CN1569563A - Pose stability increasing apparatus for unmanned airplane and control method thereof - Google Patents
Pose stability increasing apparatus for unmanned airplane and control method thereof Download PDFInfo
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- CN1569563A CN1569563A CN 200410017953 CN200410017953A CN1569563A CN 1569563 A CN1569563 A CN 1569563A CN 200410017953 CN200410017953 CN 200410017953 CN 200410017953 A CN200410017953 A CN 200410017953A CN 1569563 A CN1569563 A CN 1569563A
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Abstract
The invention relates to unpiloted machine gesture autostabilization device, which includes a shell, cover, parallel incline sensor arranged on the lower part of the shell and the upper control circuit board and the signal input and output port and series port. The control circuit structure is: the parallel incline sensor feeds back the sensed unpiloted pitching and rolling gesture angle to the microchip on the control circuit board, acquires the output information with the control software stored in the microchip, and they are outputted from the output port. The device size is small, and it is light, upgrades the stability of unpiloted plane.
Description
Technical field
The present invention relates to a kind of unmanned plane attitude tranquilizer, especially make the micro-miniature depopulated helicopter safety and stability flight that is difficult to control, belong to micro-miniature unmanned plane technical field based on obliquity sensor.
Background technology
The micro-miniature unmanned plane need not airborne chaufeur, can reduce the risk of chaufeur greatly; Its characteristic dimension can be between 80cm～200cm, and is very light, flexible, be easy to carry about with one; While is cost-cutting greatly, can both play a significant role aspect the army and the people two.But micro-miniature unmanned plane difficult operation, especially new hand often have the risk of the machine of falling, and have limited promoting the use of of micro-miniature unmanned plane greatly.Given this plant situation, research institutions such as lot of domestic and international major company, university have carried out the research of unmanned plane autonomous flight control, navigation one after another, but yet there are no the report of matured product, all also taking a flight test the debug phase, also having very long stretch to walk to applying.
Summary of the invention
The present invention is intended to develop a kind of part and independently adds the remote operated prosecutor formula that flies, with two passages the most rambunctious---and pitching and roll reduce operation easier and flight risk by the stable control of stability augmentation system greatly to reach, and improve purposes such as flight stability greatly.
Design of the present invention is: the present invention's design provides a kind of unmanned plane attitude tranquilizer based on obliquity sensor, by a level inclination sensor unmanned plane pitching and roll attitude angle are fed back to micro controller system on the control desk in real time, stablize the unmanned plane attitude by the Control Software that is stored in the micro controller system.This tranquilizer is connected with the no-manned machine distant control system, both can unmanned plane be stabilized in any attitude in the safe range by stability augmentation system of the present invention again by remote control hand free exercise control unmanned plane.When if the remote control hand runs into emergency situation and is at a loss, only need neglect a responsibility the remote-control lever of pitching, roll passage, tranquilizer of the present invention can make unmanned plane get back to horizontal attitude automatically.Do excessively when remote manual control, when making the unmanned plane attitude surpass safe flight scope (can set up spacing angle on their own according to the actual ability of controlling of controlling hand), tranquilizer of the present invention can make unmanned plane get back to horizontal attitude automatically, can in time avoid falling machine danger.Also be provided with a remote control input channel among the present invention, allow and control the convenient, flexible selection of hand and freely control or increase surely and control.This input channel can also be used for the horizontal meta and the steering wheel meta of online correction obliquity sensor, has improved the adaptive capacity to environment of this tranquilizer and flight stability, reliability, guarantees that the unmanned plane attitude is steady.
According to above-mentioned design, the present invention adopts following technical scheme:
Adopt small and exquisite stepped construction on this attitude tranquilizer structure, the level inclination sensor is installed in lower housing portion, control circuit board is installed in housing top, and its external bonded assembly signal input output end mouth, serial port and JTAG program write mouth and be arranged on the top cover compactly.
This attitude tranquilizer control circuit structure is: at first tranquilizer is series between remote control receiver and the steering wheel, convenient, flexible selection is freely controlled or is increased steady control mode by a mode change-over switch, still needs the horizontal meta and the steering wheel median of online correction obliquity sensor; Pitching, roll attitude angle that the remote information of unmanned plane pitching then, roll attitude and level inclination sensor sense all are real-time transmitted to the micro controller system on the control circuit board, obtain output information by the Control Software that is stored in the micro controller system, control steering wheel from pitching, roll attitude that output port outputs on the unmanned plane.Serial port on the control circuit board is for the off-line data communication between micro controller system and the upper computer (notebook or desktop PC).
