CN207148553U - One kind is electronic to be tethered at more rotor redundant power system architectures - Google Patents

Abstract

The utility model realizes the electronic real double remaining redundancies for being tethered at more rotor power systems, and two sets of dynamical systems are installed on each horn, and fault detect and switching are automatically performed by independent redundant manipulator, fully transparent for self-driving control；Redundant manipulator also has a model selection PWM input signal cable simultaneously, this two sets dynamical systems can be achieved simultaneously so that different power works and is worked independently on general effect with one of them identical, and the power proportions that two sets of dynamical systems are distributed are can to provide pwm signal all the way by remote-control receiver or self-driving to control, any can respectively be run by the manual switching of ground remote control device using set dynamical system or two sets of dynamical systems with great power proportions, so as to realization, with remote control active control, some motors are rested to reduce motor fret and heating in shifts, redundant manipulator can also be switched to automatic pattern in shifts, its self-timing is allowed to control two sets of dynamical systems to be taken turns to operate by cycle certain time.

Description

One kind is electronic to be tethered at more rotor redundant power system architectures

Technical field

The invention belongs to electronic multi-rotor unmanned aerial vehicle technical field, and more rotor redundant powers are tethered at more particularly to one kind is electronic System architecture and control method.

Background technology

The dynamical system of electric power multi-rotor unmanned aerial vehicle is all directly driven using brushless DC motor without sensor substantially at present Dynamic rotor, have cost in light weight simple in construction is low to wait many merits, but then, because such brushless motor speed is very Height, is direct wind-cooling heat dissipating again, the high quick abrasion of bearing temperature, and winding insulation aging also can not be ignored, and cause motor service life It is shorter, and be easy to that catastrophic failure in the air in-flight occurs, its electronic commutation controller is that electricity is adjusted and in reality in addition The part of catastrophic failure failure often occurs in the use of border, rotor is also frequently occurred in in-flight because fatigue or extraneous shock are prominent The accident being so broken, according to statistics air crash accident caused by this three classes chance failure account for more than the 70% of whole air crash causes of accident.It is special It is not to be tethered at more rotors for what is uninterruptedly flown for a long time, because its continuous airborne hours is generally tens or even hundreds of Hour, compared to not being very little for the mean free error time of dynamical system, therefore this conventional motive system is being Stay is necessary to carry out Redundancy Design in more rotor practical applications.

In view of the above-mentioned problems, typically directly controlled using automatic pilot using more rotor designs more than six rotors at present The electricity tune of each motor is made, by the redundant arithmetic in self-driving, is entirely flown after some motor or rotor failure is detected The reconstruct of row device control algolithm.Although this method can realize power Redundancy Design to a certain extent, aircraft is improved Safety coefficient, but control relatively complicated, it is necessary to support on self-driving algorithm, and this kind of algorithm is supported in the non-dedicated self-driving of in general And it is few, and for the overlength flight time be tethered at more rotors also be difficult to accomplish some motors of active control rest in shifts with Reduce motor fret and heating.

The content of the invention

For the deficiency and problem in background technology, electronic more rotor redundant power systems are tethered at the invention discloses a kind of Structure and control method.

The method that the present invention is adjusted using two sets of rotors, motor and electricity is installed on each horn, realizes the true of dynamical system Just double remaining redundancies, rotor wing rotation direction is consistent during this two sets of power system operationals, therefore the direction of anti-twisted torque is also consistent, it In more rotors caused lift and anti-twisted torque can be substituted for each other redundancy backup, but the innovative point different from conventional art It is that the fault detect and switching of this two sets of dynamical systems are automatically performed by independent redundant manipulator, and self-driving can be controlled For it is fully transparent；This redundant manipulator also has a model selection PWM input signal cable simultaneously, it is possible to achieve this two sets of power System works independently with different power work and on general effect identical with one of them simultaneously, and two sets of dynamical systems are divided The power proportions matched somebody with somebody are that pwm signal all the way, access module selection PWM input signals can be provided by remote-control receiver or self-driving Line is controlled.So, the present invention not only realizes the automatic superfluous of dynamical system when realizing failure without special self-driving can Cotangent is changed, and which set dynamical system or two sets of dynamical systems can also be used by the manual switching of ground remote control device respectively with great work( Rate ratio is run, and so as to realization, with remote control active control, some motors are rested to reduce motor fret and heating in shifts, also may be used So that redundant manipulator is switched into automatic pattern in shifts, its self-timing is allowed to control two sets of dynamical systems by certain time cycle wheel Work is flowed, and the transient process in this switching and switching is fully transparent for self-driving；Certainly, model selection PWM is defeated Connection can also be exported with the task control all the way of self-driving by entering signal wire, so as to be controlled with earth station to power redundant mode System, or regulation and control of self-driving internal extended some algorithms completion to power redundancy higher level time.

