CN205121332U - Four rotor crafts based on host computer regulation and control and demonstration - Google Patents
Four rotor crafts based on host computer regulation and control and demonstration Download PDFInfo
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- CN205121332U CN205121332U CN201520832819.4U CN201520832819U CN205121332U CN 205121332 U CN205121332 U CN 205121332U CN 201520832819 U CN201520832819 U CN 201520832819U CN 205121332 U CN205121332 U CN 205121332U
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Abstract
The utility model relates to a four rotor crafts based on host computer regulation and control and demonstration, main control unit pass through wireless transmission module and connect the host computer for before the aircraft takes off, transmit the horizontal state parameter signal of the tie of four rotor crafts to host computer through wireless network, and show and adjust the balanced state parameter of aircraft through the host computer, reach balanced state until four rotor screws of aircraft, the remote controller flies to control the board through the connection and connects the main control unit for the aircraft back of steadily taking off is controlled direction, the speed of aircraft through the remote controller, and is shown the state parameter of homophony festival aircraft through the host computer, the main control unit passes through drive module and connects DC Brushless motor and screw, power module connects main control unit and drive module respectively. Transmit the state parameter of aircraft to host computer through wireless module to the inside parameter of aircraft can be shown and regulate and control on the host computer, the purpose that balances, shows the state of flight is in real time controlled in order to reach the debugging aircraft.
Description
Technical field
The utility model relates to the regulation and control of a kind of host computer and the quadrotor shown, the state parameter being specifically related to a kind of quadrotor by wireless network transmissions to upper computer software, and at the relevant hardware and software equipment of computer software controllable and display state parameter.
Background technology
Unmanned vehicle refers to does not need driver, utilize modern electronic equipment, micro-process is used to run predetermined control program, receive external wireless control signal or determine flight attitude and flight path according to internal preset program, utilize aerodynamic principle to realize the recoverable vehicle of flight.Because unmanned vehicle participates in flight without the need to driver, it is made to be more suitable for performing hot mission or executing the task in the environment being not suitable for human survival, so countries in the world fall over each other to study unmanned vehicle.
Quadrotor also claims four-rotor helicopter, is a kind ofly to have the aircraft of four screw propellers and four screw propellers are decussation structure, and four relative rotors have identical sense of rotation and can be divided into points two groups, the sense of rotation difference of two groups.
Quadrotor adopts four rotors as the direct driving force source of flight, rotor is symmetrically distributed in all around four direction of body, four rotors are in sustained height plane, and the structure of four rotors and radius are all identical, wherein two rotors belong to and are rotated counterclockwise, other two rotors belong to and turn clockwise, the bracket end being arranged on aircraft of four motor symmetries, and support intermediate space is laid and flown external unit such as control plate, wireless module etc.Quadrotor is by regulating four motor speeds to change gyroplane rotate speed, realizing the change of lift, thus controls attitude and the position of aircraft.The control basis realizing above-mentioned all motions is the steadily hovering of quadrotor.Therefore, effectively debugging quadrotor, can the state of flight of held stationary be the emphasis of current research.
Summary of the invention
The utility model to provide a kind of based on the quadrotor of host computer regulation and control with display, embedded in especially and fly to control plate, host computer and wireless transport module, by wireless network, the state parameter of aircraft is transferred to host computer, and the inner parameter of aircraft can be revised on upper computer software, to reach the object of debugging flying vehicles control balance, in real time display state of flight.
The utility model is realized by such technical scheme: a kind of based on the quadrotor of host computer regulation and control with display, comprise main control unit, DC brushless motor and screw propeller, driver module, power module, fly to control plate, wireless transport module, telepilot, host computer, described main control unit connects host computer by wireless transport module, before aircraft takeoff, by the flat horizontal state parameter signal of quadrotor by wireless network transmissions to host computer, and shown by host computer and regulate aircraft equilibrium state parameter, until four propeller aircrafts of aircraft reach equilibrium state, described telepilot flies control plate by connection and connects main control unit, after steadily taking off, is controlled direction, the speed of aircraft by telepilot, and show the state parameter of main regulation aircraft by host computer for aircraft, described main control unit connects DC brushless motor and screw propeller by driver module, described power module connects main control unit and driver module respectively.
