CN207397095U - A kind of multi-rotor aerocraft control system - Google Patents
A kind of multi-rotor aerocraft control system Download PDFInfo
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- CN207397095U CN207397095U CN201721504837.5U CN201721504837U CN207397095U CN 207397095 U CN207397095 U CN 207397095U CN 201721504837 U CN201721504837 U CN 201721504837U CN 207397095 U CN207397095 U CN 207397095U
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- stm32 microcontrollers
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Abstract
The utility model proposes a kind of multi-rotor aerocraft control systems,Motor including flying vehicles control plate and on the flying vehicles control plate,STM32 microcontrollers and power module are provided on the flying vehicles control plate,The air pressure level for real-time sense aircraft is also integrated on the flying vehicles control plate and the data detected are delivered to the barometer at STM32 microcontrollers,For real-time sense aircraft three directional accelerations and the data detected are delivered to the accelerometer at STM32 microcontrollers,The gyroscope at STM32 microcontrollers is delivered to for the angle of turn of real-time sense aircraft and course and by the data detected,Wifi module for sending and receiving signal and the pitching for real-time sense aircraft,The data detected are simultaneously delivered to the electronic compass at STM32 microcontrollers by course and overturning.
Description
Technical field
The utility model is related to unmanned plane development field more particularly to a kind of multi-rotor aerocraft control systems.
Background technology
Documents CN201420548510.8 discloses a kind of multi-rotor aerocraft, including hollow housing, housing bag
It includes main part and the shell inner cavity set is enclosed by main part, substrate is contained in shell inner cavity, receiver, air pressure are installed on substrate
Sensor and master control borad, receiver can real-time reception signal, baroceptor in real time detect multi-rotor aerocraft residing for
Air pressure level, and the air pressure level detected is transmitted to master control borad, master control borad is calculated according to the air pressure level data of acquisition
Go out to state the flying height of multi-rotor aerocraft, and size comparison is carried out with default height value, to control multi-rotor aerocraft
Baroceptor is located on the substrate of housing by flight attitude, compared with prior art, the multi-rotor aerocraft of the utility model,
Also it is not easy to be damaged when colliding, protects baroceptor；Receiver and master control borad are provided separately, reduce each other it
Between electromagnetic interference, improve the safety and stability of aircraft.
A kind of multi-rotor aerocraft disclosed in documents CN201420548510.8 does not simultaneously have remote sensing aerial photography function, no
Meeting modernized society, the needs of taking photo by plane, practicability be not strong to remote sensing.In addition, the aircraft is simply according to air pressure sensing
Air pressure level residing for device sense aircraft, to control the flight attitude of multi-rotor aerocraft, control accuracy is not high, and stability is not
By force.And the aircraft does not possess voltage warning function, if brownout or overtension, can may all be brought to aircraft
Serious consequence, if not having voltage warning function, it is likely that so that aircraft works in brownout or overtension, give
Aircraft has serious consequences.
Utility model content
The purpose of the utility model is to overcome the shortcomings that the prior art, and develop a kind of more rotors based on STM32 and fly
Row device control system has remote sensing aerial photography function, while according to the devices such as electronic compass, barometer, gyroscope, accelerometer essence
Really control aircraft flight posture, have voltage warning function, and can by WIFI Radio Transmission Technologys realize control device with
Data communication between multi-rotor aerocraft, easy to control, simple in structure, the multi-rotor aerocraft that performance is stablized.
The utility model is that technical solution is used by solving its technical problem：
A kind of multi-rotor aerocraft control system, including flying vehicles control plate and on the flying vehicles control plate
Motor is provided with STM32 microcontrollers and power module on the flying vehicles control plate, also collects on the flying vehicles control plate
The air pressure at STM32 microcontrollers is delivered into the air pressure level for being useful for real-time sense aircraft and by the data detected
Meter, for real-time sense aircraft three directional accelerations and by the data detected be delivered at STM32 microcontrollers plus
The data detected are simultaneously delivered to STM32 microcontrollers by speedometer, the angle of turn for real-time sense aircraft and course
It the gyroscope at place, the wifi module for sending and receiving signal and the pitching for real-time sense aircraft, course and turns over
Turn and the data detected are delivered to the electronic compass at STM32 microcontrollers；
The number that the STM32 microcontrollers will be collected into the motor by connection, the STM32 microcontrollers
According to compared with default data, to control the operating of motor, so as to control the flight attitude of multi-rotor aerocraft.