The following detailed description of the system architecture and control method of the present invention：

Brief description of the drawings：

Fig. 1 for it is described it is electronic be tethered at more rotor redundant power system structure diagrams, portion corresponding to each label in wherein Fig. 1 Part is described as follows：

101 first propellers；102 first motors；103 first motors drive cable；

104 first electricity are adjusted；105 first power supply output cables；106 first PWM output signal lines；

201 second propellers；202 second motors；203 second motors drive cable；

204 second electricity are adjusted；205 second power supply output cables；206 second PWM output signal lines；

300 redundant manipulators；301 microcontroller circuits；302 board mounted powers；

303 first current sensors；304 second current sensors；305 supply input cables；

306 dynamic Control PWM input signal cables；

307 model selection PWM input signal cables；

308 fault alarm output signal lines.

Fig. 2 is the motor and oar scheme of installation of the first embodiment, part description corresponding to each label in wherein Fig. 2 It is as follows：

101 first propellers；102 first motors；201 second propellers；

202 second motors；100 single pole horns.

Fig. 3 is the motor and oar scheme of installation of second embodiment, part description corresponding to each label in wherein Fig. 3 It is as follows：

101 first propellers；102 first motors；201 second propellers；

202 second motors；200 double-rod horns.

Annexation between electronic more rotor redundant powers and the composition of control system and each part is described in detail below against accompanying drawing：

Following described cable, refers to power or a branch of wire of driving, and motor drives line is three wires, and power supply Cable is to include two wires of supply lines and ground；

Following described signal wire, also refers to the wire for transmitting the signal and corresponding refer to ground wire two lead Line；

Reference picture 1, it is described it is electronic be tethered at more rotor redundant power systems, including the electricity of redundant manipulator 300, first adjust 104, First motor 102, the first propeller 101, the first motor driving the 103, second electricity of cable adjust the 204, second motor 202, the second spiral shell Revolve oar 201, the second motor driving cable 203；

The redundant manipulator 300, including microcontroller circuit 301, board mounted power 302, the first current sensor 303, Second current sensor 304；

The redundant manipulator 300, in addition to following external connection cable and connector：Supply input cable 305, first The power supply power supply of output cable 105, second output cable 205, the first PWM output signal line 106, the second PWM output signal line 206th, dynamic Control PWM input signal cables 306, model selection PWM input signal cables 307, fault alarm output signal line 308.

Wherein, inside the redundant manipulator 300：

The microcontroller circuit 301 is an embedded control formed with general-purpose microprocessor chips and its peripheral circuit Circuit processed；

It has the output port that two-way has pwm signal fan-out capability, connects the He of the first PWM output signal line 106 respectively Second PWM output signal line 206, export two electricity of control respectively regenerated through microprocessor according to Redundant Control algorithm and adjust Output signal；

It also has two-way to have detection PWM pwm input signals and the input port of frequency capabilities, wherein being also multiplexed all the way Asynchronous serial port output function, it connects dynamic Control PWM 306 inputs as system control amount pwm signal of input signal cable, or Serial ports output is switched to be used for sending parameter feedback information under parameter setting mode, another way input is terminated with pull-up resistor, Its connection mode selection PWM input signal cables 307 are used for the mode of operation of selection control system；

It also has the input port that two-way matches with selected current sensor interface, connects the first current sensor respectively 303 and second current sensor 304, for gathering the output signal of this two-way current sensor；

It also has the output port of open collector all the way, concurrent multiplexing asynchronous serial port input function, its connecting fault report Alert output signal line 308, for exporting power failure alarm signal, or serial ports input is switched to be used under parameter setting mode Receive parameter input information；

It also has A/D input ports all the way, is connected with the circuit of acquisition system supply input voltage, and by collection result It is input to microprocessor.

