CN204229233U - A kind of many rotor wing unmanned aerial vehicles automatic flight control system - Google Patents
A kind of many rotor wing unmanned aerial vehicles automatic flight control system Download PDFInfo
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- CN204229233U CN204229233U CN201420608709.5U CN201420608709U CN204229233U CN 204229233 U CN204229233 U CN 204229233U CN 201420608709 U CN201420608709 U CN 201420608709U CN 204229233 U CN204229233 U CN 204229233U
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Abstract
A kind of many rotor wing unmanned aerial vehicles automatic flight control system, comprise flight controlling calculation unit, full manual control unit, wireless signal transmitting unit and electric-motor drive unit, flight controlling calculation unit output terminal connects full manual control unit input end, and full manual control unit output terminal connects the input end of electric-motor drive unit; Flight controlling calculation unit is detected correcting unit, flight position controller, GPS navigation sensor, inertia measurement sensor and baroceptor formed by flight attitude derivation device, attitude controller, flying speed detection means for correcting, speed control, flight position; Full manual control unit is made up of three-axis gyroscope sensor and angular rate control unit; Wireless signal transmitting unit is made up of ground station signals Transmit-Receive Unit, remote controller signal receiving element.The multiple spot that the utility model can realize many rotor wing unmanned aerial vehicles flies automatically, switches to full Non-follow control to avoid air crash phenomenon to occur when automatic flight controller breaks down.
Description
Technical field
The utility model relates to a kind of many rotor wing unmanned aerial vehicles flight control assemblies, particularly relates to a kind of many rotor wing unmanned aerial vehicles automatic flight control system based on dual control unit.
Background technology
in recent years, the research and development heat of depopulated helicopter has been risen in various countries, and the depopulated helicopter of new research and development competitively occurs in each continent, and at military affairs, emergency response, monitor, take photo by plane and play the part of vital role in accurate agricultural management etc.Many rotor wing unmanned aerial vehicles, construct fairly simple, price is also cheaper, and most important is that it does not need emission coefficient, can also vertical takeoff and landing, to environment no requirement (NR) of taking off, advantage maximum compared with fixed-wing aloft freely to be hovered, and flight dirigibility is quite superb, available various speed, fly in the air route of various flight profile, mission profile, thus than fixed-wing unmanned plane in the difficult task environment such as investigation, rescue, have more application advantage.
The many employings of many rotor wing unmanned aerial vehicles controller in the market core calculations unit, when unmanned plane sensor unit runs into very strong signal disturbing or GPS navigation sensor signal is lost suddenly, core calculations unit is sent out and unstability or deadlock phenomenon can be occurred, operator cannot switch to manual offline mode from automatic offline mode, cause aircraft bombing and fly to lose, causing potential safety hazard.
Utility model content
The utility model provides a kind of many rotor wing unmanned aerial vehicles automatic flight control system for the problems referred to above exactly, the multiple spot that can realize many rotor wing unmanned aerial vehicles when relying on GPS navigation sensor signal flies automatically, switches to full Non-follow control to avoid air crash phenomenon to occur when automatic flight controller breaks down.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of many rotor wing unmanned aerial vehicles automatic flight control system, comprising: flight controlling calculation unit, full manual control unit, wireless signal transmitting unit and electric-motor drive unit; Flight controlling calculation unit output terminal connects full manual control unit input end, and full manual control unit output terminal connects the input end of electric-motor drive unit.
Flight controlling calculation unit is detected correcting unit, flight position controller, inertia measurement sensor (IMU), GPS navigation sensor and baroceptor connected and composed by flight attitude derivation device, attitude controller, flying speed detection means for correcting, speed control, flight position; Full manual control unit is made up of three-axis gyroscope sensor and angular rate control unit.
Wireless signal transmitting unit is made up of ground station signals Transmit-Receive Unit, remote controller signal receiving element.
