CN203759545U - DSP-based attitude control device of quadrotor aircraft - Google Patents
DSP-based attitude control device of quadrotor aircraft Download PDFInfo
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- CN203759545U CN203759545U CN201420118590.3U CN201420118590U CN203759545U CN 203759545 U CN203759545 U CN 203759545U CN 201420118590 U CN201420118590 U CN 201420118590U CN 203759545 U CN203759545 U CN 203759545U
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- aircraft body
- control device
- electric machine
- dsp
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Abstract
The utility model provides a DSP-based attitude control device of a quadrotor aircraft. The attitude control device comprises a controller, a barometer, an accelerometer and gyroscope, a magnetometer, a power supply manager, a motor controller and an aircraft body, wherein the controller and the barometer are arranged inside the aircraft body, the accelerometer and gyroscope is arranged at the inner rear side of the aircraft body, the magnetometer is arranged at the front end of the aircraft body, the motor controller is arranged at the lower end of the aircraft body and connected with the accelerometer and gyroscope, and the power supply manager is arranged above the motor controller. The aircraft body is provided with electronic parts including the barometer, the accelerometer and gyroscope and the magnetometer, so that the flight status of the aircraft can be observed and controlled at any time, and the aircraft is thus more flexible and more stable.
Description
Technical field
The utility model relates to a kind of aircraft, relates in particular to a kind of quadrotor attitude-control device based on DSP.
Background technology
As far back as the middle of last century, microminiature multi-rotor aerocraft has been subjected to attracting attention of more overseas research institutions, but multi-rotor aerocraft stock size is less, and load capacity is relatively poor, cannot carry traditional high-precision sensor.Until the beginning of this century, the development of MEMS sensor technology is broken through the research of microminiature multi-rotor aerocraft.
In existing quadrotor technology, mostly adopt and only have the controller of common single-chip microcomputer as master controller, power consumption is large, and peripheral hardware resource is few, and it is low in energy consumption, lightweight that this and aircraft require, and simple designs is runed counter to, thereby has hindered the development of aircraft.Therefore, solve the large and few problem of peripheral hardware resource of quadrotor power consumption and just seem particularly important.
Utility model content
The purpose of this utility model is to provide a kind of quadrotor attitude-control device based on DSP, and this device not only cost is low, and simplicity of design, is easy to realize.
The utility model provides a kind of quadrotor attitude-control device based on DSP, comprise controller, barometer, acceleration is taken into account gyroscope, magnetometer, power supervisor, electric machine controller and aircraft body, described controller is arranged on the inside of aircraft body, described barometer is arranged on aircraft body interior, described acceleration is taken into account gyroscope and is arranged on the inside rear side of aircraft body, magnetometer is arranged on the front end of aircraft body, electric machine controller is arranged on aircraft body lower end, and taking into account gyroscope with acceleration is connected, power supervisor is arranged on the top of electric machine controller.
Further improve and be: described electric machine controller has adopted large electric current half-bridge driven to be used as driving circuit, and this circuit maximum output current is 63A, and conducting internal resistance is 16 milliohms.
Further improve and be: described power supervisor is connected to respectively controller, barometer, acceleration by power lead and takes into account on gyroscope, magnetometer and electric machine controller, for supply of electrical energy.
Further improve and be: described barometer, acceleration are taken into account gyroscope, magnetometer is connected on controller by data line, and according to the information control controller detecting, electric machine controller and aircraft body are adjusted.
The utility model adopts technique scheme to have the following advantages: by barometer being set on aircraft body, acceleration is taken into account the electronic unit such as gyroscope, magnetometer, the flight condition of aircraft is observed at any time and controlled, make aircraft more flexible, more stable.
Brief description of the drawings
Fig. 1 is schematic diagram of the present utility model.
Fig. 2 is system architecture diagram of the present utility model.
Fig. 3 is the electrical schematic diagram of electric machine controller of the present utility model.