Described the first current sensor 303 and the second current sensor 304, it is that one kind has isolation and amplifier can be with micro- place The DC current sensor of device interface is managed, for gathering the operating current of two-way dynamical system in real time respectively；

The board mounted power 302 includes the DC/DC mu balanced circuits of a multiple-channel output, and its input is attempted by supply input On cable 305, it exports offer and is adapted to microcontroller circuit 301 to work required voltage all the way, is that itself and peripheral circuit are powered；Separately A few road outputs provide the voltage being adapted to needed for the current sensor work, are powered for sensor；

The first power supply output cable 105 by the first current sensor 303 and is connected to supply input cable 305, institute The second power supply output cable 205 is stated by the second current sensor 304 and is connected to supply input cable 305.

The first described propeller 101 is arranged on the first motor 102, and the first motor 102 drives electricity by the first motor The electricity of the connection of cable 103 first adjusts 104 output, and the first electricity adjusts the first power supply of 104 energization input connection redundant manipulator 300 Output cable 105, the first electricity adjust 104 PWM control signals to connect the first PWM output signal line 106；

The second described propeller 201 is arranged on the second motor 202, and the second motor 202 drives electricity by the second motor The electricity of the connection of cable 203 second adjusts 204 output, and the second electricity adjusts the second power supply of 204 energization input connection redundant manipulator 300 Output cable 205, the second electricity adjust 204 PWM control signals to connect the second PWM output signal line 206；

Described the first propeller 101 and the second propeller 201, direction of rotation is consistent during work, therefore anti-twisted torque Direction is also consistent, and their caused lift and anti-twisted torques in more rotors can be substituted for each other, can also be in redundant manipulator Two motors are realized under 300 control simultaneously so that different capacity works and keeps lift and anti-twisted power caused by two rotors total Worked independently in body effect with one of them identical, here it is the redundancy effect that we want.

Reference picture 2, this is the mount scheme of the first motor and oar：First motor 102 and the bottom phase of the second motor 202 One end to being symmetrically installed on single pole horn 100, the axis of two motors is parallel and all perpendicular with single pole horn 100, First propeller 101 and the second propeller 201 are all positive oar or are all anti-oar, make the direction of rotation of upper and lower two oars identical, because The direction of rotation of this two motors will be opposite；

Reference picture 3, this is the mount scheme of second of motor and oar：Wherein double-rod horn 200 is in symmetrical double-rod up and down Structure, the first motor 102 are arranged on the upper boom of double-rod, make lift caused by the first propeller 101 vertically upward, the second motor 202 are arranged on the lower beam of double-rod, make lift caused by the second propeller 201 vertically upward, and the first propeller 101 and second Propeller 201 is all positive oar or is all anti-oar, makes the direction of rotation of upper and lower two oars identical, therefore the direction of rotation of two motors Will be identical；

Certainly, except Fig. 2 and Fig. 3 motor and the installation embodiment of oar, also have others are various can reach redundancy The installation method of effect, such as coaxial double-oar arrangement, or the asymmetric row using different size of oar and different model motor Row etc., implementer can draw inferences about other cases from one instance as needed.

