CN201754247U - Moving attitude control device - Google Patents

Abstract

The utility model discloses a moving attitude control device, which enhances the control characteristic of a remote controller of a model helicopter. The device is composed of a main control terminal part arranged on the remote controller of the model helicopter and a terminal part arranged on the model helicopter, wherein the main control terminal part and the terminal part are wirelessly connected, a main control terminal function processor is arranged on the main control terminal circuit of the main control terminal part, and the main control terminal function processor is respectively connected with a main control terminal bidirectional wireless transmission module, and X, Y, angle and Z shaft sensors. Compared with the prior art, the device acquires the remote controller signal of the sensors, simplifies the remote controller structure, and reduces the cost of the remote-control model helicopter, the remote controller has a smaller volume, suitable for different requires, and the internal parameters of the remote controller can be wirelessly set and regulated by a computer. The remote-control model helicopter is combined to the computer simulation game remote control operation, so the model helicopter can be remotely controlled, and the simulation game of the computer can be wirelessly controlled.

Description

The control device of athletic posture

Technical field

The utility model relates to a kind of control device of remote control model helicopter, particularly a kind of remote control of remote control model helicopter athletic posture, receiving trap.

Background technology

The telepilot of the model copter of prior art uses the output of potentiometer as position signalling, three links of potentiometer, a termination power, other end ground connection, middle termination signal location output terminal.Intermediate ends adopts a slidably spring leaf, and operator's sliding spring sheet obtains the signal of position.A telepilot has four potentiometers, and the spring leaf of operator's slide potentiometer relies on the be hit by a bullet change in location of reed of each potentiometer, rising, decline, "Left"-deviationist, the Right deviation of output controlling models helicopter, lean forward, the signal of hypsokinesis, left-hand rotation, right-hand rotation action.Cause the complex structure of telepilot like this, volume is big, and weight is also heavier, and the operator need carry telepilot with both hands and operating on hand in use, also will be that a belt hangs on the neck sometimes.Not only increased the difficulty of operation control, reduced recreationally, the cost of remote control model helicopter is increased.Because when the operation potentiometer, the spring leaf of potentiometer is a contact, grown service time, and the contact of potentiometer is worn and causes loose contact to influence signal output.The inner parameter setting of the remote control model helicopter of prior art simultaneously, adjusting difficulty, some increases LED and LCD LCD on telepilot, the parameter setting that comes the adjustment model helicopter in conjunction with menu, but the same like this cost that increases model copter.

Summary of the invention

The purpose of this utility model provides a kind of control device of athletic posture, and the technical matters that solve is improve the model copter telepilot handling.

The utility model is by the following technical solutions: a kind of control device of athletic posture, constitute with the terminal part that is arranged on the model copter by the main control end part that is arranged on the model copter telepilot, main control end part and terminal part wireless connections, the main control end circuit of described main control end part is provided with the main controller function processor, and the main controller function processor connects main control end double-direction radio transport module, X-axis sensor, Y-axis sensor, angular transducer and Z axle sensor respectively.

Main controller function processor of the present utility model connects the horizontal sampling switch of X-axis, the horizontal sampling switch of Y-axis, the neutral point of angle sampling switch, Z axle enable position sampling switch, first functional switch, second functional switch, the 3rd functional switch and the 4th functional switch respectively.

Terminal part of the present utility model is arranged on model copter or the computer.

The terminating circuit of terminal part of the present utility model is provided with the termination function processor, termination function processor connecting terminal double-direction radio transport module, data communication port and output servo-control signal plug.

Servo-control signal of the present utility model is: throttle servo-control signal, aileron servo-control signal, lifting servo-control signal, direction servo-control signal, auxiliary 1 servo output signal, auxiliary 2 servo output signals, auxiliary 3 servo output signals and auxiliary 4 servo output signals.

Termination function processor of the present utility model is connected with first function setting switch and second function setting switch, and first function setting switch and second function setting switch are the interlocking linkage change-over switch.

The main control end electric power management circuit of main control end part of the present utility model is provided with first direct supply, first dc power anode connect the first voltage stabilizing converter through first power switch, for main controller function processor, main control end double-direction radio transport module, X-axis sensor, Y-axis sensor, angular transducer and Z axle sensor provide direct supply, be connected the charging module at the first direct supply two ends, be used for to charging, charging module connects the external circuits port.

The terminal electric power management circuit of terminal part of the present utility model is provided with second direct supply, second direct supply connects the second voltage stabilizing converter through the second source switch, the second voltage stabilizing converter provides direct supply for termination function processor and terminal double-direction radio transport module, the charging port at the second source switch and the second direct supply two ends connects charging port, is used for charging.

Main controller function processor of the present utility model is connected with the first led function pilot lamp, and described termination function processor is connected with the indication of second led function.