Described wireless communication module is WIFI232 wireless network chip.
The described control plate that flies adopts STM32F master controller, has 6 passage PWM load modules, 8 passage PWM output modules, MS5611 barometric altimeter, attitude measurement instrument, AT45DB data memory module, 3*LED display module, independently digital power analog power and interface.
The described attitude measurement instrument controlled in plate that flies adopts STM32F103 chip to be main control chip, and has 3-axis acceleration, tri-axis angular rate, three axle magnetometers, barometer altitude flowmeter sensor.
The beneficial effects of the utility model are: compared with general aircraft, the state parameter of aircraft is transferred to host computer by wireless module by the utility model, and can show on host computer and regulate and control the inner parameter of aircraft, to reach the object of debugging flying vehicles control balance, in real time display state of flight.
Accompanying drawing explanation
Fig. 1 is the construction module figure of quadrotor;
Fig. 2 is the vertical view of quadrotor;
Fig. 3 is the side view of quadrotor.
Embodiment
Below in conjunction with accompanying drawing and specific implementation process, the present invention is described in detail:
As shown in Figure 1, a kind of based on the quadrotor of host computer regulation and control with display, comprise main control unit, DC brushless motor and screw propeller, driver module, power module, fly to control plate, wireless transport module, telepilot, host computer, described main control unit connects host computer by wireless transport module, before aircraft takeoff, by the flat horizontal state parameter signal of quadrotor by wireless network transmissions to host computer, and shown by host computer and regulate aircraft equilibrium state parameter, until four propeller aircrafts of aircraft reach equilibrium state; Described telepilot flies control plate by connection and connects main control unit, after steadily taking off, is controlled direction, the speed of aircraft by telepilot, and show the state parameter of main regulation aircraft by host computer for aircraft; Described main control unit connects DC brushless motor and screw propeller by driver module; Power module connects main control unit and driver module respectively.
As Fig. 2, shown in 3, four rotor arm symmetries are located at the corner place of fuselage, four rotor arms and fuselage are combined into " ten " character form structure, rotor arm is all fixedly connected with brushless electric machine, brushless electric machine is all fixedly connected with screw propeller, brushless electric machine connects wire, wire enters in installation portion through rotor arm, and the other end of wire is connected to and flies on control device.Fly control device installs WIFI communication module, by wireless connections host computer.
Power module is respectively main control unit and performs driver module and powers.
Before aircraft takeoff, the flat horizontal state parameter of quadrotor by wireless network transmissions to host computer.If before aircraft takeoff, the screw propeller state of four rotors is uneven, then the side that after taking off, aircraft will be laid particular stress on towards screw propeller falls, and therefore aircraft may be broken.Therefore before taking off, show by upper computer software and regulate aircraft equilibrium state parameter, until four propeller aircrafts of aircraft reach equilibrium state.After aircraft steadily takes off, control the direction, speed etc. of aircraft by transmitter telepilot.Upper computer software can show and regulate the state parameter of aircraft as acceleration, angular speed, magnetometer, barometer altitude etc.
As preferably, the described control plate that flies is chosen Captain and is flown to control plate, it adopts STM32F master controller, has 6 passage PWM load modules, 8 passage PWM output modules, MS5611 barometric altimeter, attitude measurement instrument, AT45DB data memory module, 3*LED display module, independently digital power analog power and abundant interface.This Captain flies to control the hardware platform that plate is a flight controller or robot controller, and it provides the driver of hardware on plank, and user need write software voluntarily.Captain control algolithm, based on PID, needs pid regulator parameters voluntarily.
1) Captain control panel use two groups independently LDO power to digital power and analog power respectively.And analog power have passed through the filtering circuit of two-stage, farthest reduce the power supply disturbance from the external world, obtain measurement data the most accurately.Digital power maximum voltage is 3.3V, and maximum current is 800mA.Analog power maximum voltage is 3.3V, and maximum current is 150mA.
2) Captain inputs with the PWM of 6 passages, for connecting receiver, has gathered the control signal from telepilot, and every passage has RC filtering circuit to reduce the impact of high frequency and burr pulse side.By programming, can support that the signal of PPM inputs to expand the input of more passage.
