CN205983093U - Many rotors flight control system - Google Patents
Many rotors flight control system Download PDFInfo
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- CN205983093U CN205983093U CN201620931846.1U CN201620931846U CN205983093U CN 205983093 U CN205983093 U CN 205983093U CN 201620931846 U CN201620931846 U CN 201620931846U CN 205983093 U CN205983093 U CN 205983093U
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Abstract
The utility model discloses a many rotors flight control system, it includes flight control system and the state perception system, power output system and the power management system that are connected with this flight control system electricity, wherein, flight control system includes because ARM and DSP dual -core processor are main control unit's circuit, wherein DSP core and ARM core interconnect, state perception system includes sensor, speedtransmitter who measures aircraft flight gesture and the sensor of measuring the surrounding environment, and it is connected with ARM core electricity respectively, power output system transfers module, motor and rotor blade including the aircraft that connects gradually electricity, wherein the electricity duty cycle of transferring the circuit to be used for adjusting the PWM signal speed of coming the control motor to give flight control system with the state feedback of motor, the motor drives the rotor blade and rotates in order to provide power for the aircraft. The utility model discloses an each module function of control system is clear and definite, and is relatively independent, and convenient functional requirement according to the difference carries out the combinatorial sum and cuts out, and the platform is abundant to the external tapping in addition, makes things convenient for system function's extension.
Description
Technical field
This utility model belongs to general multi-rotor aerocraft control technology field and in particular to a kind of multi-rotor aerocraft control
System processed.
Background technology
At present, multi-rotor aerocraft is widely used in every field, and many rotor unmanned aircrafts can the professional business of carry
Industry holder for aerial photographing and high-definition camera equipment, can widely carry out such as ecological environmental protection, mineral resources exploration, marine environment prison
Survey, land use survey, water resources development, crop growth monitoring, agricultural operation, Natural calamity monitoring, urban planning and city
The fields such as overhead imagery reference, forest disease and pest protective survey and various advertisement high-altitude photo are built in political affairs, have wide market
Demand.
The completing of the stabilized flight of multi-rotor aerocraft and aerial mission be unable to do without good control system, and control system is
The core of minute vehicle, it receives ground remote control instruction, and the navigation completing minute vehicle calculates, guides stability Calculation, electricity
Source control, motor control, and and other subsystems communicated and earthward remote control systems send attitude of flight vehicle, speed and
The information such as battery electric quantity.Control system is mainly the state of flight perceiving aircraft itself, is resolved by processor, generates corresponding
Control instruction, further according to processor output control instruction motor rotate, by control rotor rotary speed
Realize the stable and effective of aircraft with direction to fly.
Patent documentation CN104808674A discloses a kind of control system of multi-rotor aerocraft, terminal and airborne winged control system
System, this control system includes airborne flight control system and intelligent terminal, wherein airborne flight control system include processor, locating module and
Transceiver, locating module therein is used for obtaining the positional information of airborne flight control system place aircraft, and transceiver is used for position
Confidence breath is sent to intelligent terminal, so that intelligent terminal obtains according to the positional information of aircraft and the positional information of intelligent terminal
At least one speed in yaw angle and horizontal flight speed and vertical flight speed；Transceiver be additionally operable to receive yaw angle with
And at least one speed in horizontal flight speed and vertical flight speed, processor is for according to yaw angle and horizontal flight
At least one speed in speed and vertical flight speed, controls the aircraft that airborne flight control system is located to described intelligent terminal
Flight.Flight control system in this technical scheme is mainly used in interacting with intelligent terminal, thus carrying out to multi-rotor aerocraft
Flight controls, but specific functional modules therein and design implementation do not have disclosure, in particular with multi-rotor aerocraft
Function and use demand and control terminal variation, corresponding control system whether the property of can adapt to change, adjustment or
Extension, remains the problem needing to solve facing at present.
Utility model content
Disadvantages described above for prior art or Improvement requirement, this utility model provides a kind of multi-rotor aerocraft and controls
System, its by the modularized design of control system and optimization so that control system is adapted to multi-rotor aerocraft
Function, the variation of demand etc., solve the defect that current flight control system can adjust or autgmentability is not enough.