Specific embodiment：

Electronic by structure described above is tethered at more rotor redundant power systems, and it realizes that control method is：

The microcontroller circuit 301, redundant manipulator program is being solidified with inside its cpu chip in FLASH memory Code, under the control of this program code, microcontroller circuit 301 can realize following function：

First, the input of mode select signal：The port of PWM input signal cables 307 is selected by connection mode, is adopted in real time Collect input pwm signal the presence or absence of and pulse width Tk, and according to collection result switch redundant manipulator 300 be following work One of pattern：

There are pwm pulse and Tk<TkL, into the first dynamic mode；

There are pwm pulse and Tk>TkH, into the second dynamic mode；

There is pwm pulse and Tk is between TkL to TkH, into hybrid mode；

It is permanent low level without pwm pulse and port, into parameter setting mode；

It is permanent high level without pwm pulse and port, into automatic Circuit model；

Wherein, TkL and TkH be can by parameter setting mode set systematic parameter, TkL<TkH, implied value T kL= 600 microseconds, the microsecond of TkH=1400；

2nd, the input of dynamic Control signal：By connecting the port of dynamic Control PWM input signal cables 306, adopt in real time Collect the pulse width Td of the pwm signal of input, and it is defeated by certain function formula or the normalized total throttle of acquirement of tabling look-up according to Td Output Fd, Fd value are 0% to 100%；

3rd, the collection of dynamical system current of electric and the judgement of failure：Under nonparametric Setting pattern, pass through connection first The A/D ports of the second current sensor 304 of current sensor 303 and connection, gather the work of two sets of dynamical system motors in real time Whether just electric current, and the empirical value predicted current with reference to corresponding to each road control output signal at that time, judge each road dynamical system Often work, such as find that first via power system operational is abnormal, just switches into the second dynamic mode immediately, otherwise as found the Two road power system operationals are abnormal, just switch into the first dynamic mode immediately；Failure report when two-way dynamical system is all normal Alert output signal line 308 exports high level, otherwise exports low level when arbitrarily power system operational is abnormal all the way；

4th, the realization of redundant power control algolithm：Redundant manipulator 300 is under different mode of operations, using different Control algolithm calculates the throttle output quantity of two-way dynamical system respectively, is specifically：

First dynamic mode：First dynamical system throttle output quantity F1=Fd, the second dynamical system throttle output quantity F2=0；

Second dynamic mode：First dynamical system throttle output quantity F1=0, second dynamical system throttle output quantity F2=Fd；

Hybrid mode：First dynamical system throttle output quantity F1=Fd* ((Tk-TkL)/(TkH-TkL));Second is dynamic Force system throttle output quantity F2=Fd-F1;

Parameter setting mode；This is the special pattern for carrying out system parameter setting, debugging test, into this mould After formula, dynamic Control PWM input signal cables 306 switch to serial ports to export, and fault alarm output signal line 308 switches to serial ports defeated Enter, microcontroller circuit 301 using this it is online to Serial Port Line and computer press set communication protocol exchange data information, completion parameter The functions such as read-write, verification and the system debug of data；In parameter reading and writing, modification verification, the output of two dynamical systems is all closed Close, i.e. F1=0, F2=0；At system debug (such as carrying out dynamical system electricity adjustment standard), dynamical system throttle output quantity is by tune Examination functional requirement directly exports；

Automatic Circuit model：In such a mode, microcontroller circuit 301 is according to timer internal timing, by it is set when Between the cycle circulate successively perform the first dynamic mode, hybrid mode, the second dynamic mode, hybrid mode control calculate Method, and in hybrid mode continuously smooth change Tk, that is, reduce a upper dynamic mode and correspond to throttle output quantity, under increasing One dynamic mode corresponds to throttle output quantity, so as to complete seamlessly transitting for both dynamic modes；Perform the first dynamic mode, The duration of two dynamic modes and middle hybrid mode, can be in parameter setting mode as system configuration parameter Preset；

5th, the output of redundant power control signal：Above-mentioned correspondence the first dynamical system throttle output quantity F1 calculated With the second dynamical system throttle output quantity F2, with reference to the first electricity set in system reconcile the second electricity regulate and control pulse processed minimum, Maximum, and the parameter such as throttle curve that electricity is adjusted, calculate the first electricity and adjust PWM control pulsewidths, and be output to connection the The port of one PWM output signal line 106, calculate the second electricity and adjust PWM control pulsewidths, and it is defeated to be output to the 2nd PWM of connection Go out the port of signal wire 206.

