CN205983221U - Four shaft air vehicle control system - Google Patents
Four shaft air vehicle control system Download PDFInfo
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- CN205983221U CN205983221U CN201620723528.6U CN201620723528U CN205983221U CN 205983221 U CN205983221 U CN 205983221U CN 201620723528 U CN201620723528 U CN 201620723528U CN 205983221 U CN205983221 U CN 205983221U
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- axle
- module
- control system
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- utility
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Abstract
The utility model discloses a four shaft air vehicle control system, it includes central processing unit, and all with ground magnetic sensor that central processing unit connects, 6 sensors, voltage stabilizing module, gas sensor, PWM the control unit, LED unit, wireless transmission module, still include with remote controller module that wireless transmission module connects, with 4 driving circuit and 4 motors that PWM the control unit connected gradually. The utility model discloses a four shaft air vehicle control system, controlling system stably, control is steady.
Description
Technical field
The utility model is related to automatic control technology field, more particularly, to a kind of four-axle aircraft control system.
Background technology
At present, UAV is widely used in fields such as Aerial photography, air transports, existing unmanned
Aircraft is mostly Fixed Wing AirVehicle or Multi-axis aircraft, and Fixed Wing AirVehicle arranges one or more wings, and
Screw is arranged on wing, drives the air-flow that screw rotation produces to promote aircraft flight by motor.Multi-axis aircraft
It is a kind of rotor craft with two or more rotor shaft, because Multi-axis aircraft structure is simple, and Multi-axis aircraft is just
In control, its flying quality is all more stable so that Multi-axis aircraft is easy to minimize, and application popularization speed carries significantly in recent years
High.Now common Multi-axis aircraft is two axles, three axles, four axles, five axles, six axles and eight axle aircraft, also has more multiaxis
Multi-axis aircraft, but most commonly seen be four-axle aircraft.Multi-axis aircraft except as remote control distributor performance model in addition to moreover it is possible to
Enter the various adverse circumstances that people should not enter easily, the flight such as executable film of taking photo by plane is found a view, the exploration of monitor in real time, landform is appointed
Business.
The control system of existing four-axle aircraft is complex, and the stationarity existing in control process is unstable, also can
Lead to the reduction of endurance.
Utility model content
The utility model is directed to above technical problem present in prior art, proposes a kind of four-axle aircraft and controls system
System, control system is stable, controls steadily.
The utility model solves its technical problem and be employed technical scheme comprise that：A kind of four-axle aircraft control system, its
Including central processing unit, and be all connected with described central processing unit geomagnetic sensor, 6 axle sensors, Voltage stabilizing module, gas
Sensor, PWM control unit, LED unit, wireless transport module, also include the remote control being connected with described wireless transport module
4 driving circuits and 4 motors that module is sequentially connected with described PWM control unit.
As one kind improvement to technical scheme described in the utility model, described wireless transport module is that NRL2401 is wireless
Transport module, borrows existing communication network, realizes 2G/3G communication.
As one kind improvement, described geomagnetic sensor and described 6 axle sensors to technical scheme described in the utility model
It is all contained in GY-87 module, described GY-87 module is by three-axis gyroscope, 3-axis acceleration, three-axle magnetic field, baroceptor
Constitute with chip, described GY-87 inside modules comprise tri- chips of MPU6050, HMC5883L, BMP180.
As one kind improvement to technical scheme described in the utility model, the built-in 3 axle MEMS gyroscope of described MPU-6050,
3 axle MEMS accelerometer and a digital movement processor, also include the hardware-accelerated sensor of IIC mouth.
As one kind improvement to technical scheme described in the utility model, described HMC5883L is band digital interface, paster
Formula, the low field Magnetic Sensor of multi-chip, control this module by I C bus, and it includes six location registers and records this
Positional information, is read by I C bus.
As one kind improvement to technical scheme described in the utility model, the overall inertia measurement module of four-axle aircraft is
MPU6050, its built-in 3 axle gyro sensor and 3 axle Gravity accelerometers.
The four-axle aircraft control system that the utility model provides, control system is stable, controls steadily.
Brief description
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing：
Fig. 1 is the four-axle aircraft control system architecture schematic diagram of the utility model specific embodiment；
Fig. 2 is the connection signal of wireless transmitter module NRF24L01 and central processing unit in the utility model specific embodiment
Figure；
Fig. 3 is the connection diagram of GY-87 module and central processing unit in the utility model specific embodiment；
Fig. 4 is battery structure schematic diagram in the utility model specific embodiment；
Fig. 5 is the control structure figure of four-axle aircraft in the utility model specific embodiment；
Fig. 6 is the gesture stability figure of four-axle aircraft in the utility model specific embodiment；
Fig. 7 is that in the utility model specific embodiment, drag cup drives and pulses generation chip connection figure；
Fig. 8 is the company of all around direction controlling rocking bar resistor and central processing unit in the utility model specific embodiment
Map interlinking；
Fig. 9 is the connection figure of Z axis in the utility model specific embodiment/throttle control lever and central processing unit.
