CN1358650A - Remote control system for axle-shared double-rotary wing pilotless helicopter - Google Patents
Remote control system for axle-shared double-rotary wing pilotless helicopter Download PDFInfo
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- CN1358650A CN1358650A CN 02100627 CN02100627A CN1358650A CN 1358650 A CN1358650 A CN 1358650A CN 02100627 CN02100627 CN 02100627 CN 02100627 A CN02100627 A CN 02100627A CN 1358650 A CN1358650 A CN 1358650A
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Abstract
The remote control system for coaxial dual-rotor pilotless helicopter is formed from ground transmitting soybean and airborne receiving system. The ground transmitting system incldues flying control table, instruction coder, remote control transmitter, measuring control antenna, difference GPS equipment, ground monitoring computer and auxiliary remote control transmitting equipment, and the airborne receiving system includes measuring control antenna, remote control receiver, code synchronizer, remote control airborne processing system and auxiliary remote control receiving equipment. Its remote control working mode is formed from main remote control working mode and emergency remote control working mode. The data colleclor can transfer the collected data into instruction coder to make treatment, and the treated information can be transferred into airborne remote control receiving equipment by means of remote control transmitter.
Description
The present invention relates to a kind of command and control system, be meant a kind of command and control system that is used for axle-shared double-rotary wing pilotless helicopter especially.
Pilotless helicopter is a kind of helicopter that utilizes wireless remote control control flight, compare with fixed wing aircraft, the poor stability of pilotless helicopter flight, state of flight change rapidly, ground controlling control more complicated, therefore, pilotless helicopter has proposed harsh more requirement to the radio telecommand control system.
Reliably whether the performance quality of command and control system, for guaranteeing the pilotless helicopter safe flight, finishing the work and have great significance smoothly.
Inventor's design-calculated command and control system can be adjusted the attitude, flight track of pilotless helicopter in real time and airborne equipment is controlled.For example, can finish pilotless helicopter driving, cut-off, switching, the pilotless helicopter of active/standby part telecommand equipment to the adjustment of attitude, can also finish the injection of track points data by the up-link that command and control system provides in length and breadth.
The object of the present invention is achieved like this; A kind of command and control system that is used for axle-shared double-rotary wing pilotless helicopter, it is made of ground emission coefficient and airborne receiving system.(a) the ground emission coefficient comprises flicon platform, command encoder, remote transmitter, observing and controlling antenna, differential GPS devices, ground monitoring computing machine and an auxiliary remote control transmitter, the flicon platform connects maneuvering device, display equipment, ground monitoring computing machine and remote transmitter, and remote transmitter connects the observing and controlling antenna; Data trap and differential GPS devices transmission information are given command encoder, and command encoder outputs signal to remote transmitter; (b) airborne receiving system comprises observing and controlling antenna, remote control receiver, bit synchronizer, the airborne disposal system of remote control and an auxiliary remote control reception facilities, the observing and controlling antenna is connected on the remote control receiver, remote control receiver connects bit synchronizer, bit synchronizer connects with the airborne disposal system of remote control, and auxiliary remote control reception facilities is connected on the airborne disposal system of remote control.
Described remote control mode of operation is made up of main remote control mode of operation and backup remote control mode of operation.
Described autonomous remote control (programming control) pattern is remote operated by the software program that weaves.
Described command encoder is encoded, encrypts, is compiled frame to the signal that sends and handles.
The instruction of described proportional-type has vertically, laterally, course, total distance and throttle.
The instruction of described switching mode has driving, cut-offs, the autonomous change-over switch of engine speed, highly, laterally, course remote control/autonomous change-over switch, active/standby part of remote control change-over switch.
Described flight path data are differential GPS corrected signal, the high data of navigation longitude and latitude.
Described command encoder sends the ground monitoring computing machine on the one hand to the data after handling and monitors, on the other hand uniform data is compiled frame and sends remote transmitter to.
Described bit synchronizer carries out a yard synchronous processing to the data that remote control receiver receives.
The data that the airborne disposal system of described remote control transmits bit synchronizer are decoded, decipher, are separated frame and handle.
Described active/standby part of remote operated switching finished automatically by the backup switch controller.
Described active/standby part of remote operated switching finished by the manual operation of backup switch controller.
Described master/remote control switching command is provided by airborne telecommand equipment, finishes in autostabilization system.
Advantage of the present invention is that design is terse, highly sensitive, disturbance rejection strong, remote control distance is far away.
The present invention is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is the composition frame chart of ground system of the present invention.
Fig. 2 is the composition frame chart of mobile system of the present invention.