The essence that the present invention is can be seen that from above implementation there is provided and a kind of electronic be tethered at more rotor redundant powers The composition structure of system, the concrete model adjusted without limiting to rotor selected by dynamical system, motor and electricity, while also provide and be directed to The specific control method of the system architecture, without limiting to the component concrete models such as selected microprocessor and sensor, it is Guiding those skilled in the art more rapidly effectively implement the present invention, and a real person of invention is set forth below and is tested to this invention Components selection reference during test：

First propeller 101 and the second propeller 201, from 1555 butterfly carbon fibre oar；

First motor 102 and the second motor 202, from the KV400 of model C razyMotor 3508 model plane motor；

First electricity tune 104 and the second electricity adjust 204, from the OPTO Mini 30A electricity tune of a customization money, support 2-6S to supply Electricity；

First current sensor 303 and the second current sensor 304, from model ACS712ELCTR-30A Hall Current sensor chip and supporting peripheral circuit；

Board mounted power 302, from a piece of DC/DC translation circuits based on TPS5430 chips and peripheral circuit, from input 5V direct current supplys flow sensor uses 22.2V direct currents reduced output voltage all the way, while is again micro- by the LDO of a piece of 3.3V voltage stabilizings Processor circuit is powered；

Microcontroller circuit 301, from the LPC824M201JHI33 of NXP companies production, it has may be programmed on 32k pieces FLASH, wherein 24k are used for storing control routine, and 8k is used for storing supplemental characteristic；The 3 tunnel timesharing using 12 A/D in its piece are defeated Inbound port realizes current sensor and the interface of supply voltage collection, realizes that two-way PWM pulsewidths are believed using SCTimer inputs in piece Number collection differentiate, using in piece SCTimer output realize two-way PWM non-inverting inputs, realize failure using GPIO all the way The level output of alarm signal, the serial port function under parameter setting mode is realized using a USART in piece；This cpu chip Built-in pipe leg configures switch matrix, can be with the pin corresponding to convenient, flexible selection each peripheral hardware of chip, can using this mechanism Easily to realize, dynamic Control PWM input signal cables and 306 fault alarms are defeated under parameter setting mode and other patterns Go out the function switch of signal wire 308.

The redundant power and Control system architecture and control method of more one horn of rotor are explained in detail above, for more Generally speaking, each horn is identical in structure to rotor, the model selection on redundant manipulator 300 on each horn PWM input signal cables 307 can connect together, and integrally unify control with the same signal all the way from remote-control receiver or self-driving System, can also be grouped several roads and connect and control respectively；Equally, the fault alarm output signal line 308 on each horn can also be simultaneously It is connected together and produces a total fault alarm output, can also be grouped and the fault alarm for raw each group of practicing midwifery exports；Thus As can be seen that the present invention has very strong system configuration flexibility in specific implementation and the mechanical structures such as horn frame is fitted Ying Xing.

Claims (4)

1. one kind is electronic to be tethered at more rotor redundant power system architectures, it is characterised in that：

It is described it is electronic be tethered at more rotor redundant power systems, including redundant manipulator (300), the first electricity adjust (104), the first motor (102), the first propeller (101), the first motor driving cable (103), the second electricity adjust (204), the second motor (202), second Propeller (201), the second motor driving cable (203)；

The redundant manipulator (300), including microcontroller circuit (301), board mounted power (302), the first current sensor (303), the second current sensor (304)；

The redundant manipulator (300), in addition to following external connection cable and connector：Supply input cable (305), first Power supply output cable (105), the second power supply output cable (205), the first PWM output signal line (106), the 2nd PWM output letters Number line (206), dynamic Control PWM input signal cables (306), model selection PWM input signal cables (307), fault alarm output Signal wire (308)；

Described the first propeller (101) is arranged on the first motor (102), and the first motor (102) is driven by the first motor The electricity of cable (103) connection first adjusts the output of (104), and the first electricity adjusts the energization input connection redundant manipulator (300) of (104) First power supply output cable (105), first electricity adjust (104) PWM control signals connect the first PWM output signal line (106)；