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 the 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 the utility model.
The four-axle aircraft control system of the utility model specific embodiment, it includes central processing unit（CPU）, Yi Jijun
The geomagnetic sensor that is connected with central processing unit, 6 axle sensors, Voltage stabilizing module, gas sensor, PWM control unit, LED are mono-
Unit, wireless transport module, the remote controller module also including being connected with wireless transport module be sequentially connected with PWM control unit 4
Individual driving circuit and 4 motors.
In the utility model specific embodiment, wireless transport module is NRL2401 wireless transport module, borrows existing communication
Network, realizes 2G/3G communication.Geomagnetic sensor and described 6 axle sensors are all contained in GY-87 module, and GY-87 module is by three
Axle gyroscope, 3-axis acceleration, three-axle magnetic field, baroceptor and chip are constituted, GY-87 inside modules comprise MPU6050,
Tri- chips of HMC5883L, BMP180.The built-in 3 axle MEMS gyroscope of MPU-6050,3 axle MEMS accelerometer and a digital moving
Processor, also includes the hardware-accelerated sensor of IIC mouth.HMC5883L is with digital interface, SMD, multi-chip low field
Magnetic Sensor, controls this module by I C bus, and it includes six location registers and records this positional information, by I C
Bus is reading.The overall inertia measurement module of four-axle aircraft is MPU6050, its built-in 3 axle gyro sensor and 3 axle weights
Power acceleration transducer.
Fig. 1 is the four-axle aircraft control system architecture schematic diagram of the utility model specific embodiment, as shown in figure 1, this
The core of utility model design is the microcontroller of aircraft.Microcontroller collocation various functions module, realizes to flight
Controller.Microcontroller carries out data sampling, process, analysis by gathering the signal of each sensor, with analog quantity form and defeated
Go out motor and realize controlled quentity controlled variable output.Each functional module realizes height, the collection apart from indexs such as air pressure, the change of attitude respectively
It is the communication realized by NRL2401 wireless transport module with remote control.Gravity accelerometer therein and electronic gyroscope
Electronic gyroscope sensor assembly composition IMU (Inertial Measuring Unit, the inertia measurement list of sensor composition
Unit), for measuring attitude of flight vehicle.
Local of the present utility model connection scheme is described below：
Fig. 2 is the connection signal of wireless transmitter module NRF24L01 and central processing unit in the utility model specific embodiment
Figure, as shown in Fig. 2 the utility model utility model employs NRF2401 wireless communication module dock with ground remote control station.Wirelessly
The species of communication module substantially has：1）Private radio data transmission module（2.4GHZ）；2）Borrow existing communication network, realize
2G/3G communicates.Using being to communicate more stable if existing communication, and transmission range is also very remote.This circuit conduct
The radiating circuit of remote control, and the receiving circuit of aircraft, are mainly used to send and receive the control signal of remote control.
Fig. 3 is the connection diagram of GY-87 module and central processing unit in the utility model specific embodiment, GY-87 mould
Block is made up of three-axis gyroscope, 3-axis acceleration, three-axle magnetic field, baroceptor and chip, inside modules comprise MPU6050,
Tri- chips of HMC5883L, BMP180.3 built-in axle MEMS gyroscope of MPU-6050 and 3- axle MEMS accelerometer, and a number
Word movement processor.There is the hardware-accelerated sensor of IIC mouth.BMP085 module carries pressure detecting module, analog quantity to numeral
Amount modular converter and basic control unit, the type of interface is I2C interface.HMC5883L is a band digital interface, paster
Formula, the low field Magnetic Sensor of multi-chip, low cost capacity of orientation is strong, can control this module by I C bus.This chip has
Six location registers record this positional information, can be read by I C bus.
Fig. 4 is battery structure schematic diagram in the utility model specific embodiment, and the ME62129 in Fig. 4 is a high accuracy,
Low noise, super fast response low pressure difference linear voltage regulator, after this chip, its high ripple is suppressed lithium battery, and voltage obtains
Arrive stable, error is reduced.The stable voltage obtaining is as the power supply of aircraft circuit.
Fig. 5 is the control structure figure of four-axle aircraft in the utility model specific embodiment, its control include position control,
Gesture stability, rotor rotating speed control, the output of body position and attitude, and it also includes units of measurement, and concrete connection and control structure are such as
Shown in Fig. 5.
Fig. 6 is the gesture stability figure of four-axle aircraft in the utility model specific embodiment, and the overall inertia of aircraft is surveyed
Amount module is MPU6050, the built-in 3 axle gyro sensors of MPU6050 and 3 axle Gravity accelerometers.The gravity sensitive of 3 axles
Device uses when aircraft is in hovering or low-speed operations, gathers X, the acceleration of Y, Z tri- axle.Chip is by standardized knot
Fruit carries out anti-triangular transformation and obtains the angle of depression, the elevation angle, cross level angle.By CPU, the data of measurement and remote control input signal are compared,
Its difference is carried out with the computing of PID, then carries out coupling and calculate, carry out rotating speed control and gesture stability with the result calculating,
Whole target is so that the position input signal signal that actual posture position and our remote controls are controlled coincide, thus controlling
Control the flight position of aircraft.
