536467A (en) * | 2014-12-26 | 2015-04-22 | 国家电网公司 | Beyond visual range aircraft inspection system |
| WO2017128113A1 (en) * | 2016-01-27 | 2017-08-03 | 深圳市大疆创新科技有限公司 | Power supply control circuitry, electronic speed regulator, unmanned aerial vehicle, and control method |
| CN210821900U (en) * | 2019-06-24 | 2020-06-23 | 深圳市科比特航空科技有限公司 | Integrated control charging circuit and device for unmanned aerial vehicle |
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