CN204719541U - The quadrotor of wireless video monitoring and many PID regulable control attitude - Google Patents

The quadrotor of wireless video monitoring and many PID regulable control attitude Download PDF

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Publication number
CN204719541U
CN204719541U CN201520428909.7U CN201520428909U CN204719541U CN 204719541 U CN204719541 U CN 204719541U CN 201520428909 U CN201520428909 U CN 201520428909U CN 204719541 U CN204719541 U CN 204719541U
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China
Prior art keywords
quadrotor
video monitoring
control
attitude
radio
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Expired - Fee Related
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CN201520428909.7U
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Chinese (zh)
Inventor
蔡建羡
尹汤湘豫
邬松杉
黄国卿
宁鹏
田博
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Institute of Disaster Prevention
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Institute of Disaster Prevention
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Abstract

The utility model provides the quadrotor of a kind of wireless video monitoring and many PID regulable control attitude, comprising: power-supply system, video monitoring system, telechirics, kinetic control system, four brshless DC motor speed regulators and four brshless DC motors.Advantage is: be the stable quadrotor that a kind of antijamming capability is strong, simultaneously, taking photo by plane and local record of expansion quadrotor, this aircraft as the research and development platform of open type intelligent robot, can also can be used for the research and teaching in the field such as control theory, Robotics.