Above-mentioned level inclination sensor adopts NS-45/E2 type double-shaft tilt angle sensor.
Above-mentioned mode change-over switch is made of the ternary passage on the remote control equipment (RCE).
Above-mentioned micro controller system adopts the C8051F021 type.
Above-mentioned serial port adopts micro controller system C8051F021 to go up integrated UART mouth.
The performing step of this attitude tranquilizer Control Software is:
1) startup self-detection and initialization;
2) read the pulsewidth of mode change-over switch, judge it is horizontal meta and the steering wheel median that needs online correction obliquity sensor with this, or attitude increases surely, so that change corresponding handler section---step 3) and step 4) over to;
3) intermediate value correction;
4) read pitching, roll attitude angle, if it is that median (being that the remote control hand is let remote control handle go) then adopts the PD control algorithm obtain allowing the pwm value of flight attitude in returning that unmanned plane pitching, roll attitude angle surpass spacing angle or continuous 3 cycles, otherwise from surely in current attitude or the straight-though pwm value of remote control as new output valve;
5) above-mentioned new pwm value is outputed to pitching, roll steering wheel.
Attitude tranquilizer of the present invention is simple in structure, size is little, in light weight, flexible operation, good stability, cost is low, reliability is high, be easy to realize.Improved the flight stability of unmanned plane greatly, be no-manned machine distant control new hand the good assistant, be the good assistant who realizes light airline operation, also can be used for The Cloud Terrace and increase surely.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the present of invention.
Fig. 2 is the circuit block diagram of installing and using of Fig. 1 example.
Fig. 3 is the schematic circuit diagram of Fig. 1 example.
Fig. 4 is the Control Software diagram of circuit that writes micro controller system of Fig. 1 example.
The specific embodiment
A preferred embodiment of the present invention is: referring to Fig. 1, in the unmanned plane attitude tranquilizer, control circuit board 4 connects sensor 2 by four bolts 3 and is fixed in the housing 1, and lid 5 is sealed the top.External bonded assembly signal input port 6,7,8, unmanned plane attitude control signal output port 9,10, data communication serial port 11 and program are write inlet JTAG12 and are all stretched out from cover 5 window.The attitude angle information of sensor 2 is from interface 14 outputs, and interface 13 is input in the micro controller system on control circuit board 4.
Referring to Fig. 2, tranquilizer is series between remote control receiver and the steering wheel, the remote information of unmanned plane pitching, roll attitude is input to the micro controller system from 8,7 respectively, the pitching of sensor 2, roll attitude angle information enter the single-chip simulation input port from interface 14 through interface 13, the pitching of micro controller system, the control information of roll attitude output to the control steering wheel from 10,9 respectively, thereby stablize the attitude of unmanned plane.Freely control or increase steady control mode by the 6 convenient, flexible selections of mode change-over switch, still need the horizontal meta and the steering wheel median of online correction obliquity sensor.
Referring to Fig. 3, NS-45/E2 is an obliquity sensor 2, and its analog quantity output X, Y are input to analog input port AIN0.0, the AIN0.1 of micro controller system C8051F021 respectively.The remote- control channel 1,2 and 8 of receiver is input to input port 7,8,6 respectively, enters micro controller system through the I/O of micro controller system mouth P1.1, P1.0, P1.2.The pitching of micro controller system, the control information of roll attitude output to interface 10,9 through the I/O of micro controller system mouth P0.3, P0.2 respectively.The Tx of serial ports 11, Rx are connected to interface 11 through the I/O of micro controller system mouth P0.0, P0.1 respectively.
Accompanying drawing 4 is the Control Software diagram of circuits that write micro controller system C8051F021.
Claims (5)
1. unmanned plane attitude tranquilizer, comprise an obliquity sensor (2), it is characterized in that the pitch attitude angle of obliquity sensor (2) is connected the input port (13) of the micro controller system (15) on the control desk (4) with roll attitude angle signal input port (14), micro controller system (15) also has input port (8,7,6) to be respectively applied for the delivery port of the pitching signal input channel, roll signal input channel and the switching controls mode signal line that connect receiver (19); Micro controller system (15) has two pulse width signal output signal channel ports (9,10) to be respectively applied for the input port that connects pitch-control motor (17) and roll steering wheel (18).