Main controller function processor adopting C8051F310 of the present utility model, main control end double-direction radio transport module adopts 24L01, X-axis sensor, Y-axis sensor, Z axle sensor adopt MMA7361L, angular transducer adopts XV-3700CB, the horizontal sampling switch of X-axis, the horizontal sampling switch of Y-axis, Z axle enable position sampling switch, the neutral point of angle sampling switch, first functional switch, second functional switch, the 3rd functional switch, the 4th functional switch adopt B3W-1000, and the first led function pilot lamp adopts red Φ 3 2.54mm semisphere 0.06w; Described termination function processor adopting C8051F310, terminal double-direction radio transport module adopts 24L01, data communication port adopts plug-in unit JST S4B-ZR (LF) connector, red Φ 3 2.54mm semisphere 0.06w are adopted in the indication of second led function, first function setting switch adopts SS22D32-G12, second function setting switch adopts SS22D32-G12, and output servo-control signal plug adopts the row of 2.54mm Du Pont pin female plug 2 row; Described first direct supply adopts LR6 AM3, and first power switch adopts MS22D17, and the first voltage stabilizing converter adopts CJT1117, and charging module adopts CR01 2201; Described second direct supply adopts LR6 AM3, and the second source switch adopts MS22D17, and the second voltage stabilizing converter adopts CJT1117.

The utility model compared with prior art, utilize the rising of sensor acquisition telepilot, descend, left-leaning, Right deviation, lean forward, hypsokinesis, turn left, the right-hand rotation voltage signal, telepilot carries out computing with described voltage signal, analog to digital conversion, coding, send, terminal part receives, decoding, number is touched conversion, computing, the output servo-control signal, simplified the structure of telepilot, reduce the cost of remote control model helicopter, the telepilot volume is little, can be with a hand straighforward operation, or be worn over a last straighforward operation, or tie up straighforward operation on pin, break through telepilot like this and needed the restriction of a pair of hand-guided, the people who has adapted to different needs, and can be by the computer wireless setting, regulate the inner parameter of telepilot, make remote control more intelligent, more humane, simultaneously remote control model helicopter and the operation of computer simulation game remote are combined, both can the straighforward operation model copter, simulation that again can the controlled in wireless computer.

Description of drawings

Fig. 1 is main control end circuit theory diagrams of the present utility model.

Fig. 2 is a main control end electric power management circuit schematic diagram of the present utility model.

Fig. 3 is a terminating circuit schematic diagram of the present utility model.

Fig. 4 is a terminal electric power management circuit schematic diagram of the present utility model.

Fig. 5 is a main control end main flow chart of the present utility model.

Fig. 6 is that main control end of the present utility model interrupts receiving process flow diagram.

Fig. 7 is a terminal main flow chart of the present utility model.

Fig. 8 is that terminal of the present utility model is interrupted process flow diagram.

Fig. 9 is an index curve synoptic diagram of the present utility model.

Embodiment

Below in conjunction with drawings and Examples the utility model is described in further detail.The control device of athletic posture of the present utility model is made of with the terminal part that is arranged on model copter or the computer the main control end part that is arranged on the model copter telepilot.Main control end part and terminal part connect by wireless frequency 2.400GHZ～2.483GHZ.

The main control end part is made of main control end circuit and electric power management circuit, athletic posture and amount of exercise in order to the sensor of identification main control end circuit, the function processor MCU of main control end circuit cooperate the main control end circuit functional switch on off state to amount of exercise read, computing, behind analog/digital conversion, coding, this coded signal is gone out to the terminal part wireless transmit.The order data that main control end circuit receiving terminal is partly sent is provided with, regulates model parameter.

The athletic posture of telepilot and model copter is rising, decline, "Left"-deviationist, Right deviation, lean forward, hypsokinesis, left-hand rotation, right-hand rotation.

Terminal part is made of terminating circuit and terminal electric power management circuit, the coded signal of partly sending in order to the wireless receiving main control end, the termination function processor MCU is decoded, after the digital-to-analog conversion, after the on off state of the functional switch of cooperation terminating circuit carries out calculation process, servo-control signal is delivered to the output of I/O I/O mouth, and the controlling models helicopter is done corresponding motion.Maybe will rise, descend, "Left"-deviationist, Right deviation, lean forward, hypsokinesis, left-hand rotation, the athletic posture of right-hand rotation, momental digital signal deliver to RS232 serial ports or the USB interface that data communication port connects, controlling computer recreation helicopter is done corresponding motion.Terminating circuit is provided with order data that card (the similar computer of card is set data can be set, send data, the reception data) sends by being wirelessly transmitted to main control end with computer, band microprocessor, athletic posture is discerned the telepilot parameter regulate.

As shown in Figure 1, the main control end circuit is provided with main controller function processor MCU SUB1, and SUB1 connects main control end double-direction radio transport module SUB2, X-axis sensor S1, Y-axis sensor S2, angular transducer S3, Z axle sensor S4, the horizontal sampling switch SW1 of X-axis, the horizontal sampling switch SW2 of Y-axis, the neutral point of angle sampling switch SW3, Z axle enable position sampling switch SW4, the first functional switch SW5, the second functional switch SW6, the 3rd functional switch SW7, the 4th functional switch SW8 and the first led function pilot lamp D1 respectively.Microprocessor MCUSUB1 changes by the aanalogvoltage that reads S1, S2, S3, S4, in conjunction with the status signal of the closed connecting and disconnecting of SW1, SW2, SW3, SW4, SW5, SW6, SW7, SW8, the athletic posture and the amount of exercise of identification telepilot.Wherein:

Rise, descend and adopt the analog voltage signal of Z axle sensor S4 to discern,

Left-leaning, Right deviation adopts the analog voltage signal of X-axis sensor S1 to discern,

Lean forward, hypsokinesis adopts the analog voltage signal of Y-axis sensor S2 to discern,

Turn left, turn right and adopt the analog voltage signal of angular transducer S3 to discern.