Description

The quadrotor of wireless video monitoring and many PID regulable control attitude
Technical field
The utility model relates to a kind of aircraft, is specifically related to the quadrotor of a kind of wireless video monitoring and many PID regulable control attitude.
Background technology
Quadrotor possesses VTOL (Vertical Take-Off and Landing, vertical takeoff and landing) all advantages of aircraft, possess again the features such as low, the repeatable strong and accident cost of the cost that unmanned plane has is low, because of upper warp, have broad application prospects, such as, can be used for following multiple application places: (1) can be applicable to battlefield, military ground reconnaissance and surveillance, obtain the information not easily obtained; (2) no-fly zone patrol and closely aerial special duty such as supports grade can be performed; (3) can modern electronic warfare be tackled, realize the modern war patterns such as communication relaying; (4) in civilian, can be used for all many-sides such as post-disaster search and rescue, urban transportation patrol and target following; (5) industrially, may be used for safety patrol inspection, e.g., mountain area after large-size chemical scene, high voltage transmission line, dam, bridge and earthquake etc. is manually not easy to arrive space, carries out safe task inspection and search-and-rescue work.Therefore, the Research Significance of quadrotor is great.
But existing quadrotor, carries out PID adjustment by the angular velocity of motion, such as, to ensure the stable of quadrotor fuselage, quadrotor disclosed in patent ZL201310272336.9.But existing single PID control method, when generally having flight, fuselage stability controls limited problem, thus limits extensively promoting further of quadrotor.
Utility model content
For the defect that prior art exists, the utility model provides the quadrotor of a kind of wireless video monitoring and many PID regulable control attitude, can effectively solve the problem.
The technical solution adopted in the utility model is as follows:
The utility model provides the quadrotor of a kind of wireless video monitoring and many PID regulable control attitude, comprising: power-supply system, video monitoring system, telechirics, kinetic control system, four brshless DC motor speed regulators and four brshless DC motors;
Described power-supply system respectively with described video monitoring system, described telechirics, described kinetic control system, four described brshless DC motor speed regulators and four described brushless dc mechatronics;
Described video monitoring system is installed in the frame of described quadrotor, and its signal output part is connected with ground system;
One end of described telechirics is connected with described ground system, and the other end of described telechirics is connected with one end of described kinetic control system; The other end of described kinetic control system is connected to described brshless DC motor by described brshless DC motor speed regulator;
Wherein, described kinetic control system comprises navigator, attitude measurement equipment, current of electric metering circuit, flight controller and Motor execution equipment; Wherein, described flight controller comprises: master controller and the 1PID adjustment control be connected with described master controller and 2PID adjustment control;
Described navigator is connected with described master controller;
The output terminal of described attitude measurement equipment is connected with the input end of described 1PID adjustment control, the output terminal of described 1PID adjustment control and described Motor execution equipment connection;
The output terminal of described current of electric metering circuit is connected with the input end of described 2PID adjustment control, the output terminal of described 2PID adjustment control and described Motor execution equipment connection.
Preferably, described navigator comprises interconnective triones navigation system and digital gas pressure sensor.
Preferably, described attitude measurement equipment comprises three-axis gyroscope, three axis accelerometer and three axle magnetoresistive transducers.
Preferably, described Motor execution equipment is DC brushless motor electron speed regulator.
Preferably, described video monitoring system comprises imageing sensor, radio frequency transmitter circuitry and radio-frequency (RF) receiving circuit; Described imageing sensor and described radio frequency transmitter circuitry are installed on the The Cloud Terrace of quadrotor; Described radio-frequency (RF) receiving circuit is installed on ground system; Described imageing sensor, by described radio frequency transmitter circuitry, is communicated by radio communication mode with described radio-frequency (RF) receiving circuit.
Preferably, described radio frequency transmitter circuitry and described radio-frequency (RF) receiving circuit are 5.8GHz radio circuit; Described ground system also comprises: display screen, AD converter and movable memory equipment; One end of described radio-frequency (RF) receiving circuit is connected with described display screen; The other end of described radio-frequency (RF) receiving circuit is connected with described movable memory equipment by described AD converter.
Preferably, described AD converter is TVP5150AM1 chip; Described movable memory equipment is SD card or USB flash disk.
Preferably, described telechirics comprises the remote-control handle, power amplifier and the radio communication circuit that connect successively.
Preferably, described power-supply system comprises: battery, power supply supervisory circuit and voltage-regulating circuit;
Wherein, described battery is the large discharge-rate model airplane battery of 12V, 22C, 3800mah.
Preferably, the 12V voltage output interface of described battery is directly connected with each brshless DC motor and described video monitoring system;
The 12V voltage output interface of described battery, also by after voltage-regulating circuit, is connected with described telechirics and described kinetic control system.
The quadrotor of the wireless video monitoring that the utility model provides and many PID regulable control attitude has the following advantages:
The utility model is the stable quadrotor that a kind of antijamming capability is strong, simultaneously, taking photo by plane and local record of expansion quadrotor, this aircraft as the research and development platform of open type intelligent robot, can also can be used for the research and teaching in the field such as control theory, Robotics.
Accompanying drawing explanation
The structural representation of the quadrotor of the wireless video monitoring that Fig. 1 provides for the utility model and many PID regulable control attitude;
The kinetic control system structural drawing that Fig. 2 provides for the utility model;
The specific implementation circuit diagram of the current of electric metering circuit that Fig. 3 provides for the utility model.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail:
Composition graphs 1, the utility model provides the quadrotor of a kind of wireless video monitoring and many PID regulable control attitude, it is a kind of right-angled intersection four rotor structure, there is the quadrotor of many PID regulable control attitude of wireless telecommunications and FPV aerial photography function, belong to robot controlling field, experiment research platform can be provided for the control theory course of engineering and polytechnic universities and Robot Design course.
Specifically comprise: power-supply system, video monitoring system, telechirics, kinetic control system, four brshless DC motor speed regulators and four brshless DC motors.Especially for kinetic control system, adopt double PID adjustment mode, that is: on the basis that the original PID of flight controller controls, the controller of DC brushless motor carries out PID adjustment for the size of current of electric, thus control moment and the lift of motor, and then quadrotor is controlled by two-stage PID, fuselage stability when effectively can strengthen aircraft flight.
Below each parts are introduced respectively in detail:
(1) kinetic control system
Kinetic control system is the part of quadrotor most critical, and the kinetic control system structure of exploitation as shown in Figure 2, comprises navigator, attitude measurement equipment, current of electric metering circuit, flight controller and Motor execution equipment; Wherein, flight controller comprises: master controller and the 1PID adjustment control be connected with master controller and 2PID adjustment control;
(1) navigator
Navigator is made up of triones navigation system and BMP180 digital gas pressure sensor, and triones navigation system has 2 advantages compared to GPS:
First is that triones navigation system has oblique orbit satellite, and the positioning signal on the landform of shelter complexity, earth's surface is stronger, precision is higher (CBD that such as city high rise building is concentrated);
Second is that triones navigation system supports short message transfering function, and terminal device can not only receive the positioning signal of the Big Dipper, can also transmitting terminal message to satellite or arrive regulation and control center, this function is that GPS does not support.
The triones navigation system chip that quadrotor adopts is T1612BDMT.
Under the support of this chip, the path planning that quadrotor can realize point-to-point moves, and realizes stronger navigation feature.
(2) attitude measurement equipment
Attitude algorithm is most basic part on quadrotor platform, is completed by arm processor STM32F427, for the data of 10 axle sensors on control panel are merged the attitude vectors finally estimating quadrotor after filtering.The hardware adopted is 6 axle sensor MPU6050, comprises three-axis gyroscope, three axis accelerometer and HMC5883L tri-axle magnetoresistive transducer, is comprised the speed, displacement, course angle etc. of aircraft by the information obtained after this resume module.
Concrete, attitude measurement equipment comprises three-axis gyroscope, three axis accelerometer and three axle magnetoresistive transducers.The output terminal of attitude measurement equipment is connected with the input end of 1PID adjustment control, the output terminal of 1PID adjustment control and Motor execution equipment connection; The attitude PID control principle of 1PID adjustment control is: by all kinds of attitude measurement equipment, measurement obtains aircraft current time attitude, comparing with targeted attitude, the rotation calculating representative rotation is poor, calculating moment by rotating difference, calculating the torque increment corresponding respectively with four motors by moment, and then controlling throttle, adjustment attitude of flight vehicle, makes it constantly near targeted attitude.
(3) current of electric metering circuit
The output terminal of current of electric metering circuit is connected with the input end of 2PID adjustment control, the output terminal of 2PID adjustment control and Motor execution equipment connection.
2PID adjustment control essence is moment PID controller, belongs to the emphasis of the utility model patent.In prior art, simple use attitude PID regulates, the stable of fuselage can not reach good state, the time interval that PID regulates is particularly important, because the torque of motor is not linear, in adjustment, the increase and decrease of torque is a process variable, if increase a PID to regulate on electron speed regulator, make the torque required by motor to reach rapidly and to stablize, can further improve the stability of fuselage.
Its implementation be on electric motor loop increase a current of electric metering circuit, by regulating the PID of current of electric, make motor torque and lift constant, the problem of fuselage stability can be improved largely.The specific implementation circuit of current of electric metering circuit as shown in Figure 3, current of electric metering circuit essence is recorded by Ohm law by a minimum electric resistance partial pressure, because the PWM ripple of drive motor exists larger fluctuation, therefore, a RC filtering circuit can be used to realize low-pass filter effect.
(4) Motor execution equipment