For achieving the above object, according to this utility model, provide a kind of multi-rotor aerocraft control system, it includes flying control
System and the state perception system, power output system and the power-supply management system that electrically connect with this flight control system, wherein,
Described flight control system includes main controller circuit, this master controller include by ARM core and DSP core form double
Core processor, DSP core therein is connected with each other with ARM core, and described DSP core is used for data processing, and described ARM core is used
In control external interface；
Described state perception system includes measuring around sensor, velocity sensor and the measurement of aircraft flight attitude
The sensor of environment, it is electrically connected with described ARM core respectively, for perceiving state of flight and the periphery of aircraft itself
Flight environment of vehicle and transmit to described ARM core；
Described power output system includes aircraft electrical mode transfer block, motor and the rotor blade being sequentially connected, wherein electricity
Adjust circuit to be used for the control signal that sends according to flight control system, adjust the dutycycle of the pwm signal speed to control described motor,
And by the feedback of status of described motor to flight control system, described motor is connected with rotor blade and is carried to aircraft with driving it to rotate
For power.
Further preferably also there is peripheral circuit as of the present utility model, this peripheral circuit include LED indicating circuit,
Reset circuit, part spare interface circuit, described LED indicating circuit is used to refer to system power supply state, and described reset circuit props up
Hold external reset signal input to reset and function of initializing with completion system, the described interface circuit partly reserved includes motor control
Signal output interface processed and the output interface of serial ports and CAN communication interface.
Further preferably also include electric connector as of the present utility model, described flight control system electric with described state sense
Know that system, power output system and power-supply management system are realized connecting by electric connector respectively.
As of the present utility model further preferably, described state perception system includes gyro and adds table, magnetoresistive transducer, gas
Pressure temperature sensor, airspeed sensor and external interface circuit.
As of the present utility model further preferred, also include power-supply management system, it specifically includes voltage transformation module
And voltage detecting circuit, be respectively used to the voltage being converted into needed for control system by battery supply, generate simultaneously reference voltage with
And cell output voltage is measured.
General multi-rotor aerocraft control system of the present utility model, its each functions of modules is clearly it is easy to according to concrete need
Ask and carry out cutting and combination, in addition platform is used for abundant external interface, increased the motility of Function Extension.Control system energy
Simultaneously drive no less than No. four motors, single channel output rated power is not less than 70W, peak power is not less than 110W.Control system
Communication is realized with such as other subsystems such as load, figure biography by CAN or RS-232 bus.
In general, by the contemplated above technical scheme of this utility model compared with prior art, having following has
Beneficial effect：This utility model is by the modularized design of control system and optimization, changing to the hardware platform of control system
Enter, not only so that wherein each functional module is relatively independent controlled, and respective combination and configuration can be carried out, adapt to different realities
Border demand, increases versatility and the motility of system, so that control system is adapted to the function of multi-rotor aerocraft, needs
The variation asked etc., solves the defect that current flight control system can adjust or autgmentability is not enough.
Brief description
Fig. 1 is the overall structure block diagram of the control system according to this utility model embodiment.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.Additionally, institute in each embodiment of this utility model disclosed below
As long as the technical characteristic being related to does not constitute conflict each other just can be mutually combined.
A kind of generalization of this utility model embodiment, modularity, extendible multi-rotor aerocraft control system, such as scheme
Shown in 1, including flight control system, state perception system, power output system, power-supply management system and peripheral circuit and electrical connection
Device divides.Wherein, state perception system, power output system, power-supply management system and peripheral circuit and electric connector respectively with
This flight control system electrically connects.
Flight control system is the major calculations control centre of multi-rotor aerocraft, including the Peripheral clock of Master control chip, again
Control chip interface resource is led on external interface circuit, to facilitate sensor and electricity by position and debugging interface circuit simultaneously
Drive circuit is docked and follow-up expansion.As Fig. 1, the flight control system of the present embodiment mainly includes primary processor electricity
Road, it is the circuit of master controller based on ARM and DSP dual core processor, wherein DSP core is responsible for data processing, and ARM core is responsible for
External interface part, the sensing data of collection carries out data processing to DSP core.DSP core is connected with each other with ARM core,
Wherein DSP core is used for data processing, and ARM core is used for controlling external interface, including the number of reception state sensory perceptual system input
According to and issue DSP core and carry out data processing, the control signal generating after simultaneously processing DSP core is delivered to power take-off system
System.