3) Captain flies control strip has the steering wheel of 8 passages to export, and each expanding channels exports to the comparison of STM32, can the dutycycle of control channel and frequency separately.Support the driving of simulation steering wheel and digital rudder controller, electron speed regulator can also be connected with CD-ROM drive motor motor simultaneously.8 road pwm signals all through the driving voltage of impact damper by 3.3V, have changed into the logic voltage of steering wheel power supply, can reach the 6V of 5V or higher.
4) Captain flies to control the attitude sensor module of plate and is made up of following chip: (a) MPU6050 is integrated with the gyroscope of three axles and the acceleration of three axles, for resolving the angle of pitch and roll angle.B the magnetometer of () HMC5883 tri-axle, induction earth magnetism obtains the course angle of carrier.C () MS5611 high precision barometer, converts height value to by atmospheric pressure value.Above hardware, through sensor fusion techniques, can obtain the angle of pitch and the roll angle in present carrier relative level face, also has the course angle of the relative arctic.
5) Captain fly control plate use the LED of three different colours to show the running status of current system, these LED are that user can control and custom feature.The meaning that flash storage exists facilitates user to store: the calibration value of (a) sensor, offset.B the changeable parameter used in () program or constant, as pid parameter value.(c) store tasks state, the longitude of GPS information and destination, the information such as latitude and height.AT45DB is connected to the SPI2 interface of STM32F, can reach the clock speed of the highest 18M, fast access Flash data.
Captain flies to control the attitude measurement instrument in plate, with STM32F103 chip for main control chip, and have 3-axis acceleration, tri-axis angular rate, three axle magnetometers, barometer altitude flowmeter sensor, can measure pitching, roll, course, height and temperature, it is widely used in the aspects such as aircraft, automobile, robot and mechanical arm.
1) Master control chip of attitude measurement instrument has selected STM32F103T8, ARM32-bitCortex
tM-M3 kernel, it has the flash memories of 64KB, and the running memory of 20KB.Sensor on attitude measurement instrument is connected with STM32F by I2C interface, and the data interrupt pin of sensor is connected with the I0 of STM32F simultaneously.Make sensor after completing ADC rotation, STM32F reads up-to-date data in the very first time, fast the change of response attitude.Such connection makes controller have maximum initiative, full out obtains state and the transformation result of each sensor.Attitude measurement instrument has drawn the dual serial communication port of STM32 single-chip microcomputer: UART1 as from connectivity port, UART2 is as main data-out port.Attitude measurement instrument has drawn the SWD debugging interface of STM32F.The kernel that SWD interface only needs four lines just can connect STM32F carries out artificial debugging.
2) MPU-6050 is global the first conformability 6 axle motion process assembly, compared to multicompartment scheme, eliminates the problem of between centers difference when combining gyroscope and accelerator, decreases a large amount of packaging spaces.MPU6050 is connected to master controller STM32F by I2C interface.At initial phase, STM32 will arrange measurement sensitivity and the sample frequency of MPU6050, Data Update can be made to interrupt simultaneously.STM32 configures the pin of oneself is afterwards interrupting input.After a new sampling completes, MPU6050 produces and interrupts like this, and calling STM32 reads new data.
3) HMC5883L comprises state-of-the-art high resolving power HMC118X series magnetoresistive transducer, and the integrated circuit of subsidiary Honeywell patent comprises amplifier, autodegauss driver, deviation calibration, compass precision controlling can be made at 12 analog to digital converters of 1` ~ 2`, easy I2C serial bus interface.HMC5883L is not directly connected with the I2C interface of master controller, but be connected with the AUX2C interface of MPU6050, like this, two kinds of modes are had to access the data of HMC5883L: be arranged to direct-connected by the AUX interface of MPU6050, STM32F directly can access HMC588L by I2C; The AUX interface opening MPU6050 is master controller, is responsible for the sampled result gathering HMC5883L, and result is left in the F1F0 register of oneself by AUXI2C interface MPU6050.STM32F reads the transformation result of HMC5883 by access MPU6050.Above two modes can realize in attitude measurement instrument, do not need extra increase or modification circuits, only need to arrange the corresponding control register of MPU6050.The data encasement pin of HMC5883L is connected to STM32, by inquiring about the level of this pin, judges whether new translation data.