Inertia measurement sensor (IMU) exports 3-axis acceleration signal, three axis angular rate signals and three axle Geomagnetic signals, forms 9 degree of freedom attitude sensors.9 degree of freedom IMU signal output parts are connected with flight attitude derivation device input end, flight attitude derivation device output terminal connects attitude controller, attitude controller output terminal connects the input end of the angular rate control unit in full manual control unit, and angular rate control unit output terminal connects electric-motor drive unit; The output terminal of three-axis gyroscope sensor is connected to the angular rate control unit of full manual control unit.The output terminal of the rate signal that GPS navigation sensor exports and the angular acceleration signal that flight attitude derivation device exports is connected to the input end that flying speed detects means for correcting simultaneously, flying speed detects the output terminal of means for correcting and is connected with the input end of speed control, and the output terminal of speed control is connected with attitude controller; The air pressure signal that baroceptor exports and the longitude and latitude signal that GPS navigation sensor exports are connected to flight position and detect means for correcting, the output terminal that flight position detects means for correcting connects flight position controller, the output terminal connection speed controller of flight position controller.
According to the utility model of above structure, it is characterized in that, its input port flying to control computing unit of described unmanned plane automatic flight control system connects ground station signals Transmit-Receive Unit; The input end of full manual control unit is connected to remote controller signal receiving element; The controller of unmanned plane automatic flight control system contains and realizes the flight controlling calculation unit that flight automatically controls and the full manual control unit realizing complete manually flight; Unmanned plane automatic flight control system also further comprises the wireless signal transmitting unit communicated with telepilot land station.
The beneficial effects of the utility model are:
1. the utility model adopts the flight controlling calculation unit of separate type and full manual control unit, ensure that accuracy and the real-time of computing and control, and system can switch between offline mode at full manual mode with automatically.
2. the GPS navigation sensor of built-in 16 passages of control system, provides superior positioning precision, entirely independently can realize hovering and the flight of multichannel point accurately.
3. adopt integrated Mti high reliability IMU inertial navigation sensors, the gesture stability of high precision, high stability can be carried out unmanned plane.
4. the utility model design proposal of taking positioner, speed control, attitude controller, angular rate control unit nested layer by layer, make flight more steadily smooth, fuselage shake is less, and operator can change arbitrarily as required and cuts between several offline mode.
Accompanying drawing explanation
Fig. 1 is the utility model flight-control computer theory diagram;
Fig. 2 is the utility model control system signal wiring figure;
Fig. 3 the utility model GPS navigation sensor circuit figure;
Fig. 4 the utility model baroceptor circuit diagram;
Fig. 5 the utility model full manual control unit DSP(digital signal processor) circuit diagram;
Fig. 6 is the utility model flight controlling calculation cell S H single chip circuit figure.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further details.
Be the utility model flight-control computer theory diagram as shown in Figure 1, in flight control system, be provided with flight controlling calculation unit and full manual control unit two parts.Flight controlling calculation unit comprises again, and flight attitude derivation device, attitude controller, flying speed detect means for correcting, speed control, flight position detection correcting unit, positioner, IMU inertia measurement sensor, GPS navigation sensor and baroceptor.IMU inertia measurement sensor exports 3-axis acceleration signal, three axis angular rate signals and three axle Geomagnetic signals, forms 9 degree of freedom attitude sensors; The signal that GPS navigation sensor exports comprises longitude signal, latitude signal and rate signal; Baroceptor output pressure signal; Full manual control unit is by angular rate control unit and three-axis gyroscope sensor, and the output of full manual control unit is connected with electric-motor drive unit.
Said apparatus annexation is: IMU inertia measurement sensor, flight attitude derivation device, attitude controller, angular rate control unit, motor driver are connected; GPS navigation sensor detects means for correcting respectively and detects means for correcting with flight position and be connected with flying speed; Flight attitude derivation device, flying speed detect means for correcting and are connected with flight position detection means for correcting order; It is sequentially connected that flying speed detects means for correcting, speed control, attitude controller; Baroceptor is connected to flight position and detects means for correcting; It is sequentially connected that flight position detects means for correcting, flight position controller, speed control; Three-axis gyroscope sensor, angular rate control unit, motor driver order is connected.