Fig. 7 is that in the utility model specific embodiment, drag cup drives with pulses generation chip connection figure in the figure, letter
Number Motor-PWM is connected with CPU, sends, by CPU, the rotation that pulse signal controls drag cup.WS2813 circuit is used to drive
LED lamp, for showing the motor operation situation of four axles.
Fig. 8 is the company of all around direction controlling rocking bar resistor and central processing unit in the utility model specific embodiment
Map interlinking, in fig. 8, is connected with STC15W4K56S4 main control chip with rocking bar resistor, by ADC3, ADC4 respectively with this master control core
P1.3/ADC3, P1.4/ADC4 pin of piece is connected, and by this two pins come the analog quantity information of input resistance numerical value, passes through
Outside resistance information can be converted to digital information by this two analog quantity pin CPU, be the input quantity letter of X, Y-coordinate
Breath.
Fig. 9 is that Z axis in the utility model specific embodiment/throttle control lever is electric by controlling with the connection figure of central processing unit
The ADC1 of resistance device YG2 is connected with P1.1/ADC1, controlling the size of Z axis, thus controlling the upper and lower position of aircraft, passing through
ADC2 is connected with P1.2/ADC2, to control the speed of flight.
The utility model aircraft feature：Major part is following：(1) prototype fuselage weight：Except electrokinetic cell
Outward, body gross mass 560g；(2) airframe size：Aircraft size 9.8*9.8mm；(3) aircraft flight distance：
Flying distance reaches 50m；(5) prototype flying height：Flying height about 50m；(6) prototype flight attitude：Pitch attitude
Reach ± 30.
The four-axle aircraft control system that the utility model provides, control system is stable, controls steadily.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted,
And all these modifications and variations all should belong to the protection domain of the utility model claims.
Claims (6)
1. a kind of four-axle aircraft control system it is characterised in that include central processing unit, and all with described central processing unit
The geomagnetic sensor that connects, 6 axle sensors, Voltage stabilizing module, gas sensor, PWM control unit, LED unit, it is wirelessly transferred mould
Block, 4 drives that the remote controller module also including being connected with described wireless transport module is sequentially connected with described PWM control unit
Dynamic loop and 4 motors.
2. four-axle aircraft control system according to claim 1 is it is characterised in that described wireless transport module is
NRL2401 wireless transport module, borrows existing communication network, realizes 2G/3G communication.
3. four-axle aircraft control system according to claim 1 is it is characterised in that described geomagnetic sensor and described 6
Axle sensor is all contained in GY-87 module, and described GY-87 module is by three-axis gyroscope, 3-axis acceleration, three-axle magnetic field, gas
Pressure sensor and chip are constituted, and described GY-87 inside modules comprise tri- chips of MPU6050, HMC5883L, BMP180.
4. four-axle aircraft control system according to claim 3 is it is characterised in that built-in 3 axles of described MPU-6050
The digital movement processor of MEMS gyroscope, 3 axle MEMS accelerometer and one, also includes the hardware-accelerated sensor of IIC mouth.
5. four-axle aircraft control system according to claim 3 is it is characterised in that described HMC5883L is to carry numeral to connect
Mouth, SMD, multi-chip low field Magnetic Sensor, control this module by I C bus, it includes six location registers
Record this positional information, read by I C bus.
6. four-axle aircraft control system according to claim 1 is it is characterised in that the overall inertia of four-axle aircraft is surveyed
Amount module is MPU6050, its built-in 3 axle gyro sensor and 3 axle Gravity accelerometers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620723528.6U CN205983221U (en) | 2016-07-11 | 2016-07-11 | Four shaft air vehicle control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620723528.6U CN205983221U (en) | 2016-07-11 | 2016-07-11 | Four shaft air vehicle control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205983221U true CN205983221U (en) | 2017-02-22 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620723528.6U Expired - Fee Related CN205983221U (en) | 2016-07-11 | 2016-07-11 | Four shaft air vehicle control system |
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| CN (1) | CN205983221U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109656260A (en) * | 2018-12-03 | 2019-04-19 | 北京采立播科技有限公司 | A kind of unmanned plane geographic information data acquisition system |
-
2016
- 2016-07-11 CN CN201620723528.6U patent/CN205983221U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109656260A (en) * | 2018-12-03 | 2019-04-19 | 北京采立播科技有限公司 | A kind of unmanned plane geographic information data acquisition system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191218 Address after: Room 3f7306-1, building 7, No.23 Huashen Avenue, Yuhuatai District, Nanjing City, Jiangsu Province Patentee after: Nanjing Leji Electronic Technology Co., Ltd Address before: No. 99 Jiangning Road, Nanjing District hirokage 211169 cities in Jiangsu Province Patentee before: Jinling Institute of Technology |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170222 Termination date: 20200711 |