Utilize the on off state of SW1, SW2, SW3, SW4, attitude or null position when SUB1 calibration or setting remote controller are static.

SUB1 is respectively by its I/O 1, I/O 2, I/O 3, I/O 4 pin, gather the static and dynamic analog voltage signal of S1, S2, S3, S4, SUB1 is per 1 millisecond of time difference continuous sampling 10 times, remove maximal value and minimum value, get the simulating signal of 8 times remaining mean value again as this time collection.

SUB1 gathers the signal of the switch closure connecting and disconnecting of SW1, SW2, SW3, SW4 respectively by I/O 5, I/O 6, I/O 7, I/O 8 pin.SW1, SW2, SW3, SW4 cooperate SUB1 to set the static setting value of X, Y, Z, angle.When SW1 is closed, SUB1 read the S1 aanalogvoltage currency as the static setting value of X-axis, when SW2 is closed, SUB1 read the S2 aanalogvoltage currency as the static setting value of Y-axis, when SW3 is closed, SUB1 read the S3 aanalogvoltage currency as the static setting value of angle, when SW4 is closed, SUB1 read the S4 aanalogvoltage currency as the static setting value of Z axle.Described each static setting value is an analog voltage signal.The closure of SW1, SW2, SW3, SW4 is set arbitrarily according to operating position by the operator, opens SW1, SW2, SW3, SW4 after setting static setting value.

SUB1 is respectively by I/O 9, I/O 10, I/O 11, I/O 12 pin, reads the calculation function signal that SW5, SW6, SW7, SW8 provide.SW5, SW6, SW7, SW8 cooperate SUB1 that S1, the S2 that reads, the signal of S3, S4 are carried out computing.As SW5, SW6, when SW7, SW8 disconnect, SUB1 does not read the current demand signal of S1, S2, S3, S4 respectively, promptly the current aanalogvoltage of this S1, S2, S3, S4 does not participate in angle mixing magnitude of voltage, big petty action magnitude of voltage, index curve magnitude of voltage, reverses the magnitude of voltage computing, and the analog voltage before SUB1 disconnects with the analog voltage of static setting value or SW5, SW6, SW7, SW8 carries out computing.When SW5 was closed, SUB1 carried out computing with the currency of S1 aanalogvoltage, when SW6 is closed, SUB1 carries out computing with the currency of S2 aanalogvoltage, and when SW7 was closed, SUB1 carried out computing with the currency of S3 aanalogvoltage, when SW8 was closed, SUB1 carried out computing with the currency of S4 aanalogvoltage.The disconnection of SW5, SW6, SW7, SW8 or closed according to operator's custom or different model copters is selected to disconnect or closure by the operator.

Angle mixing magnitude of voltage, big petty action magnitude of voltage, the index curve magnitude of voltage of SUB1 after, reverse magnitude of voltage and carry out analog/digital conversion computing, operating voltage is 5V, the precision of SUB1 analog/digital conversion is 1/1023, then digital value=(1023 * when the value of front sensor)/5.0.Encode then, the serial ports coding of coding employing standard: baud rate 115200BPS, data bit 8 stops to be positioned at 1, check bit NULL, Flow Control position NULL obtains coded signal.SUB1 is sent to main control end double-direction radio transport module SUB2 from I/O 14 pin with angle mixing voltage, big petty action voltage, index curve voltage, the coded signal that reverses voltage, and main control end double-direction radio transport module SUB2 is wirelessly transmitted to terminal part with described coded signal.The order that sends coding is 0XFF, 0XFF X, Y, Z, angle.The frequency that sends coding is 2.4GHZ～2.483GHZ.

SUB1 is from the signal of the I/O 13 pin output control first led function pilot lamp D1, and when wireless signal transmission being arranged or receive, LED is glittering.When not having wireless data transmission or reception, LED extinguishes.

The command character 0XAA 0X55 of the terminal part that I/O 15 pin of SUB1 receive through main control end double-direction radio transport module SUB2, and the command signal of the mixing ratio of different model types, scaling, index ratio, (1) value, after the demodulation relevant director data deposited in and be connected the EEPROM (Electrically Erasable Programmable Read Only Memo) EEPROM that SUB1 inside carries, call for SUB1.

As shown in Figure 2, the main control end electric power management circuit is provided with the first direct supply BT1, the first direct supply BT1 positive pole meet the first voltage stabilizing converter P1 through the first power switch SW9, for main controller function processor MCU SUB1, main control end double-direction radio transport module SUB2, X-axis sensor S1, Y-axis sensor S2, angular transducer S3 and Z axle sensor S4 provide galvanic current source VCC.Be connected the charging module SUB5 at the first direct supply BT1 two ends, be used for the charging to BT1, charging module SUB5 connects the external circuits port.