Wherein: 1-controller, 2-barometer, 3-acceleration is taken into account gyroscope, 4-magnetometer, 5-power supervisor, 6-electric machine controller, 7-aircraft body.
Embodiment
In order to deepen understanding of the present utility model, below in conjunction with embodiment, the utility model is described in further detail, and this embodiment only, for explaining the utility model, does not form the restriction to the utility model protection domain.
As Figure 1-3, the present embodiment provides a kind of quadrotor attitude-control device based on DSP, comprising: controller 1, barometer 2, acceleration are taken into account gyroscope 3, magnetometer 4, power supervisor 5, electric machine controller 6 and aircraft body 7.Magnetometer 4, barometer 2, acceleration are taken into account 3 three sensing devices of gyroscope and are responsible for gathering the attitude signal of aircraft, and send controller 1 to by data line, after the signal that controller 1 carrys out collection is processed, and then control electric machine controller 6, thereby control the rotating speed of motor.Whole system is powered by power supervisor 5.
Controller 1 is the control core of whole device.The signal that it is responsible for sensing device collection is processed, and controls electric machine controller 6, thereby regulates the rotating speed of each rotor motor, to control the attitude of aircraft.
As shown in Figure 3, wherein, which MOSFET conducting IN pin for determining for driving circuit.When IN=1 and INH=1, flash MOSFET conducting, OUT pin output high level; When IN=0 and INH=1, the MOSFET conducting of low limit, OUT pin output low level.
Claims (4)
1. the quadrotor attitude-control device based on DSP, it is characterized in that: comprise controller (1), barometer (2), acceleration is taken into account gyroscope (3), magnetometer (4), power supervisor (5), electric machine controller (6) and aircraft body (7), described controller (1) is arranged on the inside of aircraft body (7), described barometer (2) is arranged on aircraft body (7) inside, described acceleration is taken into account gyroscope (3) and is arranged on the inside rear side of aircraft body (7), magnetometer (4) is arranged on the front end of aircraft body (7), electric machine controller (6) is arranged on aircraft body (7) lower end, and taking into account gyroscope (3) with acceleration is connected, power supervisor (5) is arranged on the top of electric machine controller (6).
2. a kind of quadrotor attitude-control device based on DSP as claimed in claim 1, it is characterized in that: described electric machine controller (6) has adopted large electric current half-bridge driven to be used as driving circuit, this circuit maximum output current is 63A, and conducting internal resistance is 16 milliohms.
3. a kind of quadrotor attitude-control device based on DSP as claimed in claim 1, it is characterized in that: described power supervisor (5) is connected to respectively controller (1), barometer (2), acceleration by power lead, and to take into account gyroscope (3), magnetometer (4) and electric machine controller (6) upper, for supply of electrical energy.
4. a kind of quadrotor attitude-control device based on DSP as claimed in claim 1, it is characterized in that: it is upper that described barometer (2), acceleration are taken into account gyroscope (3), magnetometer (4) is connected to controller (1) by data line, and according to the information control controller (1) detecting, electric machine controller (6) and aircraft body (7) are adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420118590.3U CN203759545U (en) | 2014-03-17 | 2014-03-17 | DSP-based attitude control device of quadrotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420118590.3U CN203759545U (en) | 2014-03-17 | 2014-03-17 | DSP-based attitude control device of quadrotor aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203759545U true CN203759545U (en) | 2014-08-06 |
Family
ID=51254798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420118590.3U Expired - Fee Related CN203759545U (en) | 2014-03-17 | 2014-03-17 | DSP-based attitude control device of quadrotor aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203759545U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072693A1 (en) * | 2016-10-20 | 2018-04-26 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aerial vehicle, and aerial vehicle |
-
2014
- 2014-03-17 CN CN201420118590.3U patent/CN203759545U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072693A1 (en) * | 2016-10-20 | 2018-04-26 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aerial vehicle, and aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140806 Termination date: 20150317 |
|
| EXPY | Termination of patent right or utility model |