In one embodiment, it is preferred that the dual core SOC(system on a chip) micro controller unit F28M36P63C2 based on TI company
Control control chip for core.This controller has independent communication and real-time control subsystem.Communication subsystem is based on 32
ARM Cortex-M3CPU, has CAN, UART, SSI, USB and I2C interface etc..Real-time control subsystem is based on TI company 32
The C28x floating-point CPU of position, has ePWM output and I2C, SCI, SPI interface etc..This processor has 12,24 tunnel ADC and 6
10, road DAC.In the present embodiment, microcontroller major part function pin is all caused on function bottom board by B2B connector, with
Realize the modularized design of hardware platform, facilitate cutting and the extension of systemic-function.
As Fig. 1, state perception system includes the little microsensors such as height, temperature, air speed and MEMS inertia device；Main
If the perception state of flight of aircraft itself and the flight environment of vehicle of periphery.State perception system mainly contains measurement flight
The related sensor of device flight attitude, speed and surrounding.The status information of sensor sensing is mainly passed by its function
It is defeated by flight control system to be processed.
In one embodiment, state perception system mainly includes gyro and adds table, magnetoresistive transducer, othermohygrometer sensing
Device, airspeed sensor and external interface circuit.Wherein, X, Y gyro preferably employs the LPY403AL twin shaft gyro of ST company, X, Z
The LPR403AL twin shaft gyro of ST company selected by axle gyro, and two kinds of sensors all export analog quantity and transmit to microcontroller.Three
Axle adds the 3-axis acceleration magnetoresistive transducer LSM303D chip of table and magnetometer preferred ST company, and this sensor passes through SPI interface
And microprocessor communications.Air pressure/temperature sensor preferably employs the LPS25H of ST company, and this sensor is again by SPI interface
And microprocessor communications.Range sensor preferably employs KS103S ultrasonic distance measuring module；The preferred Freescale of airspeed sensor
The differential pressure pickup MPXV7002GP of company.GPS module preferably employs the NEO-7M of ublox company.
Power output system mainly includes aircraft electrical mode transfer block, motor (such as brshless DC motor) and power blade
Relevant portions such as (such as propeller blades).Electricity adjusts the control signal sending according to flight control system, adjusts the dutycycle of pwm signal
Carry out the speed of controlled motor, realize the measurement to motor speed, failure diagnosis information simultaneously, and the feedback of status of motor is given winged
Control system.Preferably, the A4960 of Allegro company selected by electric mode transfer block electric machine controller, and motor driver selects IOR company
IRFR2405 three-phase half-bridge inverter.
Power-supply management system mainly comprises the peripheral interface circuits such as voltage transformation module and voltage detecting.Power-supply management system
For output voltage (such as 11.1V) Power convert of lithium battery being become specified (such as 5V) power supply needed for control system, with
And rated voltage (5V) is switched to the circuit of other voltages (such as 3.3V, 1.2V etc.), generate reference voltage and to electricity simultaneously
Pond output voltage measures, and estimates the electricity of battery.
In one embodiment, 11.1V is turned 5V, 5V turns 3.3V power supply chip and all preferably employs three terminal regulator LM317,
Reference voltage needed for A/D, D/A chip is provided simultaneously, and battery resistance is carried out being transferred to the A/D of main control chip after partial pressure
Interface.
Peripheral circuit and electric connector, mainly comprise LED indicating circuit, reset circuit, part spare interface circuit and B2B
Type electric connector and each modular connector.Wherein LED indicating circuit is realized master control by way of LED plus current-limiting resistance and is powered shape
The instruction of state；Reset circuit utilizes capacitance-resistance discharge and recharge time delay to add panel button, makes platform support hand-reset work(
Energy；The interface circuit partly reserved mainly includes motor control signal output and the output of serial ports and CAN communication interface, strengthens
The expansion capability of hardware platform；B2B type electric connector is then to connect also very in the signal ensureing master control core board and sensor board
Good reduces hardware size, and the connection of master control core board and other submodules simultaneously is all realized by small-sized adapter.
As it will be easily appreciated by one skilled in the art that the foregoing is only preferred embodiment of the present utility model, not
In order to limit this utility model, all any modifications made within spirit of the present utility model and principle, equivalent and change
Enter, should be included within protection domain of the present utility model.