As shown in Figure 3, terminating circuit is provided with termination function processor MCU SUB4, termination function processor MCU SUB4 connecting terminal double-direction radio transport module SUB3, data communication port JP1, the indication of second led function D2, the first function setting switch SW11, the second function setting switch SW12, output servo-control signal plug.Servo-control signal is: throttle servo-control signal THRO, aileron servo-control signal AILE, lifting servo-control signal ELEV, direction servo-control signal RUDD, auxiliary 1 servo output signal AUX1, auxiliary 2 servo output signal AUX2, auxiliary 3 servo output signal AUX3, auxiliary 4 servo output signal AUX4.Wherein:

The first function setting switch SW11 is used for sending to SUB3 the signal of decoding, digital-to-analog conversion,

The second function setting switch SW12 is used for the computer that connects to terminal part or card is set sending the signal that digital communications ports selection data are provided with request.

The mixing voltage that SUB4 partly sends from main control end by I/O 1 receiving terminal double-direction radio transport module SUB3, big petty action voltage, index curve voltage, reverse the coded signal of voltage, the signal that decoding, the digital-to-analog conversion of reading the first function setting switch 1SW11 from I/O 14, I/O 15 is provided with or the digital communications ports of the second function setting switch 2SW12 is selected.1SW11 and 2SW12 interlocking linkage switch, first switch connection, and another switch disconnects, and when connecting another switch again, first switch disconnects.SUB4 according to the function setting signal of function setting switch to coded signal decode, computing obtains the analog servomechanism control signal.

The analog servomechanism control signal of SUB4 after with computing exported throttle servo-control signal THRO, aileron servo-control signal AILE, lifting servo-control signal ELEV, direction servo-control signal RUDD, auxiliary 1 servo output signal AUX1, auxiliary 2 servo output signal AUX2, auxiliary 3 servo output signal AUX3, auxiliary 4 servo output signal AUX4 respectively from I/O 3, I/O 4, I/O 5, I/O 6, I/O 7, I/O 8, I/O 9, I/O 10.

After SUB4 decodes to coded signal according to the function setting signal of function setting switch, send to the RS232 serial ports or the USB port of computer through data communication port JP1, make the telepilot of the present utility model both can the controlling models helicopter, can be used for the action of computer game control recreation helicopter again.

SUB4 receives that external computer is through USB or RS232, or external data are provided with the command character 0XAA 0X55 that card is sent through data communication port JP1, and the mixing ratio of different model types, scaling, the index ratio, the command signal of (1) value, according to command character 0XAA 0X55 as basis of characterization, be identified as the instruction of regulating the telepilot inner parameter, SUB3 sends to the main control end part through terminal double-direction radio transport module, realizes the mixing ratio to the different model type of telepilot inside, scaling, the index ratio, the parameter setting or the adjusting of (1) value.

As shown in Figure 4, the terminal electric power management circuit is provided with the second direct supply BT2, and the second direct supply BT2 meets the second voltage stabilizing converter P2 through second source switch SW 10.The second voltage stabilizing converter P2 provides galvanic current source VDD for termination function processor MCU SUB4 and terminal double-direction radio transport module SUB3.The charging port at the second source switch SW 10 and the second direct supply BT2 two ends connects charging port, is used for BT2 is charged.

Utilize device of the present utility model, operator's remote controller, be arranged on X-axis inclination sensor, Y-axis inclination sensor, angular transducer, the induction of Z axle inclination sensor X, Y, angle and Z signal in the telepilot, the main controller function processor MCU is with the motion simulation voltage signal of each sensor, carry out mixing, big petty action, index curve, reverse computing, after analog/digital conversion, the coded modulation, go out by main control end double-direction radio transport module wireless transmission.The signal that terminal double-direction radio transport module wireless receiving sends to main control end, sending into the termination function processor MCU decodes, the digital-to-analog conversion, calculation process, output throttle servo-control signal, the aileron servo-control signal, the lifting servo-control signal, the direction servo-control signal, auxiliary servo 1 control letter, auxiliary servo 1 control letter, auxiliary servo 2 control letters, auxiliary servo 3 control letters, auxiliary servo 4 control letters, athletic posture to model copter is operated, and the controlling models helicopter rises, descend, left-leaning, Right deviation, lean forward, hypsokinesis, turn left, turn right.The termination function processor MCU also can be with the data of decoded digital signal by data communication port JP1 output movement attitude, the simulated flight recreation on the controlling computer.

Utilize control device of the present utility model, control method may further comprise the steps:

One, as shown in Figure 5, be arranged on the "Left"-deviationist of reading behind the main controller function processor MCU electrification reset of model copter telepilot in the EEPROM (Electrically Erasable Programmable Read Only Memo) EEPROM that MCU inside carries, Right deviation, lean forward, the mixing ratio of hypsokinesis angle mixing computing, rise, descend, turn left, the turn right scaling of big petty action computing, rise, descend, left-leaning, Right deviation, lean forward, hypsokinesis, turn left, the index ratio of right-hand rotation index curve computing, rise, descend, left-leaning, Right deviation, lean forward, hypsokinesis, turn left, the value of right-hand rotation reversing function computing, read X-axis sensor S1, Y-axis sensor S2, angular transducer S3, the voltage signal of Z axle sensor S4, per 1 millisecond of time difference continuous sampling 10 times, remove maximal value and minimum value, get the analog voltage signal of 8 times remaining mean value again as this time collection.