Accompanying drawing 2 is the utility model control system signal wiring figure.The flying of flight control system is controlled computing unit and is connected with ground station signals Transmit-Receive Unit in wireless signal transmitting unit; Full manual control unit is connected with remote controller signal receiving element in wireless signal transmitting unit and electric-motor drive unit; Each device principle of work is:
1, ability of posture control pattern: 3-axis acceleration data A1, three axis angular rate data A2 that flight controlling calculation unit records IMU inertia measurement sensor and three axle geomagnetic data A3 carry out Treatment Analysis, carry out flight attitude and calculate B1, produce attitude data B2; Carry out gesture stability treatments B 3; Calculate gesture stability parameter B4; Gesture stability parameter B4, angular velocity control treatment D1 is carried out in the input as full manual control unit; Calculate angular velocity controling parameters D2; Full manual control unit output port, is connected with motor driver, sees Fig. 1;
2, speed control mode: flight controlling calculation unit carries out integral operation to 3-axis acceleration data A1, and quotes the speed data C1 obtained from GPS sensor, carries out correction C2, produces flying speed data C3; Carry out speeds control process C4; Calculate speed control parameter C5; Speed control parameter C5 inputs as attitude controller, carries out gesture stability treatments B 3; Calculate gesture stability parameter B4; Gesture stability parameter B4, angular velocity control treatment D1 is carried out in the input as full manual control unit; Calculate angular velocity controling parameters D2; Full manual control unit output port, is connected with motor driver.
3, position control mode: longitude and latitude E1, baroceptor barometric information H1 that flight controlling calculation cell refernce GPS navigation sensor records, and flying speed data C3, carry out flight position calculating and correct E2; Through flight position controller process E3, calculate position control parameter E4; Position control parameter E4 carries out speeds control process C4 as the input of speed control; Calculate speed control parameter C5; Speed control parameter C5 inputs as attitude controller, carries out gesture stability treatments B 3; Calculate gesture stability parameter B4; Gesture stability parameter B4, angular velocity control treatment D1 is carried out in the input as full manual control unit; Calculate angular velocity controling parameters D2; Full manual control unit output port, is connected with motor driver.
4, many rotor wing unmanned aerial vehicles automatic flight control system, quote gesture stability parameter B4, flying speed controling parameters C5, position control parameter E4, is nested to form multiple feedback loop system layer by layer, is controlled many rotor wing unmanned aerial vehicles brshless DC motor by motor driver.
5, Fig. 3-Fig. 6 is that the utility model is correlated with the circuit structure diagram of critical piece.In order to flight effect better in practical flight, the technical program distinguishes the steering order of satellite receiver and telepilot by the remote controller signal receiving element (Propo) in Fig. 5 and Fig. 6 ground station signals Transmit-Receive Unit (Zigbee), full Non-follow control and full-automatic offline mode freely can be switched by the steering order of telepilot, in Fig. 5, full manual control unit adopts DSP(digital signal processor) receive data that three-axis gyroscope sensor exports and the data that remote controller signal receiving unit receives, realize angular velocity after carrying out real-time analysis computing and control, GPS navigation sensing data in Fig. 3, the data that the IMU attitude sensor of baroceptor in Fig. 4 in the output data and Fig. 6 of A/D convertor circuit exports deliver to the SH single-chip microcomputer in Fig. 6 together, the DSP(digital signal processor of data to the full manual control unit of Fig. 5 is exported) through flying to control the attitude controller obtained after computing unit SH single-chip microcomputer carries out real-time analysis computing to above data in Fig. 6, controlled by the angular velocity of angular rate control unit to the rotary motion of aircraft all directions thus make aircraft can keep stabilized flight when full Non-follow control, accuracy and the security of flying activity are ensured.