Further, the wifi module is also connected with camera, and the influence taken is passed through wifi by the camera
Module is delivered on mobile phone app.
Further, the power module respectively with the STM32 microcontrollers, wifi module, barometer, acceleration
Meter, gyroscope connected with electronic compass, the STM32 microcontrollers, wifi module, barometer, accelerometer, gyroscope and
The rated voltage of electronic compass is 3.3V；The power module is also connected with the motor, and the motor is four, the motor
Rated voltage be 11V.
Further, ADC voltage detection modules are additionally provided at the power module, at the ADC voltage detection modules
Also there are buzzer and LED light by connection.
Further, the electronic compass is AK8975 three axle electronic compass；The air pressure is calculated as MS5611 sensors.
The utility model has the advantage of：
There is a kind of this semi-autonomous multi-rotor aerocraft based on STM32 for being developed of the utility model remote sensing to take photo by plane work(
Can, can meet modernized society to remote sensing the needs of taking photo by plane, practicability is stronger, and the scope of application is wider.Electronic compass, gas can be passed through
The devices such as pressure meter, gyroscope, accelerometer work together and then the accurate flight attitude for controlling aircraft, and control accuracy is high, surely
It is qualitative stronger.With voltage warning function, can prevent aircraft brownout or it is excessively high in the case of work, to flight
Device brings serious damage.
There is a kind of semi-autonomous multi-rotor aerocraft based on STM32 that the utility model is developed WIFI to be wirelessly transferred work(
Can, the data communication between control device and multi-rotor aerocraft, transmission speed can be realized by WIFI Radio Transmission Technologys
It is higher, it is stability, highly reliable.It and can be by the picture transmission that WIFI wireless technologys take remote sensing to user.It is whole
Structure uses modular design pattern repair easy to disassemble.
Description of the drawings
Fig. 1 be the utility model proposes a kind of multi-rotor aerocraft control system structure diagram.
Specific embodiment
In order to which the technical means, creative features, achievable purpose and effectiveness for realizing the utility model are easy to understand, under
Face combines diagram and specific embodiment, and the utility model is expanded on further.
As shown in Figure 1, the utility model proposes a kind of multi-rotor aerocraft control system, including flying vehicles control plate with
And the motor on the flying vehicles control plate, STM32 microcontrollers and power supply are provided on the flying vehicles control plate
Module is also integrated with air pressure level for the real-time sense aircraft and data detected are defeated on the flying vehicles control plate
It send to the barometer at STM32 microcontrollers, three directional accelerations for real-time sense aircraft and the data that will detect
It is delivered to the accelerometer at STM32 microcontrollers, the angle of turn for real-time sense aircraft and course and will detect
Data be delivered to gyroscope at STM32 microcontrollers, for the wifi module that sends and receivees signal and for real-time
The data detected are simultaneously delivered to the electronic compass at STM32 microcontrollers by pitching, course and the overturning of sense aircraft；
The number that the STM32 microcontrollers will be collected into the motor by connection, the STM32 microcontrollers
According to compared with default data, to control the operating of motor, so as to control the flight attitude of multi-rotor aerocraft.
Further, the wifi module is also connected with camera, and the influence taken is passed through wifi by the camera
Module is delivered on mobile phone app.
Further, the power module respectively with the STM32 microcontrollers, wifi module, barometer, acceleration
Meter, gyroscope connected with electronic compass, the STM32 microcontrollers, wifi module, barometer, accelerometer, gyroscope and
The rated voltage of electronic compass is 3.3V；The power module is also connected with the motor, and the motor is four, the motor
Rated voltage be 11V.
Further, ADC voltage detection modules are additionally provided at the power module, at the ADC voltage detection modules
Also there are buzzer and LED light by connection.
Further, the electronic compass is AK8975 three axle electronic compass；The air pressure is calculated as MS5611 sensors.