Two, the main controller function processor MCU is provided with static setting value, MCU gathers the signal of the connecting and disconnecting of the horizontal sampling switch SW1 of X-axis, the horizontal sampling switch SW2 of Y-axis, the neutral point of angle sampling switch SW3, Z axle enable position sampling switch SW4, the static setting value of setting model helicopter X, Y, Z and angle.

When the horizontal sampling switch SW1 of X-axis is closed, MCU read X-axis Sensor Analog Relay System voltage currency as the static setting value of X-axis, when the horizontal sampling switch SW2 of Y-axis is closed, MCU read Y-axis Sensor Analog Relay System voltage currency as the static setting value of Y-axis, when the neutral point of angle sampling switch SW3 is closed, MCU reading angular Sensor Analog Relay System voltage currency as the static setting value of angle, when Z axle enable position sampling switch SW4 is closed, MCU read Z axle sensor aanalogvoltage currency as the static setting value of Z axle.Have in described first to fourth functional switch not closed, MCU with last time setting value as static setting value, be set at 0 if open for the first time.

The closure of the neutral point of the horizontal sampling switch SW1 of X-axis, the horizontal sampling switch SW2 of Y-axis, angle sampling switch SW3, Z axle enable position sampling switch SW4 is set arbitrarily according to operating position by the operator, opens first to fourth functional switch after setting static setting value.

Three, the main controller function processor MCU is carried out mixing magnitude of voltage, big petty action magnitude of voltage, index curve magnitude of voltage and is reversed the magnitude of voltage computing according to the signal of the connecting and disconnecting of first to fourth functional switch of gathering.

When first functional switch is closed, MCU carries out computing with the currency of X-axis Sensor Analog Relay System voltage, when second functional switch is closed, MCU carries out computing with the currency of Y-axis Sensor Analog Relay System voltage, when the 3rd functional switch is closed, MCU carries out computing with the currency of angular transducer aanalogvoltage, and when the 4th functional switch was closed, MCU carried out computing with the currency of Z axle sensor aanalogvoltage.

Have not closedly in first to fourth functional switch, the analog voltage before MCU disconnects with the analog voltage of static setting value or first to fourth functional switch carries out computing.

The disconnection of first to fourth functional switch or closed according to operator's custom or different model copters is selected to disconnect or closure by the operator.

To be MCU with the analog voltage signal of sensor be superimposed multiply by the mixing ratio in angle mixing computing, to reach the effect that servomechanism compensates mutually."Left"-deviationist, Right deviation, lean forward, hypsokinesis angle mixing computing is:

Left-leaning angle mixing magnitude of voltage=(aanalogvoltage of aanalogvoltage+S4 of S1) * mixing ratio,

Right deviation angle mixing magnitude of voltage=(aanalogvoltage of aanalogvoltage+S4 of S1) * mixing ratio,

Forward leaning angle mixing magnitude of voltage=(aanalogvoltage of aanalogvoltage+S4 of S2) * mixing ratio,

Hypsokinesis angle mixing magnitude of voltage=(aanalogvoltage of aanalogvoltage+S4 of S2) * mixing ratio.

Described mixing ratio is selected to determine according to the numerical value that is stored in the EEPROM that MCU inside carries, it is to write EEPROM's in advance according to different model types, numerical value is 0～100%, totally 10 kinds of model types, according to the model type of this operation, the operator selects the mixing ratio of this model type.

The magnitude proportion (being called for short big petty action ratio or scaling) of the relative sensor movement action of servomechanism, in order to change the actuating quantity of servomechanism motion, the computing of the big petty action proportional zoom of MCU is:

Rise aanalogvoltage * scaling of big petty action magnitude of voltage=S4,

Descend aanalogvoltage * scaling of big petty action magnitude of voltage=S4,

Turn left aanalogvoltage * scaling of big petty action magnitude of voltage=S3,

Turn right aanalogvoltage * scaling of big petty action magnitude of voltage=S3.

Described scaling is determined the amount of exercise of servomechanism according to different model types, and numerical value is 0～100%, totally 10 kinds of model types, and according to the model type of this operation, the operator selects the scaling of this model type.

As shown in Figure 9, the raw data of the analog quantity of each sensor is linear change, and MCU sends to terminal by raw data is carried out exponent arithmetic behind the exponent arithmetic, makes servo motion be slick and sly curvilinear motion and changes, to change the startability of servomechanism.The index curve computing is:

The aanalogvoltage of rising index curve magnitude of voltage=S4 * index ratio,

The aanalogvoltage of decline index curve magnitude of voltage=S4 * index ratio,

Aanalogvoltage * index ratio of left-leaning index curve magnitude of voltage=S1,

The aanalogvoltage of Right deviation index curve magnitude of voltage=S1 * index ratio,

Lean forward aanalogvoltage * index ratio of index curve magnitude of voltage=S2,

The aanalogvoltage of hypsokinesis index curve magnitude of voltage=S2 * index ratio,

The aanalogvoltage of left-hand rotation index curve magnitude of voltage=S3 * index ratio,

The aanalogvoltage of right-hand rotation index curve magnitude of voltage=S3 * index ratio.