Claims (5)
1. rotor wing unmanned aerial vehicle automatic flight control system more than a kind, it is characterized in that: comprise flight controlling calculation unit, full manual control unit, wireless signal transmitting unit and electric-motor drive unit, flight controlling calculation unit output terminal connects full manual control unit input end, and full manual control unit output terminal connects the input end of electric-motor drive unit;
Flight controlling calculation unit is detected correcting unit, flight position controller, GPS navigation sensor, inertia measurement sensor and baroceptor formed by flight attitude derivation device, attitude controller, flying speed detection means for correcting, speed control, flight position;
Full manual control unit is made up of three-axis gyroscope sensor and angular rate control unit;
Wireless signal transmitting unit is made up of ground station signals Transmit-Receive Unit, remote controller signal receiving element.
2. many rotor wing unmanned aerial vehicles automatic flight control system according to claim 1, is characterized in that: inertia measurement sensor is the 9 degree of freedom attitude sensors exporting 3-axis acceleration signal, three axis angular rate signals and three axle Geomagnetic signals.
3. many rotor wing unmanned aerial vehicles automatic flight control system according to claim 1 and 2, is characterized in that: the signal output part of inertia measurement sensor is connected with flight attitude derivation device input end, and flight attitude derivation device output terminal connects attitude controller; The input end of the angular rate control unit of full manual control unit connects attitude controller output terminal, and the output terminal of angular rate control unit connects electric-motor drive unit.
4. many rotor wing unmanned aerial vehicles automatic flight control system according to claim 1 and 2, is characterized in that: the output terminal of three-axis gyroscope sensor is connected to the angular rate control unit of full manual control unit.
5. many rotor wing unmanned aerial vehicles automatic flight control system according to claim 1, it is characterized in that: the rate signal output terminal of GPS navigation sensor and the angular acceleration signal output terminal of flight attitude derivation device are connected to the input end that flying speed detects means for correcting simultaneously, flying speed detects the output terminal of means for correcting and is connected with the input end of speed control, and the output terminal of speed control is connected with attitude controller; The signal output part of baroceptor and the longitude and latitude signal output part of GPS navigation sensor are connected to flight position and detect means for correcting, flight position detects means for correcting output terminal and connects flight position controller, flight position controller output end connection speed controller.
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| CN201420608709.5U CN204229233U (en) | 2014-10-21 | 2014-10-21 | A kind of many rotor wing unmanned aerial vehicles automatic flight control system |
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| CN201420608709.5U CN204229233U (en) | 2014-10-21 | 2014-10-21 | A kind of many rotor wing unmanned aerial vehicles automatic flight control system |
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Cited By (12)
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| CN105425810A (en) * | 2015-12-29 | 2016-03-23 | 国家电网公司 | Unmanned aerial vehicle for inspection |
| CN105466423A (en) * | 2016-01-11 | 2016-04-06 | 致导科技（北京）有限公司 | Unmanned aerial vehicle navigation system and operation method thereof |
| CN105511309A (en) * | 2015-11-30 | 2016-04-20 | 无锡觅睿恪科技有限公司 | Novel remote controller for unmanned aerial vehicle |
| CN105912010A (en) * | 2016-06-24 | 2016-08-31 | 苏州工业职业技术学院 | STM32-based micro four-rotor aircraft and control system thereof |
| CN106292683A (en) * | 2016-11-10 | 2017-01-04 | 广东容祺智能科技有限公司 | A kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof |
| CN106585966A (en) * | 2016-12-13 | 2017-04-26 | 天津传承科技有限公司 | Electromechanical integration unmanned aerial vehicle device capable of smoothly taking off and landing |
| CN106708077A (en) * | 2016-11-14 | 2017-05-24 | 钟玲珑 | Quad-rotor aircraft |
| CN106773877A (en) * | 2017-03-16 | 2017-05-31 | 天津京东智联科技发展有限公司 | A kind of manned vehicle automatic safety control system and its control method |
| CN106864768A (en) * | 2017-03-31 | 2017-06-20 | 天津中德应用技术大学 | VUAV four-way motion and test flight training system |
| CN109556587A (en) * | 2018-11-30 | 2019-04-02 | 广东司马航模实业有限公司 | A kind of aircraft automatically corrects the method and aircraft of earth magnetism |
| CN109795629A (en) * | 2019-01-22 | 2019-05-24 | 深兰科技（上海）有限公司 | A kind of unmanned cargo ship |
| CN113359806A (en) * | 2015-08-20 | 2021-09-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle automatic propeller stopping control system and control method and unmanned aerial vehicle |
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2014
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| CN113359806A (en) * | 2015-08-20 | 2021-09-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle automatic propeller stopping control system and control method and unmanned aerial vehicle |
| CN105511309A (en) * | 2015-11-30 | 2016-04-20 | 无锡觅睿恪科技有限公司 | Novel remote controller for unmanned aerial vehicle |
| CN105425810A (en) * | 2015-12-29 | 2016-03-23 | 国家电网公司 | Unmanned aerial vehicle for inspection |
| CN105466423A (en) * | 2016-01-11 | 2016-04-06 | 致导科技（北京）有限公司 | Unmanned aerial vehicle navigation system and operation method thereof |
| CN105912010A (en) * | 2016-06-24 | 2016-08-31 | 苏州工业职业技术学院 | STM32-based micro four-rotor aircraft and control system thereof |
| CN106292683A (en) * | 2016-11-10 | 2017-01-04 | 广东容祺智能科技有限公司 | A kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof |
| CN106708077A (en) * | 2016-11-14 | 2017-05-24 | 钟玲珑 | Quad-rotor aircraft |
| CN106585966A (en) * | 2016-12-13 | 2017-04-26 | 天津传承科技有限公司 | Electromechanical integration unmanned aerial vehicle device capable of smoothly taking off and landing |
| CN106773877A (en) * | 2017-03-16 | 2017-05-31 | 天津京东智联科技发展有限公司 | A kind of manned vehicle automatic safety control system and its control method |
| CN106864768A (en) * | 2017-03-31 | 2017-06-20 | 天津中德应用技术大学 | VUAV four-way motion and test flight training system |
| CN106864768B (en) * | 2017-03-31 | 2023-11-03 | 天津中德应用技术大学 | Four-channel movement mechanism of vertical take-off and landing unmanned aerial vehicle and flight test training system |
| CN109556587A (en) * | 2018-11-30 | 2019-04-02 | 广东司马航模实业有限公司 | A kind of aircraft automatically corrects the method and aircraft of earth magnetism |
| CN109556587B (en) * | 2018-11-30 | 2021-04-16 | 广东司马航模实业有限公司 | Method for automatically correcting geomagnetism of aircraft and aircraft |
| CN109795629A (en) * | 2019-01-22 | 2019-05-24 | 深兰科技（上海）有限公司 | A kind of unmanned cargo ship |
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Effective date of registration: 20160608 Address after: 16 Wuhan, Jianghan District, Xinhua Road, No. 29 building, court building, No. 430022, Patentee after: Hubei Tianyu cruise Polytron Technologies Inc. Address before: 430070 Hubei Province, Wuhan city Wuchang District Shipai Ling Road No. 118 Patentee before: HUBEI MECHANICAL AND ELECTRICAL RESEARCH AND DESIGN INSTITUTE CO.,LTD. |
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Effective date of registration: 20170417 Address after: 18 Wuhan, Jianghan District, Xinhua Road, No. 29 building, court building, No. 430000, Patentee after: BEIJING TODAY INNOVATION TECHNOLOGY Co.,Ltd. Address before: 16 Wuhan, Jianghan District, Xinhua Road, No. 29 building, court building, No. 430022, Patentee before: Hubei Tianyu cruise Polytron Technologies Inc. |
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| TR01 | Transfer of patent right | ||
| CB03 | Change of inventor or designer information |
Inventor after: He Yong Inventor before: Yang Debin |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150325 Termination date: 20211021 |
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| CF01 | Termination of patent right due to non-payment of annual fee |