2. unmanned plane attitude tranquilizer according to claim 1 is characterized in that obliquity sensor (2) is installed in the bottom of a housing (1); Control desk (4) is installed in the middle part of housing (1); Connect the input port (8,7,6) of receiver (19) and pitching signal input channel, roll signal input channel and switching controls mode signal line and be connected pitch-control motor (17) and the output port of the pulse width signal delivery channel of roll steering wheel (18) (9,10) is arranged on the top cover (5) of housing (1); Also having data communication serial port (11) and program to write inlet (12) stretches out from the window of the top cover (5) of housing (1).
3. unmanned plane attitude tranquilizer according to claim 1 and 2 is characterized in that circuit structure is: adopt C8051F021 type micro controller system, it 17 is connected the electric furnace of being made up of two electric capacity (C14, C15) and a crystal oscillator (Y1) with 18 pin; 5,6,8,9 constitute input port (13) with 10 pin and are connected the pitch attitude angle and the roll attitude angle signal output port (14) of obliquity sensor (2) through the junction circuit that four resistance (R1, R2, R3, R4) are formed; 28,29,30 pin connect the input port (8,7,6) of pitching signal input channel, roll signal input channel and the switching controls mode signal line of receiver (19); 61,60,59 and 58 pin linkers are write inlet (12); It 55 is connected data communication serial port (11) with 54 pin by the MAX232 cake core; And its 53 output port (9,10) that is connected the pulse width signal delivery channel of pitch-control motor (17) and roll steering wheel (18) with the circuit that 52 pin are formed by two resistance (R5, R6).
4. according to claim 1 or 3 described unmanned plane attitude tranquilizers, it is characterized in that obliquity sensor (2) adopts NS-45/E2 type double-shaft tilt angle sensor, the input port (6) that connects switching controls mode passage is ternary passage input port; Data communication serial port (11) adopts integrated UART mouth on the micro controller system.
5. a control method that is used for the described unmanned plane attitude of claim 1 tranquilizer is characterized in that realizing controlled step by the software program that writes micro controller system (15), is specially:
A. startup self-detection and initialization;
B. read the pulsewidth of mode switching signal, judge it is horizontal meta and the steering wheel median that needs online correction obliquity sensor (2) with this, or attitude increases surely, so that change corresponding handler section-step c and steps d over to;
C. intermediate value correction;
D. read pitching, roll attitude angle, if unmanned plane pitching, roll attitude angle surpass spacing angle or continuous 3 cycles are median (being that the remote control hand is removed out remote control handle), then adopt the PD control algorithm obtain allowing the pwm value of flight attitude in returning, otherwise from surely in current attitude or the straight-though pwm value of remote control as new output valve;
E. above-mentioned new pwm value is outputed to pitching, roll steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 200410017953 CN1569563A (en) | 2004-04-27 | 2004-04-27 | Pose stability increasing apparatus for unmanned airplane and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200410017953 CN1569563A (en) | 2004-04-27 | 2004-04-27 | Pose stability increasing apparatus for unmanned airplane and control method thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100511061C (en) * | 2007-07-20 | 2009-07-08 | 南京航空航天大学 | Control method for guarding against the swing like the pendulum of unmanned helicopter in type of no control rotor |
| CN101804862A (en) * | 2010-04-07 | 2010-08-18 | 南京航空航天大学 | Thrust steering device of unmanned aerial vehicle and control method thereof |
| CN102631787A (en) * | 2012-03-26 | 2012-08-15 | 江阴市捷力电子科技有限公司 | Double-shaft autostability control device for model airplane plane and control method thereof |
| CN102853773A (en) * | 2012-09-29 | 2013-01-02 | 北京航空航天大学 | Helicopter noncontact-type manipulation quantity calibration method |