Different model types, servomechanism has different startabilities, and described index ratio is determined according to the model type, numerical value is-100%～+ 100%, totally 10 kinds of model types, according to the model type of this operation, the operator selects the index ratio of this model type.

Each operator takes under the different situation of structure of the direction difference of telepilot or model copter, direction of motion that servomechanism is final and sensor movement direction are inconsistent, servomechanism is consistent with just changeing with the direction of sensor movement, otherwise for reversing, SUB2 is before terminal sends the reverse signal, and the reversing function computing that SUB1 carries out is:

Rise and reverse aanalogvoltage * (1) of magnitude of voltage=S4,

Descend and reverse aanalogvoltage * (1) of magnitude of voltage=S4,

Left-leaning aanalogvoltage * (1) of reversing magnitude of voltage=S1,

Right deviation reverses aanalogvoltage * (1) of magnitude of voltage=S1,

Lean forward aanalogvoltage * (1) of reverse magnitude of voltage=S2,

Hypsokinesis reverses aanalogvoltage * (1) of magnitude of voltage=S2,

Turn left to reverse aanalogvoltage * (1) of magnitude of voltage=S3,

Turn right and reverse aanalogvoltage * (1) of magnitude of voltage=S3.

MCU is according to the model type of this operation, and operator's custom is selected the value-1 of the reversing function computing of this model type by the operator.

Four, the main controller function processor MCU is carried out analog/digital conversion, coding to the operation values of angle mixing voltage, big petty action voltage, index curve voltage, reverse voltage, the operating voltage of main controller function processor MCU is 5V, the precision of MCU analog digital conversion is 1/1023, digital value=(1023 * when the value of front sensor)/5.0.The serial ports coding of coding employing standard: baud rate 115200BPS, data bit 8 stops to be positioned at 1, check bit NULL, Flow Control position NULL.

Five, the main controller function processor MCU is sent to main control end double-direction radio transport module with the coded signal of angle mixing voltage, big petty action voltage, index curve voltage, reverse voltage, and main control end double-direction radio transport module is wirelessly transmitted to described coded signal the terminal part that is arranged on the RC Goblin.The order that sends coding is 0XFF, 0XFF X, Y, Z, angle.The frequency that sends coding is 2.400GHZ～2.483GHZ.

Six, as shown in Figure 8, be arranged on terminal part on the RC Goblin or the function processor MCU on the computer and receive angle mixing voltage, big petty action voltage, the index curve voltage that terminal double-direction radio transport module sends from main control end, the coded signal that reverses voltage, decoded data, digital-to-analog setting according to first function setting switch, coded signal is decoded, and digital-to-analog is converted to angle mixing voltage, big petty action voltage, index curve voltage, reverses the simulating signal of voltage.

Seven, the function processor MCU of terminal part carries out computing to simulating signal, obtains following servo-control signal:

The rise big petty action magnitude of voltage of big petty action magnitude of voltage+decline+rising index curve magnitude of voltage+decline index curve magnitude of voltage+rising of throttle servo-control signal THRO=reverses magnitude of voltage+declines reverse voltage.Terminal receives " Z " numerical value and sends throttle servo-control signal THRO through MCU, the rising of throttle servo-control signal THRO controlling models model copter, decline (Z axle).

The left-leaning angle mixing of aileron servo-control signal AILE=magnitude of voltage+Right deviation angle mixing magnitude of voltage+left-leaning index curve magnitude of voltage+Right deviation index curve magnitude of voltage+"Left"-deviationist reverses magnitude of voltage+Right deviation and reverses magnitude of voltage.Terminal receives " X " numerical value and sends aileron servo-control signal AILE through MCU, "Left"-deviationist, the Right deviation (X-axis) of aileron servo-control signal AILE controlling models model copter.

The lifting servo-control signal ELEV=forward leaning angle mixing magnitude of voltage+hypsokinesis angle mixing magnitude of voltage+index curve magnitude of voltage that the leans forward+hypsokinesis index curve magnitude of voltage+reverse magnitude of voltage that leans forward+hypsokinesis reverses magnitude of voltage.Terminal receives " Y " numerical value and sends lifting servo-control signal ELEV through MCU, the leaning forward of lifting servo-control signal ELEV controlling models model copter, hypsokinesis (Y-axis).

The turn left big petty action magnitude of voltage of big petty action magnitude of voltage+right-hand rotation+left-hand rotation index curve magnitude of voltage+right-hand rotation index curve magnitude of voltage+left-hand rotation of direction servo-control signal RUDD=reverses magnitude of voltage+right-hands rotation reverse magnitude of voltage.Terminal receives " angle " numerical value through MCU transport direction servo-control signal RUDD, left-hand rotation, the right-hand rotation (angle) of direction servo-control signal RUDD controlling models model copter.