Fig. 3 is a flicon diagram of circuit of the present invention.
Fig. 4 is active/standby part of remote control switching flow figure of the present invention.
Fig. 5 is that command encoder of the present invention is compiled the frame format scheme drawing.
A kind of command and control system that is used for axle-shared double-rotary wing pilotless helicopter of design-calculated of the present invention, it is made of ground emission coefficient and airborne receiving system, please referring to Fig. 1, shown in Figure 2.The ground emission coefficient comprises flicon platform, command encoder, remote transmitter, observing and controlling antenna, differential GPS devices, ground monitoring computing machine and an auxiliary remote control transmitter, the flicon platform connects maneuvering device, display equipment, ground monitoring computing machine and remote transmitter, remote transmitter connects the observing and controlling antenna, data trap and differential GPS devices transmission information are given command encoder, and command encoder outputs signal to remote transmitter; Airborne receiving system comprises observing and controlling antenna, remote control receiver, bit synchronizer, the airborne disposal system of remote control and an auxiliary remote control reception facilities, the observing and controlling antenna is connected on the remote control receiver, remote control receiver connects bit synchronizer, bit synchronizer connects with the airborne disposal system of remote control, and auxiliary remote control reception facilities is connected on the airborne disposal system of remote control.The remote control mode of operation is made up of main remote control mode of operation and backup remote control mode of operation, autonomous remote control (or title programming control) pattern is remote operated by the software program that weaves, and cooperates main telecommand equipment to control flight.Active/standby part of remote operated switching finished automatically or artificially by the backup switch controller.And autonomous/remote control switching command is provided by airborne telecommand equipment, finishes in autostabilization system.
Design-calculated pilotless helicopter command and control system of the present invention belongs to the part of microwave unification measurement and control system, it and shared unified radio-frequency channel of other subsystem and tracking equipment.In the narration below, it is with regard to the The whole control system of pilotless helicopter that command and control system is called telecommand subsystem.
The function of design-calculated pilotless helicopter telecommand subsystem of the present invention comprises switching mode instruction control, proportional-type instruction control and the injection of flight path data.Wherein switching mode instruction driving arranged, cut-off, the autonomous change-over switch of engine speed, highly, laterally, course remote control/autonomous change-over switch, active/standby part of remote control change-over switch etc., proportional-type instruction has vertically, laterally, course, total distance and throttle five tunnel, the flight path data comprise differential GPS corrected signal, the high data of navigation longitude and latitude etc.
The telecommand subsystem wayside equipment matches with differential GPS devices, ground monitoring computing machine, finishes functions such as instruction acquisition, demonstration, coding, encryption, transmission and record jointly.
Data trap is responsible for gathering maneuvering device and is injected data with the switch order that switch is set, proportional command and flight path, send display equipment to show on the one hand, send command encoder to encode on the other hand, encrypts, compiles frame.Command encoder send remote transmitter to send on one side after the uniform data of flicon platform and differential GPS devices is compiled frame, give ground monitoring computing machine for monitoring show all volume frames before original remote-control data on one side.
Airborne equipment matches with autostabilization system, navigation control computer and finishes the control of pilotless helicopter flight attitude, state switching and automatic navigation control etc. jointly.
Main remote control mode is used to realize the remote control distributor of pilotless helicopter, finishes every functions such as attitude control, state switching and the injection of flight path data.The backup remote control mode works in the frequency range different with main remote control mode, is main remote operated backup, is used to finish functions such as the attitude control of pilotless helicopter, simple state switching.When main remote control frequency range is subjected to the enemy and disturbs, switch to the backup remote control mode, can play electronically jamproof effect.Autonomous mode is used to make pilotless helicopter independently to fly by the program that weaves in advance, therefore also can be referred to as programed flight.All manipulated variables can all be changeed independently, also can partly change autonomous.Two implications are independently arranged here: the one, automatically reach predetermined target; The 2nd, automatically be stabilized in predetermined target.
In the pilotless helicopter flight course,, often adopt remote control and the autonomous mode of interlinkage mutually to control pilotless helicopter in order to alleviate the burden of control hand.With a pilotless helicopter, fall to illustrating, as shown in Figure 3.As can be seen from the figure when remote control was taken off, the engine speed manipulated variable was in from major state, and the maneuvering device of this moment is vertical, transversal vector still is in remote state.