4) MS5611 is high resolving power baroceptor of new generation, and resolution can reach 10cm.Its built-in 24 bit A/D converters, support IIC and SPI communications protocol, transfer rate can reach 20MHz, and its switching time can be arranged.The integrated circuit that MS5611 is made up of piezoresistance sensor and sensor interface, major function is recording the digital value output not obtaining compensating analog atmospheric pressure value and convert 24 to through ADC, also can export the digital temperature value of 24 simultaneously.
5) fly control device and be configured with a upper computer software, for showing the output of each sensor, and the attitude after resolving.It has plurality of display modes: (a) waveform, with the form of waveform display data value and the relation of time.(b) word, the value that text importing is current.C () 3D shows, the attitude data after resolving can use 3D to show each data.
6) to communicate with host computer, need the support of communication protocol.Fixing frame format and byte number are all specified.Host computer will be carried out solution frame and corresponding Data Update is shown to waveform, word and 3D by known agreement.
The operation steps that this aircraft runs is as follows:
1) the quadrotor lithium battery of debug platform upper end is connected, observe receiver, WiFi communication module and fly the lamp controlled on plate and all light;
2) connect the WIFI of wireless communication module on computers, and be connected to host computer by the wireless control plate that will fly;
3) corresponding virtual serial communication device and upper computer software are installed on computers, and open software debugging parameter and make the normal display waveform of host computer and data;
4) open the flight of telepilot manipulation quadrotor, and select corresponding pattern to control the height of quadrotor flight;
5) observe the quadrotor when differing heights and whether keep the relevant state of flight information that " hovering " state and host computer show; Amendment PID inner parameter, until the stabilized flight of quadrotor energy.
Step 2) in, first set up a wireless network " HF-A11x_AP " by WIFI232 module, connect this network on computers, and be set to automatic acquisition IP, WIFI module is supported DHCPServer function and is given tacit consent to unlatching, and now the Link pilot lamp of module lights.
In step 3), after connecting module WIFI network in computer, the homepage of virtual serial communication device clicks " search ", " USR-WIFI232-x " is selected in drop-down menu, in the search listing dialog box ejected, click " search equipment ", in list of devices, select the equipment searched, and click " connection virtual serial port ".In the dialog box ejected, set up a virtual serial port, arranging virtual serial port is COM2, procotol is TCPClient Target IP is 10.10.100.254, and target port is 8899, and server address is " 10.10.100.100 ", the Configuration of baud rate of WiFi serial port module is " 115200 ", data bit is " 8 ", and position of rest is " 1 ", restarts virtual serial port after being provided with.Open host computer testing software " AHRS_Captain_Flight " again, click file operation in port placement, be set to the parameter that same virtual serial port is identical.Port opened by the button at click " port is closed " place makes it to become redness and is shown as " port is opened ", COM2 port is pointed out to open successfully in information columns simultaneously below upper computer software, now above software, com-state RXD brightens, and resolve the lampet flicker at speed place, show have data to transmit, successful connection." the following up-to-date " clicked on display panel can show the state parameter of aircraft.Click the 3D parameter state that " 3D display " can show aircraft.
Step 5) mainly observes quadrotor under difference debugging height, whether held stationary state of flight.Concrete operations are: amendment roll, pitching, course, height and angle balance the parameter of PID, have revised rear click write, just data can be stored into and fly to control plate.Re-power after power-off, then click reading data, just become amended data.Repeat this operation steps, until when observing quadrotor maintenance trimmed flight, preserve related data now.By revising the PID inner parameter of host computer, adjustment in real time controls the equilibrium state of aircraft, thus substantially increases the efficiency of debugging, finally reaches the object of debugging flying vehicles control balance, in real time display state of flight.