Described the second propeller (201) is arranged on the second motor (202), and the second motor (202) is driven by the second motor The electricity of cable (203) connection second adjusts the output of (204), and the second electricity adjusts the energization input connection redundant manipulator (300) of (204) Second power supply output cable (205), second electricity adjust (204) PWM control signals connect the second PWM output signal line (206)；

Described the first propeller (101) and the second propeller (201), direction of rotation is consistent during work, therefore anti-twisted torque Direction is also consistent, and their caused lift and anti-twisted torques in more rotors can be substituted for each other, can also be in redundant manipulator (300) two motors are realized under control simultaneously so that different capacity works and keeps lift and anti-twisted power caused by two rotors Worked independently on general effect with one of them identical.

2. electronic more rotor redundant power system architectures are tethered at according to claim 1, it is characterised in that：

It is internal in the redundant manipulator (300)：

The microcontroller circuit (301) is an embedded Control formed with general-purpose microprocessor chips and its peripheral circuit Circuit；

It has the output port that two-way has pwm signal fan-out capability, connects the first PWM output signal line (106) and respectively Two PWM output signal lines (206), export two electricity of control respectively regenerated through microprocessor according to Redundant Control algorithm and adjust Output signal；

It also has two-way to have detection PWM pwm input signals and the input port of frequency capabilities, wherein being also multiplexed all the way asynchronous Serial ports output function, its input of connection dynamic Control PWM input signal cables (306) as system control amount pwm signal, or Serial ports output is switched to be used for sending parameter feedback information under parameter setting mode, another way input is terminated with pull-up resistor, it Connection mode selection PWM input signal cables (307) are used for the mode of operation of selection control system；

It also has the input port that two-way matches with selected current sensor interface, connects the first current sensor respectively (303) and the second current sensor (304), for gathering the output signal of this two-way current sensor；

It also has the output port of open collector all the way, concurrent multiplexing asynchronous serial port input function, and its connecting fault is alarmed defeated Go out signal wire (308), for exporting power failure alarm signal, or switch to serial ports input to be used for connecing under parameter setting mode Receive parameter input information；

It also has A/D input ports all the way, is connected with the circuit of acquisition system supply input voltage, and collection result is inputted To microprocessor；

Described the first current sensor (303) and the second current sensor (304), it is that one kind has isolation and amplifier can be with micro- place The DC current sensor of device interface is managed, for gathering the operating current of two-way dynamical system in real time respectively；

The board mounted power (302) includes the DC/DC mu balanced circuits of a multiple-channel output, and its input is attempted by supply input electricity On cable (305), it exports offer and is adapted to voltage needed for microcontroller circuit (301) work all the way, for itself and peripheral circuit power supply； The output of Ling Ji roads provides the voltage being adapted to needed for the current sensor work, is powered for sensor；

The first power supply output cable (105) is by the first current sensor (303) and is connected to supply input cable (305), The second power supply output cable (205) is by the second current sensor (304) and is connected to supply input cable (305).

3. electronic more rotor redundant power system architectures are tethered at according to claim 1 or 2, it is characterised in that：

The mount scheme of one of which motor and propeller is：

First motor (102) and the second motor (202) bottom relative symmetry installed in one end of single pole horn (100), two The axis of motor is parallel and all perpendicular with single pole horn (100), and the first propeller (101) and the second propeller (201) are same For positive oar or it is all anti-oar, makes the direction of rotation of upper and lower two oars identical, therefore the direction of rotation of two motors will be opposite.

4. electronic more rotor redundant power system architectures are tethered at according to claim 1 or 2, it is characterised in that：

The mount scheme of one of which motor and propeller is：

Double-rod horn (200) is arranged on the upper boom of double-rod in symmetrical double-rod structure up and down, the first motor (102), makes first Vertically upward, the second motor (202) is arranged on the lower beam of double-rod lift caused by propeller (101), makes the second propeller (201) vertically upward, and the first propeller (101) and the second propeller (201) are all positive oar or are all anti-oar lift caused by, Make the direction of rotation of upper and lower two oars identical, therefore the direction of rotation of two motors will be identical.