The backup remote control mode is out of order at main remote control mode, and the back is automatic or artificial switches in the past.Handoff procedure as shown in Figure 4.When main remote control is broken down, the ground monitoring computing machine will demonstrate, and inform it is/not switching that selection is that system changes fully autonomous remote control mode over to, is transformed into main remote control after the pending fault reparation automatically; Select not, system's waits of delaying time automatically switches to fully independently remote control mode.
It is out of control for pilotless helicopter is unlikely in handoff procedure because of the saltus step of manipulated variable or state, in-flight, advocate peace backup remote operated manipulated variable, state setting will be consistent all the time, and backup remote-control data that this shows by ground supervisory control computer relatively and remote measurement return main remote-control data and realize.Equally, adding commentaries on classics fully in handoff procedure independently also is to guarantee that pilotless helicopter when the backup remote control mode does not have normal access, can temporarily be in autonomous remote control mode.
Coaxial unmanned driving helicopter flight control desk is mainly finished the collection of Ground Control instruction (switch and proportional command) and flight path data, and sends to the task of command encoder.Can accurately, in time whether being directly connected to of gathering correctly control pilotless helicopter.Simultaneously, the flicon platform also must be considered man-machine work efficiency in design as the manipulation interface of control hand and aircraft, promptly controls hand and should be able to handle input equipment effectively, reduces owing to the tired error that causes of control hand.The flicon platform divides four parts: maneuvering device, switch, data trap and display equipment are set.In design process, with reference to the control platform of people's helicopter arranged.
Maneuvering device is made of five tunnel (vertically, laterally, course, total distance and throttle) signal generating apparatus.Vertical and horizontal designs on same joystick, before and after having and about two degree of freedom, control pilotless helicopter vertical and horizontal steering wheel respectively.Total distance and throttle design have up and down and two degree of freedom of edge axle rotation on a pull bar, control total distance and throttle steering wheel respectively.Course design is on the moving pedal of a duplicate invoice, and a left side is stepped on to step on the right side and all acted on the course steering wheel, controls a left side, pilotless helicopter course and the right side, course respectively.
Maneuvering device has been considered man-machine work efficiency in design process, as the hunting range of joystick, and the position that hand is placed etc.Carry out flight experiment by control hand manipulation of physical pilotless helicopter, obtained satisfied result.
The setting that switch comprises switching value, flight path data is set.It is controlled by the control chip Intel8279 in the data trap with display equipment (finishing the demonstration of switching value, manipulated variable).Data trap is gathered maneuvering device and the data of equipment is set, and send display equipment to show on the one hand, is transferred to command encoder by parallel port communication (for improving data transmission rate) on the other hand and encodes, encrypts.
Pilotless helicopter remote control uplink information comprises telecommand (switch order and proportional command) and flight path data two big classes.
Telecommand is a kind of order of Ground Control pilotless helicopter and capacity weight running thereof.It is a kind of immediate instruction, i.e. send airborne each equipment to carry out after the command decoder decode immediately.Telecommand comprises switch and proportional command, switch order mainly is a pilotless helicopter state and being provided with for a change, as drive, cut-off, rotating speed and vertical etc. autonomous/remote control switching etc., proportional command then is used for accurately controlling the pilotless helicopter attitude, as vertical, horizontal, course, total distance and throttle etc.
The flight path data are in the pilotless helicopter flight course, and the flight path of real time altering pilotless helicopter needs by the remote control up channel information that navigation computer sends on pilotless helicopter.These data comprise the high data of navigation longitude and latitude, navigation instruction, altitude data and differential GPS data etc.
Because the interval between the frame sequence is very short, decoding does not need to set up in advance sign indicating number synchronously, so do not need to add lead code.Here remote control uplink information (comprising telecommand and flight path data) is all enrolled in the frame, wherein long flight path The data is added the method for subframe.Please referring to shown in Figure 5.
Suppose speed rates, adopt three two forward error correction modes of declaring with 9.6Kbps:
((2+1+2+5+1+2) * 3 * 8) ÷ 9.6K=32.5ms then
If selecting 35ms for use is that frame sends the cycle, then remote-control data has the rate of replacement of 28.6Hz, can satisfy the requirement of pilotless helicopter control.
Between the various manipulated variables of pilotless helicopter is not separate, and when a manipulated variable changed, another manipulated variable also need be carried out corresponding change, otherwise pilotless helicopter is with get out of hand, between total distance and throttle.