Claims (5)
1. a kind of multi-rotor aerocraft control system, it includes flight control system and the state aware electrically connecting with this flight control system
System and power output system, wherein,
Described flight control system includes main controller circuit, and this master controller is included at the double-core that is made up of ARM core and DSP core
Reason device, DSP core therein is connected with each other with ARM core, and described DSP core is used for data processing, and described ARM core is used for controlling
External interface processed；
Described state perception system includes sensor, velocity sensor and the measurement surrounding measuring aircraft flight attitude
Sensor, it is electrically connected with described ARM core respectively, for perceiving flying of the state of flight of aircraft itself and periphery
Row environment simultaneously transmits to described ARM core；
Described power output system includes aircraft electrical mode transfer block, motor and the rotor blade being sequentially connected, and wherein electricity adjusts electricity
Road is used for the control signal that sends according to flight control system, adjusts the dutycycle of the pwm signal speed to control described motor, and will
To flight control system, described motor is connected dynamic to aircraft offer to drive it to rotate the feedback of status of described motor with rotor blade
Power.
2. a kind of multi-rotor aerocraft control system according to claim 1, wherein, also has peripheral circuit, this periphery
Circuit includes LED indicating circuit, reset circuit, part spare interface circuit, and described LED indicating circuit is used to refer to system power supply
State, described reset circuit is used for external reset signal input and is resetted and function of initializing with completion system, described partly reserves
Interface circuit include motor control signal output interface and serial ports and the output interface of CAN communication interface.
3. a kind of multi-rotor aerocraft control system according to claim 1 and 2, wherein, also includes electric connector, described
Flight control system is electric to be realized even by electric connector respectively with described state perception system, power output system and power-supply management system
Connect.
4. a kind of multi-rotor aerocraft control system according to claim 1 and 2, wherein, described state perception system bag
Include gyro and add table, magnetoresistive transducer, othermohygrometer sensor, airspeed sensor and external interface circuit.
5. a kind of multi-rotor aerocraft control system according to claim 1 and 2, wherein, also includes power-supply management system,
It includes voltage transformation module and voltage detecting circuit, is respectively used to the voltage being converted into needed for control system by battery supply,
Generate reference voltage simultaneously and cell output voltage is measured.
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| CN201620931846.1U CN205983093U (en) | 2016-08-24 | 2016-08-24 | Many rotors flight control system |
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| CN201620931846.1U CN205983093U (en) | 2016-08-24 | 2016-08-24 | Many rotors flight control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107432743A (en) * | 2017-07-26 | 2017-12-05 | 北京浩雨固定式护颈托枕科技有限公司 | A kind of apparatus and method of batch cardioelectric monitor on aircraft |
| CN107600417A (en) * | 2017-09-29 | 2018-01-19 | 华南理工大学 | A kind of flying robot's Hardware Design method for carrying redundancy mechanical arm |
| CN109188960A (en) * | 2018-08-23 | 2019-01-11 | 东北大学 | A kind of general aerodynamic muscle embedded controller |
| CN113138574A (en) * | 2021-04-19 | 2021-07-20 | 广东工业大学 | General extension device of unmanned aerial vehicle flight control |
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2016
- 2016-08-24 CN CN201620931846.1U patent/CN205983093U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107432743A (en) * | 2017-07-26 | 2017-12-05 | 北京浩雨固定式护颈托枕科技有限公司 | A kind of apparatus and method of batch cardioelectric monitor on aircraft |
| CN107600417A (en) * | 2017-09-29 | 2018-01-19 | 华南理工大学 | A kind of flying robot's Hardware Design method for carrying redundancy mechanical arm |
| CN107600417B (en) * | 2017-09-29 | 2024-04-12 | 华南理工大学 | Flying robot hardware system design method carrying redundancy mechanical arm |
| CN109188960A (en) * | 2018-08-23 | 2019-01-11 | 东北大学 | A kind of general aerodynamic muscle embedded controller |
| CN109188960B (en) * | 2018-08-23 | 2020-10-16 | 东北大学 | Universal pneumatic muscle embedded controller |
| CN113138574A (en) * | 2021-04-19 | 2021-07-20 | 广东工业大学 | General extension device of unmanned aerial vehicle flight control |
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