CN205229807U - Four miniature wing aircraft based on control model is felt to body - Google Patents

Abstract

The utility model discloses a four miniature wing aircraft based on control model is felt to body, including the ground body feel remote controller, transmitter, receiver, IMU module, 2.4G wireless module, fly to control the module, motor power and interconnecting link constitute. This system will physically feel control module and combine together with four miniature wing aircraft, design the four miniature wing aircraft that can physically feel control. The controller is felt to the ground body has an adjustable varistor ware as aircraft throttle device, and after four miniature wing aircraft unblocks, operating personnel promotes distant pole change of flight ware throttle, realizes taking off and descending the function of aircraft. When deflect or the controller is felt to the inclined ground body, four miniature wing aircraft on can the implementation space deflection or remove flight gesture function.

Description

A kind of miniature four rotor aircrafts based on body sense control model

Technical field

The utility model relates to a kind of miniature four rotor aircrafts, and particularly a kind of miniature four rotor aircrafts based on body sense control model, belong to minute vehicle control technology field.

Background technology

At present, the structure of known miniature four rotor aircrafts is made up of telepilot, receiver, control mainboard, driving circuit, power motor.When four rotor aircrafts are in state of flight, by stirring the yaw rudder of telepilot, can the pitching roll of vectored flight device and yawing rotation.But, due to often insensitive to the mapping between distant bar and orientation in the subconsciousness of people, particularly run into emergency condition or new hand when manipulating, easily cause that operation amplitude is excessive, aircraft cannot the problem of stabilized flight, even make people be absorbed in a rush predicament, finally lead to aircraft accident.

Adopt miniature four rotor aircrafts of body sense control model effectively can solve rocking bar and orientation in manipulation personnel subconsciousness and map insensitive problem, the state of flight of aircraft can be adjusted light, convenient, accurately, in addition, aircraft accident can be stopped to greatest extent.

Summary of the invention

Manipulate not problem intuitively for solving existing rocker-type telepilot to miniature four rotor aircrafts, the utility model provides a kind of four rotor aircrafts based on body sense control model.Described body sense control model refers to the ground remote control device having body sense measuring ability, the movement range that this body sense telepilot can detect deflection or tilt, and guides miniature four rotor aircrafts to do the action of same magnitude aloft rapidly.

It is as follows that the utility model solves the technical scheme that its technical matters adopts: a kind of miniature four rotor aircrafts based on body sense control model, is characterized in that comprising ground body sense telepilot and miniature four rotor aircrafts.

Described ground body sense telepilot is made up of power-supply system, MPU6050 acceleration transducer, AVR single chip and NRF2.4G radio receiving transmitting module; Described power-supply system is made up of the lithium battery of 3.7V and 5V booster circuit, also USB port can be used directly to provide 5V normal voltage, described MPU6050 acceleration transducer is made up of (component units is enumerated), and described NRF2.4G radio receiving transmitting module is made up of (component units is enumerated).

Described miniature four rotor aircrafts by receiver, transmitter, power module, fly control module, motor drive module, power motor form; Described receiver is made up of (component units is enumerated), and described power module is made up of (component units is enumerated), described in fly control module be made up of (component units is enumerated), described motor drive module is made up of (component units is enumerated).

The utility model compared with prior art, has the following advantages: body sense telepilot in (1) ground adopts MPU6050 six axle sensor and HMC5883 chip, can fast, the deflection of accurate acquisition telepilot, the amplitude data such as inclination.(2) use AVR single chip handling body sense raw data, rely on Kaman's blending algorithm to obtain three dimension body sense controlled quentity controlled variables accurately.(3) radio receiving transmitting module of practical NRF2.4G can be sent to body sense controlled quentity controlled variable the receiving end of four rotor aircrafts, and wireless transmission distance is long, and in signals transmission, antijamming capability is strong.(4) fly control module and receiver all use AVR single chip, be mainly used to read, resolve, upgrade Flight Condition Data, in addition, this single-chip microcomputer instructs internal hardware interrupt function to produce PWM drive singal, drive four high-power FETs to control the rotational speed of four hollow cup DC motors, thus reach the object controlling miniature four rotor aircraft flight attitudes.(5) miniature four rotor aircraft attitude regulation processes adopt classical PID negative feedback pattern, and attitude algorithm process adopts Kalman's blending algorithm, can realization response speed faster, control more accurate function.

Accompanying drawing explanation

Fig. 1 is the utility model ground body sense telepilot schematic diagram.

Fig. 2 is the utility model MPU6050 six axle sensor and HMC5883 schematic diagram.

Fig. 3 is the utility model NRF2.4G radio receiving transmitting module schematic diagram.

Fig. 4 is the overall schematic diagrams of miniature four rotor aircrafts of the utility model.

Fig. 5 is the utility model receiver principle figure.

Fig. 6 is the utility model hollow cup DC motor driver module schematic diagram.

Description of reference numerals: 1MPU6050 angular transducer, 2NRF2.4G wireless transmitter module, 3 first AVR single chip, 4 first battery interfaces, 5 the one LTC320D boost chip, 6LM1117 voltage stabilizing chip, 7USB interface, 8LTC320D step-down chip, 9MPU6050 chip, 10 first field effect transistor, 11HMC5883 chip, 12 sensor external interfaces, 13NRF2.4G module external interface, 14NRF2.4G chip, 15 the 2nd LTC320D boost chip, 16 second AVR single chip, 17 motors drive, 18 wireless receiver external interfaces, 19GY-86 angular transducer, 20NRF2.4G wireless receiving module, 21 the 3rd AVR single chip, 22 wireless interface receivers, 23 hollow cup DC motors, 24 high-power FETs.