| CN104670479A (en) * | 2015-01-29 | 2015-06-03 | 中国航空无线电电子研究所 | Aircraft attitude control device and using method thereof |
| CN104755373A (en) * | 2012-10-31 | 2015-07-01 | 国立大学法人德岛大学 | Conveyance device and control method for flight vehicle |
| CN105444664A (en) * | 2015-12-17 | 2016-03-30 | 哈尔滨工程大学 | Autonomous type underwater vehicle digital rudder angle detection device and rudder angle calibrating method |
| CN108886573A (en) * | 2016-05-20 | 2018-11-23 | 深圳市大疆灵眸科技有限公司 | Increase steady system and method for digital video |
| CN110446885A (en) * | 2018-01-06 | 2019-11-12 | 深圳市大疆创新科技有限公司 | The control method and its holder and storage device of nonopiate holder |
| CN110703788A (en) * | 2019-10-16 | 2020-01-17 | 北京航空航天大学 | Stability augmentation control method of miniature flapping-wing aircraft and implementation thereof |
| CN111240352A (en) * | 2018-11-28 | 2020-06-05 | 苏州慧德仿真技术有限公司 | System and method for controlling flight mode of unmanned aerial vehicle |
| TWI786978B (en) * | 2021-12-07 | 2022-12-11 | 國立虎尾科技大學 | System for controlling powerless fixed-wing airplane |
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2004
- 2004-04-27 CN CN 200410017953 patent/CN1569563A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100511061C (en) * | 2007-07-20 | 2009-07-08 | 南京航空航天大学 | Control method for guarding against the swing like the pendulum of unmanned helicopter in type of no control rotor |
| CN101804862A (en) * | 2010-04-07 | 2010-08-18 | 南京航空航天大学 | Thrust steering device of unmanned aerial vehicle and control method thereof |
| CN101804862B (en) * | 2010-04-07 | 2013-10-02 | 南京航空航天大学 | Thrust steering device of unmanned aerial vehicle and control method thereof |
| CN102631787B (en) * | 2012-03-26 | 2016-08-31 | 江阴市翔诺电子科技有限公司 | A kind of double-shaft autostability control device for the model airplane plane provided by |
| CN102631787A (en) * | 2012-03-26 | 2012-08-15 | 江阴市捷力电子科技有限公司 | Double-shaft autostability control device for model airplane plane and control method thereof |
| CN102853773A (en) * | 2012-09-29 | 2013-01-02 | 北京航空航天大学 | Helicopter noncontact-type manipulation quantity calibration method |
| CN102853773B (en) * | 2012-09-29 | 2015-02-11 | 北京航空航天大学 | Helicopter noncontact-type manipulation quantity calibration method |
| CN104755373B (en) * | 2012-10-31 | 2017-03-08 | 国立大学法人德岛大学 | Carrying device and the control method of aircraft |
| CN104755373A (en) * | 2012-10-31 | 2015-07-01 | 国立大学法人德岛大学 | Conveyance device and control method for flight vehicle |
| CN104670479A (en) * | 2015-01-29 | 2015-06-03 | 中国航空无线电电子研究所 | Aircraft attitude control device and using method thereof |
| CN105444664A (en) * | 2015-12-17 | 2016-03-30 | 哈尔滨工程大学 | Autonomous type underwater vehicle digital rudder angle detection device and rudder angle calibrating method |
| CN105444664B (en) * | 2015-12-17 | 2017-12-19 | 哈尔滨工程大学 | A kind of Autonomous Underwater Vehicle digitlization rudder angle detection means and rudder angle scaling method |
| CN108886573A (en) * | 2016-05-20 | 2018-11-23 | 深圳市大疆灵眸科技有限公司 | Increase steady system and method for digital video |
| US11076082B2 (en) | 2016-05-20 | 2021-07-27 | Sz Dji Osmo Technology Co., Ltd. | Systems and methods for digital video stabilization |
| CN110446885A (en) * | 2018-01-06 | 2019-11-12 | 深圳市大疆创新科技有限公司 | The control method and its holder and storage device of nonopiate holder |
| CN110446885B (en) * | 2018-01-06 | 2021-05-11 | 深圳市大疆创新科技有限公司 | Control method of non-orthogonal holder, holder and storage device |
| US11346495B2 (en) | 2018-01-06 | 2022-05-31 | SZ DJI Technology Co., Ltd. | Control method for non-orthogonal gimbal, gimbal thereof, and storage device |
| CN111240352A (en) * | 2018-11-28 | 2020-06-05 | 苏州慧德仿真技术有限公司 | System and method for controlling flight mode of unmanned aerial vehicle |
| CN110703788A (en) * | 2019-10-16 | 2020-01-17 | 北京航空航天大学 | Stability augmentation control method of miniature flapping-wing aircraft and implementation thereof |
| TWI786978B (en) * | 2021-12-07 | 2022-12-11 | 國立虎尾科技大學 | System for controlling powerless fixed-wing airplane |
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