Motor execution equipment is made up of DC brushless motor electron speed regulator and DC brushless motor.STM32F103c8 is as the controller of DC brushless motor electron speed regulator, four rotor four arms control the rotating speed of motor by an independent electron speed regulator, control signal is calculated by the master control borad of quadrotor, and the control chip of each electron speed regulator is passed to by I2C agreement, the topworks of the design adopts DC brushless motor, steering wheel is a kind of typical electromechanical integrated product, alternative DC motor speed-regulating, frequency converter+variable-frequency motor speed governing, asynchronous machine+reductor speed governing, be applicable to need the high-power power system of high-torque.The application of brshless DC motor is very extensive, as automobile, instrument, industrial industry control, robotization and Aero-Space etc.
(2) video monitoring system
For meeting the dual requirements of transmission range and transfer rate, the utility model has abandoned traditional use radio transmission of digital signals mode, and adopting analog signal transmission, video monitoring system is installed in the frame of quadrotor, and its signal output part is connected with ground system;
Video monitoring system comprises imageing sensor, radio frequency transmitter circuitry and radio-frequency (RF) receiving circuit.
(1) imageing sensor
Imageing sensor is installed on the The Cloud Terrace of quadrotor, is quadrotor " eyes ", for receiving visual signal, and is transmitted into surface system by the radio circuit of 5.8G frequency.
The parameter of camera is as shown in table 1.
The parameter of table 1 camera
Index/model Parameter
Image device COMS MT9V139 CMOS
Camera types CMOS
Output signal system PAL/NTSC
CMOS valid pixel 728 (level) × 560 (vertically)
Minimal illumination 0.1Lux@(F1.2,AGC ON),0LUX with IR
Horizontal definition 800TVL
(2) radio frequency transmitter circuitry and radio-frequency (RF) receiving circuit
Radio-frequency system is used for real-time for the video collected to be received and dispatched by wireless radiofrequency.That the channel of radio frequency adopts is 5.8Ghz, 5.8GHz is an opening, seldom by the frequency range used, 5.8GHz frequency range is higher than 2.4GHZ frequency, an open ISM band, and the interference received in the way that video transmits is little, and real-time is good.The bandwidth of 5.8Ghz is wider compared to 2.4G, enough bandwidth are had to transmit video data, radio frequency transmitter circuitry on quadrotor sends after the simulating signal of the AV interface pal mode exported by simulation camera being modulated, access micro-television screen after collection of simulant signal also process is play by the radio-frequency (RF) receiving circuit of ground system, simultaneously, the video analog signal exported, after TVP5150AM1 chip transfers digital signal to, is stored in movable memory equipment, as SD card or USB flash disk.
Visible, in the utility model, at the flying platform of quadrotor, simulation camera is installed, the image gathered is sent to ground receiver end by interface in the mode of 5.8G less radio-frequency, ground receiver end is synchronously play and is converted into digital signal by decoding chip, carries out this locality store with video format.
(3) telechirics
Telechirics comprises the remote-control handle, power amplifier and the radio communication circuit that connect successively.One end of telechirics is connected with ground system, and the other end of telechirics is connected with one end of kinetic control system; The other end of kinetic control system is connected to brshless DC motor by brshless DC motor speed regulator;
In specific implementation, radio communication circuit on the remote-control handle that telechirics is increased income by agreement and quadrotor is formed, the chip adopted is NRF24L01, increase PA and LNA power amplifier on this basis, to expand wireless transmission power, thus increase communication distance, adopt bimodulus mode operation, radio communication circuit on quadrotor and the radio communication circuit of telepilot are respectively 3V and 12V direct current supply, remote control distance 3000 meters.More specifically, telepilot has two rocking bars to obtain the position of key mapping by analog to digital conversion, and two button extended functions, send frame data by communication protocol after integration and comprise all key mapping information, the every terms of information index of self also mails on telepilot by radio communication circuit by quadrotor, be presented in liquid crystal display, such as electricity, attitude, rotating speed, flying height etc.
(4) power-supply system
Power supply is the power resources of quadrotor, provides the energy needed for any behaviors such as transmission, control and motion for quadrotor.
Power-supply system respectively with video monitoring system, telechirics, kinetic control system, four brshless DC motor speed regulators and four brushless dc mechatronics;
Power-supply system comprises: battery, power supply supervisory circuit and voltage-regulating circuit; The power supply of quadrotor is the large discharge-rate model airplane battery of 12V, 22C, 3800mah, for machine governor and control chip and various functional chip are powered after turning pressure by ams1117-3.3v chip, 12V voltage is driven by the direct motor of electron electric power power component.
After quadrotor powers on.Machine governor starts measuring voltage, if brownout, motor can send alarm sound then stall automatically, if voltage is normal, drive motor starts to keep low speed rotation and waits for next step instruction.Wait for the data-driven motor of the I2C agreement that quadrotor is sent.
In sum, the quadrotor of the wireless video monitoring that provides of the utility model and many PID regulable control attitude has the following advantages:
(1) many PID adjustment control is adopted, employing four rotor flying controller control fuselage is stable while, the more auxiliary control of the PID electric current increasing machine governor, make flight attitude excessive rapidly, reduce overshoot and regulating time.
(2) adopt Analogvideotransmission mode, realize the real-time Transmission of video, and, transfer digital video after Analogvideotransmission to and be kept at ground movable equipment, conveniently check;
Visible, the utility model is the stable quadrotor that a kind of antijamming capability is strong, simultaneously, taking photo by plane and local record of expansion quadrotor, this aircraft as the research and development platform of open type intelligent robot, can also can be used for the research and teaching in the field such as control theory, Robotics.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should look protection domain of the present utility model.