The function processor MCU of terminal part also sends four road auxiliary servo output signals.The driving of model copter X, Y, Z and angle respectively is respectively equipped with two power sources, and servo-control signal and auxiliary servo output signal are distinguished two power sources of the same coordinate of controlling and driving simultaneously.The value of four road auxiliary servo output signals is respectively:

Auxiliary 1 servo output signal AUX1=throttle servo-control signal THRO,

Auxiliary 2 servo output signal AUX2=aileron servo-control signal AILE,

Auxiliary 3 servo output signal AUX3=lifting servo-control signal ELEV,

Auxiliary 4 servo output signal AUX4=direction servo-control signal RUDD.

Eight, the function processor MCU of terminal part is to servomechanism output throttle servo-control signal THRO, aileron servo-control signal AILE, lifting servo-control signal ELEV, direction servo-control signal RUDD, auxiliary 1 servo output signal AUX1, auxiliary 2 servo output signal AUX2, auxiliary 3 servo output signal AUX3, auxiliary 4 servo output signal AUX4.Or the function processor MCU of terminal part is to external computer output control signal THRO, aileron control signal AILE, lifting control signal ELEV, direction control signal RUDD, auxiliary 1 output signal AUX1, auxiliary 2 output signal AUX2, auxiliary 3 output signal AUX3, auxiliary 4 output signal AUX4, the action of control recreation helicopter.

As shown in Figure 7, the function processor MCU of terminal part selects signal according to the digital communications ports of second function setting switch, read mixing ratio, scaling, the index ratio of the different model types of external computer, the value-1 of reversing function computing, coding after terminal part double-direction radio transport module send to main control end.

As shown in Figure 6, the mixing ratio of the different model types that main control end double-direction radio transport module receiving terminal part double-direction radio transport module sends, scaling, index ratio ,-1 value coded data, after the function processor MCU decoding of terminal part, deposit the EEPROM (Electrically Erasable Programmable Read Only Memo) EEPROM that it carries in.

Embodiment, main controller function processor MCU SUB1 adopts C8051F310, main control end double-direction radio transport module SUB2 adopts 24L01, X-axis sensor S1 adopts MMA7361L, Y-axis sensor S2 adopts MMA7361L, angular transducer S3 adopts XV-3700CB, Z axle sensor S4 adopts MMA7361L, the horizontal sampling switch SW1 of X-axis adopts B3W-1000, the horizontal sampling switch SW2 of Y-axis adopts B3W-1000, the neutral point of angle sampling switch SW3 adopts B3W-1000, and Z axle enable position sampling switch SW4 adopts B3W-1000, and the first functional switch SW5 adopts B3W-1000, the second functional switch SW6 adopts B3W-1000, the 3rd functional switch SW7 adopts B3W-1000, and the 4th functional switch SW8 adopts B3W-1000, and the first led function pilot lamp D1 adopts red Φ 3 2.54mm semisphere 0.06w.

The first direct supply BT1 adopts LR6 AM3 SIZE AA 1.5V, the first power switch SW9 adopts plug-in unit hilted broadsword double-gate MS22D17, the first voltage stabilizing converter P1 adopts and pastes part CJT1117 TO 2w 5v 1000mA, and charging module SUB5 adopts CR01 2,201 four batteries and fills charging module.

Termination function processor MCU SUB4 adopts C8051F310, terminal double-direction radio transport module SUB3 adopts 24L01, data communication port JP1 adopts plug-in unit JST S4B-ZR (LF) connector, second led function indication D2 adopts red Φ 32.54mm semisphere 0.06w, the first function setting switch SW11 adopts hilted broadsword double-gate SS22D32-G12, the second function setting switch SW12 adopts hilted broadsword double-gate SS22D32-G12, the double F=8mm+ of output servo-control signal plug employing 2.54mm Du Pont's row's pin female plug Three kinds of hors d'oeuvres/-0.1mm 2 row.

The second direct supply BT2 adopts LR6 AM3 SIZE AA 1.5V, and second source switch SW 10 adopts plug-in unit hilted broadsword double-gate MS22D17, and the second voltage stabilizing converter P2 adopts and pastes part CJT1117 TO 2w 5v 1000mA.

Main controller function processor MCU SUB1 and termination function processor MCU SUB4 adopt C language embedding compilation) the program language realization, version number is VER1.0.

The main controller function processor MCU reads the order of the data in the EEPROM (Electrically Erasable Programmable Read Only Memo) EEPROM: 0XFF 0XFF 0X01 0X01.

The main controller function processor MCU reads the order of the voltage signal of X-axis sensor S1: 0XFF 0XFF 0X10 0X10.

The main controller function processor MCU is gathered the order of the signal of the horizontal sampling switch SW1 of X-axis connecting and disconnecting: 0XFF 0XFF 0X11 0X11.

The main controller function processor MCU read X-axis Sensor Analog Relay System voltage currency as the order of the static setting value of X-axis: 0XFF 0XFF 0X20 0X20.

The main controller function processor MCU is carried out the order of computing with the currency of X-axis Sensor Analog Relay System voltage: 0XFF 0XFF 0X30 0X30.

The main controller function processor MCU is calculated the order of left-leaning angle mixing magnitude of voltage: 0XFF 0XFF 0X55 0X55.