The characteristics of using STM32 microcontrollers high-performance, low cost, low-power consumption, selects STM32 microcontrollers as flight
Device core board.Electronic compass is small, light weight, and can export aircraft pitching, course, the posture number on three directions of rolling
According to the requirement of unmanned plane during flying navigation system can be met.Barometer can often raise 12 meters, mercury to measure atmospheric pressure
Column reduces about 1 millimeter, therefore height when can survey aircraft flight in the air, available for adjusting flight attitude.Three freely
The balanced gyroscope of degree can provide flyer angle of turn and bearing indication, can be used on aircraft control flying for aircraft
Row posture.Accelerometer is the instrument for measuring carrier linear acceleration, has been widely used on aircraft, can be with electronics sieve
Disk, barometer, gyroscope work together, for accurately controlling the flight attitude of aircraft.The ADC voltage acquisition modules of STM32
It is 12, is from 0 to 4095, when ADC pins meet GND, what is read is exactly 0, and when ADC pins meet VDD, what is read is exactly
4095.Can practically voltage value be converted into according to the value read, so ADC module can be used for voltage early warning.WIFI is a kind of
Short range wireless transmission technology can support linking Internet radio signal in the range of the hundreds of feet of Dalian, it is maximum excellent
Point is that transmission speed is higher, and weaker or noisy in signal, bandwidth adjustable is with the stability of effective guarantee network
And reliability.Therefore it is more rotor flying controls at present to be applied to unmanned aerial vehicle (UAV) control technical field.
The utility model has used the four-axle aircraft that wifi or remote controler are manipulated, mainly including flying vehicles control
Plate, wifi module, electronic compass, barometer, camera, mobile phone app.Flying vehicles control plate is based on stm32f407 chips, simultaneously
Possess the peripheral hardwares such as gyroscope, accelerometer；Wifi uses esp8266 chips；Camera is 700 line cameras；Mobile phone app is used
Android is developed.
The flight that flying vehicles control plate is responsible for aircraft synchronizes control, including keep aircraft flight stability and
It receives control command and completes predetermined sporting flying.Four-axle aircraft possesses 6 degree of freedom, wind speed size etc. in flight course
Disturbing factor can generate large effect to the steady of flight, so it is crucial to keep four axis smooth flights.Flying vehicles control plate
The data obtained by gyroscope and accelerometer measures obtain the flight attitude of four-axle aircraft by Attitude Algorithm.It will fly
Feedback quantity of the row posture as pid control algorithm exports suitable pwm pulse, controls four motors, it is steady to can be achieved with four axis
Flight.It is adjusted before formal flight, it is necessary to carry out pid parameter, to obtain suitable pid parameter.Flying vehicles control plate mainly leads to
It crosses wifi module or remote controler is controlled.The motion control of four-axle aircraft is mainly completed by four variables, they are respectively
Throttle (throttle), controls the rise and fall of four-axle aircraft；Course (yaw), control four axis rotation；It rolls (roll), control
The axial from left to right of system four；Pitching (pitch) controls the forward-reverse of four-axle aircraft.
Electronic compass AK8975 is 3 axis electronic compass IC, has highly sensitive Hall sensor technology.AK8975 is integrated
Magnetic Sensor, in X-axis detection earth magnetism, Y-axis and Z axis, a sensor drive driving circuit, signal amplifier chain and for locating
The reason signal of the computing circuit from each sensor.Compact footprint and thin encapsulation function, are well suited in ground icon
Purpose has been inscribed, can also be that aircraft is equipped with GPS module, realize flight path record.
Air pressure is calculated as MS5611 sensors.It is a SPI and I released by MEAS2The high-resolution of new generation of C bus interface
Rate baroceptor, resolution ratio can reach 10cm.The sensor assembly include high linearity pressure sensor and one
24 sigma adcs of super low-power consumption.MS5611 provides an accurate 24 bit digital pressure value and temperature value and not
Same operation mode, can improve conversion speed and optimize current drain.High-resolution temperature output is without additional sensors
Altimeter/thermometer function can be achieved.It can be connected with substantially any microcontroller.Communication protocol is simple, without in equipment
Portion's register programming.
WIFI module has the communication function to four-axle aircraft.Module is mainly based upon an ESP8266 chip.
ESP8266 highly integrated duplexer, radio frequency balun, power amplifier, low noise amplifier, filter and power management mould
Block, it is only necessary to which shared PCB space can be preferably minimized by seldom peripheral circuit.Built in ESP8266 Tensilica L10632 it is micro-
There is type controller (MCU) super low-power consumption and 16 RSIC, clock speed to reach as high as 160MHz.WIFI uses real-time operation
System (RTOS), support 802.11b/g/nWi-Fi protocol stacks, support tri- kinds of operating modes of STA/AP/STA+AP, it can be achieved that with
The connection of mobile phone, computer and router, WIFI module support SPI and UART serial communications, and module is equipped with 32Mbit simultaneously
Flash can realize the control to aircraft and the real-time Transmission of camera image.