For pilotless helicopter, have with next group relation:
Power ∝ throttle;
Rotating speed
2∝ Power x K (K is a factor of proportionality);
Total distance * the rotating speed of lift ∝
2
Rise if want to handle pilotless helicopter, need carry collective-pitch lever, make that total blade angle increases apart from increasing, resistance also increases, and causes rotating speed to descend, this moment lift whether increase be unknown, but stabilization of speed is when a value, then lift is directly proportional with total distance.Therefore, by the increase throttle, and then increase engine power, i.e. power increase then can make rotating speed rise, and therefore when always apart from increase, need find a throttle value, makes the increase of power and resistance roughly the same, then stabilization of speed.Like this, total distance and throttle just have a cooresponding relation, and this relation can get by experiment, is similar to 2 curves.Obviously handling hand is to be difficult to accomplish can regulate throttle exactly when carrying or press collective-pitch lever in the pilotless helicopter flight course, and therefore, when being preferably in total distance, throttle instruction formation, this relation is determined.
When design, the curve that obtains according to experiment is formulated to look-up table, in formation apart from instruction simultaneously always, by cooresponding throttle value in the look-up table, is superimposed with the next throttle value of collection, forms the throttle instruction, and always distance, throttle send together again.
Telecommand subsystem of the present invention is an important component part of coaxial rotor pilotless helicopter, can control the pilotless helicopter flight attitude in real time by it, and carry out in flight course that state switches and the injection of flight path data, for guaranteeing that pilotless helicopter flies normally, successfully finishing aerial mission has significance.
Claims (13)
1, a kind of command and control system that is used for axle-shared double-rotary wing pilotless helicopter, it is characterized in that: it is made of ground emission coefficient and airborne receiving system, (a) the ground emission coefficient comprises flicon platform, command encoder, remote transmitter, observing and controlling antenna, differential GPS devices, ground monitoring computing machine and an auxiliary remote control transmitter, the flicon platform connects maneuvering device, display equipment, ground monitoring computing machine and remote transmitter, and remote transmitter connects the observing and controlling antenna; Data trap and differential GPS devices transmission information are given command encoder, and command encoder outputs signal to remote transmitter; (b) airborne receiving system comprises observing and controlling antenna, remote control receiver, bit synchronizer, the airborne disposal system of remote control and an auxiliary remote control reception facilities, the observing and controlling antenna is connected on the remote control receiver, remote control receiver connects bit synchronizer, bit synchronizer connects with the airborne disposal system of remote control, and auxiliary remote control reception facilities is connected on the airborne disposal system of remote control.
2, command and control system according to claim 1 is characterized in that: the remote control mode of operation is made up of main remote control mode of operation and backup remote control mode of operation.
3, according to claim 1,2 described command and control system, it is characterized in that: autonomous remote control (programming control) pattern is remote operated by the software program that weaves.
4, command and control system according to claim 1 is characterized in that: command encoder is encoded, encrypts, is compiled frame to the signal that sends and handles.
5, command and control system according to claim 1 is characterized in that: proportional-type instruction has vertically, laterally, course, total distance and throttle.
6, command and control system according to claim 1 is characterized in that: switching mode instruction has driving, cut-offs, the autonomous change-over switch of engine speed, highly, laterally, course remote control/autonomous change-over switch, active/standby part of remote control change-over switch.
7, command and control system according to claim 1 is characterized in that: the flight path data are differential GPS corrected signal, the high data of navigation longitude and latitude.
8, command and control system according to claim 1 is characterized in that: command encoder sends the ground monitoring computing machine on the one hand to the data after handling and monitors, on the other hand uniform data is compiled frame and sends remote transmitter to.
9, command and control system according to claim 1 is characterized in that: bit synchronizer carries out a yard synchronous processing to the data that remote control receiver receives.
10, command and control system according to claim 1 is characterized in that: the data that the airborne disposal system of remote control transmits bit synchronizer are decoded, decipher, are separated frame and handle.
11, according to claim 1,2 described command and control system, it is characterized in that: active/standby part of remote operated switching finished automatically by the backup switch controller.
12, according to claim 1,2 described command and control system, it is characterized in that: active/standby part of remote operated switching finished by the manual operation of backup switch controller.
13, according to claim 1,2 described command and control system, it is characterized in that: master/remote control switching command is provided by airborne telecommand equipment, finishes in autostabilization system.
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| CNB02100627XA CN1167576C (en) | 2002-01-29 | 2002-01-29 | Remote control system for axle-shared double-rotary wing pilotless helicopter |
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| CNB02100627XA CN1167576C (en) | 2002-01-29 | 2002-01-29 | Remote control system for axle-shared double-rotary wing pilotless helicopter |
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| CN1358650A true CN1358650A (en) | 2002-07-17 |
| CN1167576C CN1167576C (en) | 2004-09-22 |
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