The main controller function processor MCU is sent to the coded signal of angle mixing voltage the order of main control end double-direction radio transport module: 0XFF 0XFF 0XAA 0XAA.

The function processor MCU of terminal part reads the decoding of first function setting switch, the order of digital-to-analog conversion: 0XFF 0XFF 0X5A 0X5A.

The function processor MCU of terminal part carries out computing to simulating signal, obtains the order of throttle servo-control signal: 0XFF 0XFF 0X58 0X58.

The function processor MCU of terminal part exports the order of throttle servo-control signal to servomechanism: 0XFF 0XFF 0X5F 0X5F.

The function processor MCU of terminal part reads the signal that the digital communications ports of second function setting switch is selected, and receives mixing ratio, scaling, the index ratio of the different model types of external computer, the order of (1) value: 0XFF 0XFF 0X66 0X66.

The mixing ratio coded data of the different model types that main control end double-direction radio transport module receiving terminal part double-direction radio transport module sends, after the function processor MCU decoding of terminal part, deposit the order of its EEPROM (Electrically Erasable Programmable Read Only Memo) EEPROM that carries in: 0XFF 0XFF 00X66 0X66.

Claims (10)

1. the control device of an athletic posture, constitute with the terminal part that is arranged on the model copter by the main control end part that is arranged on the model copter telepilot, main control end part and terminal part wireless connections, it is characterized in that: the main control end circuit of described main control end part is provided with the main controller function processor, and the main controller function processor connects main control end double-direction radio transport module, X-axis sensor, Y-axis sensor, angular transducer and Z axle sensor respectively.

2. the control device of athletic posture according to claim 1 is characterized in that: described main controller function processor connects the horizontal sampling switch of X-axis, the horizontal sampling switch of Y-axis, the neutral point of angle sampling switch, Z axle enable position sampling switch, first functional switch, second functional switch, the 3rd functional switch and the 4th functional switch respectively.

3. the control device of athletic posture according to claim 2, it is characterized in that: described terminal part is arranged on model copter or the computer.

4. the control device of athletic posture according to claim 3, it is characterized in that: the terminating circuit of described terminal part is provided with the termination function processor, termination function processor connecting terminal double-direction radio transport module, data communication port and output servo-control signal plug.

5. the control device of athletic posture according to claim 4, it is characterized in that: described servo-control signal is: throttle servo-control signal, aileron servo-control signal, lifting servo-control signal, direction servo-control signal, auxiliary 1 servo output signal, auxiliary 2 servo output signals, auxiliary 3 servo output signals and auxiliary 4 servo output signals.

6. the control device of athletic posture according to claim 5, it is characterized in that: described termination function processor is connected with first function setting switch and second function setting switch, and first function setting switch and second function setting switch are the interlocking linkage change-over switch.

7. the control device of athletic posture according to claim 6, it is characterized in that: the main control end electric power management circuit of described main control end part is provided with first direct supply, first dc power anode connect the first voltage stabilizing converter through first power switch, for main controller function processor, main control end double-direction radio transport module, X-axis sensor, Y-axis sensor, angular transducer and Z axle sensor provide direct supply, be connected the charging module at the first direct supply two ends, be used for to charging, charging module connects the external circuits port.

8. the control device of athletic posture according to claim 7, it is characterized in that: the terminal electric power management circuit of described terminal part is provided with second direct supply, second direct supply connects the second voltage stabilizing converter through the second source switch, the second voltage stabilizing converter provides direct supply for termination function processor and terminal double-direction radio transport module, the charging port at the second source switch and the second direct supply two ends connects charging port, is used for charging.

9. the control device of athletic posture according to claim 8, it is characterized in that: described main controller function processor is connected with the first led function pilot lamp, and described termination function processor is connected with the indication of second led function.

10. the control device of athletic posture according to claim 9, it is characterized in that: described main controller function processor adopting C8051F310, main control end double-direction radio transport module adopts 24L01, the X-axis sensor, the Y-axis sensor, the Z axle sensor adopts MMA7361L, angular transducer adopts XV-3700CB, the horizontal sampling switch of X-axis, the horizontal sampling switch of Y-axis, Z axle enable position sampling switch, the neutral point of angle sampling switch, first functional switch, second functional switch, the 3rd functional switch, the 4th functional switch adopts B3W-1000, and the first led function pilot lamp adopts red Φ 32.54mm semisphere 0.06w; Described termination function processor adopting C8051F310, terminal double-direction radio transport module adopts 24L01, data communication port adopts plug-in unit JST S4B-ZR (LF) connector, red Φ 32.54mm semisphere 0.06w is adopted in the indication of second led function, first function setting switch adopts SS22D32-G12, second function setting switch adopts SS22D32-G12, and output servo-control signal plug adopts the row of 2.54mm Du Pont pin female plug 2 row; Described first direct supply adopts LR6AM3, and first power switch adopts MS22D17, and the first voltage stabilizing converter adopts CJT1117, and charging module adopts CR01 2201; Described second direct supply adopts LR6 AM3, and the second source switch adopts MS22D17, and the second voltage stabilizing converter adopts CJT1117.

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