Claims (4)
1. one kind regulates and controls the quadrotor with display based on host computer, comprise main control unit, DC brushless motor and screw propeller, driver module, power module, fly to control plate, wireless transport module, telepilot, host computer, it is characterized in that: described main control unit connects host computer by wireless transport module, before aircraft takeoff, by the flat horizontal state parameter signal of quadrotor by wireless network transmissions to host computer, and shown by host computer and regulate aircraft equilibrium state parameter, until four propeller aircrafts of aircraft reach equilibrium state; Described telepilot flies control plate by connection and connects main control unit, after steadily taking off, is controlled direction, the speed of aircraft by telepilot, and show the state parameter of main regulation aircraft by host computer for aircraft; Described main control unit connects DC brushless motor and screw propeller by driver module; Described power module connects main control unit and driver module respectively.
2. according to claim 1 based on host computer regulation and control and the quadrotor of display, it is characterized in that: described wireless communication module is WIFI232 wireless network chip.
3. according to claim 1 based on the quadrotor of host computer regulation and control with display, it is characterized in that: the described control plate that flies adopts STM32F master controller, has 6 passage PWM load modules, 8 passage PWM output modules, MS5611 barometric altimeter, attitude measurement instrument, AT45DB data memory module, 3*LED display module, independently digital power analog power and interface.
4. according to claim 3 based on the quadrotor of host computer regulation and control with display, it is characterized in that: described in fly the attitude measurement instrument controlled in plate and adopt STM32F103 chip to be main control chip, and have 3-axis acceleration, tri-axis angular rate, three axle magnetometers, barometer altitude flowmeter sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520832819.4U CN205121332U (en) | 2015-10-26 | 2015-10-26 | Four rotor crafts based on host computer regulation and control and demonstration |
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| CN201520832819.4U CN205121332U (en) | 2015-10-26 | 2015-10-26 | Four rotor crafts based on host computer regulation and control and demonstration |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107765182A (en) * | 2017-12-07 | 2018-03-06 | 智灵飞（北京）科技有限公司 | A kind of ground unmanned plane motor electricity commissioning test system and method based on LABVIEW |
| CN107977021A (en) * | 2017-11-28 | 2018-05-01 | 佛山市安尔康姆航空科技有限公司 | A kind of control method of holder steering engine |
| CN108710384A (en) * | 2018-06-20 | 2018-10-26 | 深圳市中科汉天下电子有限公司 | A kind of winged control debugging system of four axis |
| CN108974340A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of miniature quadrotor |
| CN109656246A (en) * | 2018-11-01 | 2019-04-19 | 广东电网有限责任公司 | The small vehicle drive circuit of AGV and its driving method for electrometric experiment room instrument check |
| CN109760851A (en) * | 2019-03-18 | 2019-05-17 | 大连理工大学 | A kind of quadrotor test adjusting bracket |
| CN110682303A (en) * | 2019-10-15 | 2020-01-14 | 江苏艾什顿科技有限公司 | Intelligent robot training device, control system and method |
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2015
- 2015-10-26 CN CN201520832819.4U patent/CN205121332U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107977021A (en) * | 2017-11-28 | 2018-05-01 | 佛山市安尔康姆航空科技有限公司 | A kind of control method of holder steering engine |
| CN107765182A (en) * | 2017-12-07 | 2018-03-06 | 智灵飞（北京）科技有限公司 | A kind of ground unmanned plane motor electricity commissioning test system and method based on LABVIEW |
| CN108974340A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of miniature quadrotor |
| CN108710384A (en) * | 2018-06-20 | 2018-10-26 | 深圳市中科汉天下电子有限公司 | A kind of winged control debugging system of four axis |
| CN109656246A (en) * | 2018-11-01 | 2019-04-19 | 广东电网有限责任公司 | The small vehicle drive circuit of AGV and its driving method for electrometric experiment room instrument check |
| CN109760851A (en) * | 2019-03-18 | 2019-05-17 | 大连理工大学 | A kind of quadrotor test adjusting bracket |
| CN109760851B (en) * | 2019-03-18 | 2024-01-02 | 大连理工大学 | Four rotor test regulation support |
| CN110682303A (en) * | 2019-10-15 | 2020-01-14 | 江苏艾什顿科技有限公司 | Intelligent robot training device, control system and method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160330 Termination date: 20161026 |
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| CF01 | Termination of patent right due to non-payment of annual fee |