Embodiment

Below in conjunction with accompanying drawing, the utility model is described in further detail:

As Fig. 1, 2, shown in 3, body sense telepilot in ground is by MPU6050 angle-sensor module (1), NRF2.4G wireless transmitter module (2), first AVR single chip (3), first battery interface (4), one LTC320D boost chip (5), LM1117 voltage stabilizing chip (6), USB interface (7), LTC320D step-down chip (8) forms, the connection of described first battery interface (4) is one piece of 3.3V lithium battery, boosting through a LTC320D boost chip (5) finally exports 5V burning voltage, in addition, also 5V supply voltage can directly be provided by USB interface (7), be converted to 3.3V after the LTC320D step-down chip (8) of MPU6050 angle-sensor module (1) accepts 5V voltage and export to HMC5883 chip (11) and MPU6050 chip (9), HMC5883 chip (11) uses its electronic compass function and by common pin SCL, SDA exports yaw angle data, first AVR single chip (3) is by the SDA of sensor external interface (12), the internal data registers that SCL pin reads MPU6050 chip (9) obtains current real time acceleration and gyrostatic output valve, in this process, the first field effect transistor (10) solves the voltage matches problem between single-chip microcomputer and sensor chip, read sensor output value is converted to three attitude angle of ground body sense telepilot by the first AVR single chip through Kalman's blending algorithm, attitude angle is respectively the angle of pitch, roll angle and crab angle, described NRF2.4G wireless transmitter module (2) provides 3.3V operating voltage by LM1117 voltage stabilizing chip (6), pin MOSI, MISO of NRF2.4G chip (14) are connected with the same pin of the first AVR single chip (3) by NRF2.4G module external interface (13), first AVR single chip (3) instructs MOSI and the MISO pin of NRF2.4G chip (14) to carry out Signal transmissions in the mode of SPI, and signal is launched in electromagnetic mode eventually through antenna in the air.

As shown in Figure 4,5, 6, miniature four rotor aircrafts are by the 2nd LTC320D boost chip (15), the second AVR single chip (16), motor drives (17), receiver interface (18), GY-86 angular transducer (19) form, the connection of described second battery interface (23) is one piece of 3.3V high-capacity lithium battery, and the boosting through the 2nd LTC320D boost chip (15) finally exports 5V burning voltage and externally exports; The wireless signal that described NRF2.4G wireless receiving module (20) obtains sends the 3rd AVR single chip (21) to by pin MOSI, MISO, this single-chip microcomputer carries out parsing to wireless data packet and obtains attitude angle value, and then attitude angle value sends the second AVR single chip (16) with the form of PWM ripple to by THRD, PITCH, ROL, YAW, AUX1, AUX2 pin of wireless interface receiver (22) and wireless receiver external interface (18); GY-86 angular transducer (19) primary responsibility gathers miniature four rotor aircraft attitude datas, second AVR single chip (16) carries out the read-write of data to GY-86 angular transducer (19) in the mode of IIC communication by SDA, SCL pin, then with Kalman's blending algorithm, the attitude data collected is carried out attitude algorithm, the final angle-data according to resolving out uses PID negative feedback mode to carry out attitude regulation to aircraft; Also constantly feedback is from the control signal of ground remote control device to carry out the 3rd AVR single chip (21) on self-adjusting basis at miniature four rotor aircrafts, and control signal can be revised in real time to the angle on target of aircraft; Described motor drives (17) to be connected with the second AVR single chip by four PWM pins, voltage on PWM pin can drive high-power FET (24) grid, thus change the magnitude of current flow through between field effect transistor source, drain electrode, the final function realizing control hollow cup DC motor (23) rotating speed.

Claims (4)

1. miniature four rotor aircrafts based on body sense control model, it is characterized in that comprising ground body sense telepilot and miniature four rotor aircrafts, described ground body sense telepilot comprises power-supply system, MPU6050 angular transducer, AVR single chip and NRF2.4G radio receiving transmitting module, and described miniature four rotor aircrafts comprise receiver module, power module, fly to control module, motor drive module, hollow cup DC motor.

2. a kind of miniature four rotor aircrafts based on body sense control model according to claim 1, is characterized in that body sense telepilot in ground adopts MPU6050 six axle sensor and HMC5883 chip, can fast, the deflection of accurate acquisition telepilot, the amplitude data such as inclination.

3. a kind of miniature four rotor aircrafts based on body sense control model according to claim 1, it is characterized in that the radio receiving transmitting module of NRF2.4G can be sent to body sense controlled quentity controlled variable the receiving end of four rotor aircrafts, wireless transmission distance is long, and in signals transmission, antijamming capability is strong.

4. a kind of miniature four rotor aircrafts based on body sense control model according to claim 1, it is characterized in that flying control module and receiver all uses AVR single chip, be mainly used to read, resolve, upgrade Flight Condition Data and control miniature four rotor aircraft flight attitudes.