Claims (10)

1. a quadrotor for wireless video monitoring and many PID regulable control attitude, is characterized in that, comprising: power-supply system, video monitoring system, telechirics, kinetic control system, four brshless DC motor speed regulators and four brshless DC motors;
Described power-supply system respectively with described video monitoring system, described telechirics, described kinetic control system, four described brshless DC motor speed regulators and four described brushless dc mechatronics;
Described video monitoring system is installed in the frame of described quadrotor, and its signal output part is connected with ground system;
One end of described telechirics is connected with described ground system, and the other end of described telechirics is connected with one end of described kinetic control system; The other end of described kinetic control system is connected to described brshless DC motor by described brshless DC motor speed regulator;
Wherein, described kinetic control system comprises navigator, attitude measurement equipment, current of electric metering circuit, flight controller and Motor execution equipment; Wherein, described flight controller comprises: master controller and the 1PID adjustment control be connected with described master controller and 2PID adjustment control;
Described navigator is connected with described master controller;
The output terminal of described attitude measurement equipment is connected with the input end of described 1PID adjustment control, the output terminal of described 1PID adjustment control and described Motor execution equipment connection;
The output terminal of described current of electric metering circuit is connected with the input end of described 2PID adjustment control, the output terminal of described 2PID adjustment control and described Motor execution equipment connection.
2. the quadrotor of wireless video monitoring according to claim 1 and many PID regulable control attitude, is characterized in that, described navigator comprises interconnective triones navigation system and digital gas pressure sensor.
3. the quadrotor of wireless video monitoring according to claim 1 and many PID regulable control attitude, is characterized in that, described attitude measurement equipment comprises three-axis gyroscope, three axis accelerometer and three axle magnetoresistive transducers.
4. the quadrotor of wireless video monitoring according to claim 1 and many PID regulable control attitude, is characterized in that, described Motor execution equipment is DC brushless motor electron speed regulator.
5. the quadrotor of wireless video monitoring according to claim 1 and many PID regulable control attitude, is characterized in that, described video monitoring system comprises imageing sensor, radio frequency transmitter circuitry and radio-frequency (RF) receiving circuit; Described imageing sensor and described radio frequency transmitter circuitry are installed on the The Cloud Terrace of quadrotor; Described radio-frequency (RF) receiving circuit is installed on ground system; Described imageing sensor, by described radio frequency transmitter circuitry, is communicated by radio communication mode with described radio-frequency (RF) receiving circuit.
6. the quadrotor of wireless video monitoring according to claim 5 and many PID regulable control attitude, is characterized in that, described radio frequency transmitter circuitry and described radio-frequency (RF) receiving circuit are 5.8GHz radio circuit; Described ground system also comprises: display screen, AD converter and movable memory equipment; One end of described radio-frequency (RF) receiving circuit is connected with described display screen; The other end of described radio-frequency (RF) receiving circuit is connected with described movable memory equipment by described AD converter.
7. the quadrotor of wireless video monitoring according to claim 6 and many PID regulable control attitude, is characterized in that, described AD converter is TVP5150AM1 chip; Described movable memory equipment is SD card or USB flash disk.
8. the quadrotor of wireless video monitoring according to claim 1 and many PID regulable control attitude, is characterized in that, described telechirics comprises the remote-control handle, power amplifier and the radio communication circuit that connect successively.
9. the quadrotor of wireless video monitoring according to claim 1 and many PID regulable control attitude, is characterized in that, described power-supply system comprises: battery, power supply supervisory circuit and voltage-regulating circuit;
Wherein, described battery is the large discharge-rate model airplane battery of 12V, 22C, 3800mah.
10. the quadrotor of wireless video monitoring according to claim 9 and many PID regulable control attitude, is characterized in that, the 12V voltage output interface of described battery is directly connected with each brshless DC motor and described video monitoring system;
The 12V voltage output interface of described battery, also by after voltage-regulating circuit, is connected with described telechirics and described kinetic control system.
CN201520428909.7U 2015-06-19 2015-06-19 The quadrotor of wireless video monitoring and many PID regulable control attitude Expired - Fee Related CN204719541U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107065911A (en) * 2017-04-28 2017-08-18 湖北理工学院 Quadrotor and its control method
CN110308736A (en) * 2019-07-03 2019-10-08 浙江逸航科技有限公司 A kind of VTOL fixed-wing unmanned controller control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107065911A (en) * 2017-04-28 2017-08-18 湖北理工学院 Quadrotor and its control method
CN110308736A (en) * 2019-07-03 2019-10-08 浙江逸航科技有限公司 A kind of VTOL fixed-wing unmanned controller control system

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Granted publication date: 20151021

Termination date: 20170619