Cell phone application writes the application program based on Android system using java.APP major functions：Use mobile phone wifi
Four-axle aircraft wifi module is connected, builds wifi LANs；The camera of wifi module carry is accessed, realizes and aircraft is clapped
The video taken the photograph carries out real-time recording；Possess the operation buttons such as rocking bar, button, four-axle aircraft state of flight is controlled in real time
System；Possess processing emergency function, if wifi is disconnected, can sound alarm, while four-axle aircraft can make a return voyage automatically.
The advantages of basic principle, main feature and the utility model of the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Simply illustrate the principle of the utility model, the utility model can also on the premise of not departing from the spirit and scope of the utility model
There are various changes and modifications, these various changes and improvements fall within the scope of the claimed invention.The utility model will
Protection domain is asked to be defined by appended claims and its equivalent.
Claims (5)
1. a kind of multi-rotor aerocraft control system, the electricity including flying vehicles control plate and on the flying vehicles control plate
Machine, it is characterised in that：STM32 microcontrollers and power module, the aircraft control are provided on the flying vehicles control plate
The air pressure level for real-time sense aircraft is also integrated in making sheet and the data detected are delivered to STM32 microcontrollers
The barometer at place, for real-time sense aircraft three directional accelerations and the data detected are delivered to STM32 microcontrollers
The data detected are simultaneously delivered to STM32 by the accelerometer at device, the angle of turn for real-time sense aircraft and course
Gyroscope at microcontroller, for the wifi module that sends and receivees signal and for real-time sense aircraft pitching,
The data detected are simultaneously delivered to the electronic compass at STM32 microcontrollers by course and overturning；
The STM32 microcontrollers and the motor by connection, the STM32 microcontrollers by the data being collected into
Default data are compared, to control the operating of motor, so as to control the flight attitude of multi-rotor aerocraft.
2. a kind of multi-rotor aerocraft control system according to claim 1, it is characterised in that：The wifi module also with
Camera connects, and the influence taken is delivered to by wifi module on mobile phone app by the camera.
3. a kind of multi-rotor aerocraft control system according to claim 1, it is characterised in that：The power module difference
It is connected with the STM32 microcontrollers, wifi module, barometer, accelerometer, gyroscope and electronic compass, the STM32 is micro-
Controller, wifi module, barometer, accelerometer, the rated voltage of gyroscope and electronic compass are 3.3V；The power supply mould
Block is also connected with the motor, and the motor is four, and the rated voltage of the motor is 11V.
4. a kind of multi-rotor aerocraft control system according to claim 1 or 3, it is characterised in that：The power module
Place is additionally provided with ADC voltage detection modules, also has buzzer and LED light by connection at the ADC voltage detection modules.
5. a kind of multi-rotor aerocraft control system according to claim 1, it is characterised in that：The electronic compass is
AK8975 three axle electronic compass；The air pressure is calculated as MS5611 sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721504837.5U CN207397095U (en) | 2017-11-13 | 2017-11-13 | A kind of multi-rotor aerocraft control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721504837.5U CN207397095U (en) | 2017-11-13 | 2017-11-13 | A kind of multi-rotor aerocraft control system |
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| Publication Number | Publication Date |
|---|---|
| CN207397095U true CN207397095U (en) | 2018-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721504837.5U Expired - Fee Related CN207397095U (en) | 2017-11-13 | 2017-11-13 | A kind of multi-rotor aerocraft control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111913411A (en) * | 2019-05-09 | 2020-11-10 | 首都师范大学 | Multifunctional control system of general unmanned aerial vehicle imager |
| CN114089671A (en) * | 2021-11-22 | 2022-02-25 | 电子科技大学长三角研究院(湖州) | Bionic micro flapping wing aircraft flight control hardware system |
-
2017
- 2017-11-13 CN CN201721504837.5U patent/CN207397095U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111913411A (en) * | 2019-05-09 | 2020-11-10 | 首都师范大学 | Multifunctional control system of general unmanned aerial vehicle imager |
| CN114089671A (en) * | 2021-11-22 | 2022-02-25 | 电子科技大学长三角研究院(湖州) | Bionic micro flapping wing aircraft flight control hardware system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20180522 Termination date: 20181113 |