CN207603631U - Unmanned plane countercharge system - Google Patents
Unmanned plane countercharge system Download PDFInfo
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- CN207603631U CN207603631U CN201721322715.4U CN201721322715U CN207603631U CN 207603631 U CN207603631 U CN 207603631U CN 201721322715 U CN201721322715 U CN 201721322715U CN 207603631 U CN207603631 U CN 207603631U
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Abstract
A kind of unmanned plane countercharge system,It includes transmitter,Receiver,Frequency synthesizer,Frequency source and PN code generators,Transmitter includes radio-frequency modulator,The radio-frequency modulator is used to for ciphertext data to be sent to be modulated to the first frequency signal generated by frequency synthesizer,The frequency synthesizer is according to the different frequency of the frequency synthesis that the PN codes that the PN codes generator generates generate frequency source,The receiver includes frequency mixer,The frequency mixer is used to be mixed to demodulate the ciphertext data transmitted by transmitting terminal by second frequency signal caused by received signal and frequency synthesizer,It is characterized in that,The transmitter includes encryption equipment and the first binary pseudo-random sequence generator,The binary sequence that encryption equipment is generated using the first binary pseudo-random sequence generator, which is encrypted to form ciphertext data and then send radio-frequency modulator to sent clear data, to be determined.System provided by the utility model conciliates jump mode by frequency hopping modulation enhances the anti-interference of system, and transceiver shares a frequency synthesizer, and control system volume is made to reduce and at low cost.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle counter-control system belongs to secret communication technology field.
Background
The unmanned aerial vehicle can be used for obtaining important information of the ground, such as images including still pictures and videos, and timely and accurate site information and accurate positioning information are obtained from the important information, so that strategic hitting targets are captured, and tasks such as hitting effect evaluation are completed. However, in the unmanned aerial vehicle system in the prior art, the ground station or the terminal controls the unmanned aerial vehicle point to point, so that the unmanned aerial vehicle system is easily interfered by an enemy when executing a task, and cannot communicate with the ground station or the control terminal.
SUMMERY OF THE UTILITY MODEL
In order to overcome the technical problem existing in the prior art, the invention aims to provide an unmanned aerial vehicle counter-control system which is strong in anti-interference performance and low in cost.
In order to achieve the purpose, the utility model provides an unmanned aerial vehicle counter-control system, it includes transmitter, receiver, frequency synthesizer, frequency source and PN code generator, the transmitter includes the radio frequency modulator, the radio frequency modulator is used for modulating the cryptograph data that will be sent to the first frequency signal that is produced by the frequency synthesizer, the frequency synthesizer is according to the PN code that PN code generator produced synthesizes different frequencies with the frequency that the frequency source produced, the receiver includes the mixer, the mixer is used for carrying out the mixing with the second frequency signal that the frequency synthesizer produced thereby the demodulation sending end sent the cryptograph data, its characterized in that, the transmitter includes encryptor and first binary pseudorandom sequence generator, the encryptor utilizes the binary sequence that first binary pseudorandom sequence generator produced to encrypt the plaintext data that will send and form the cryptograph data and then convey to the radio frequency modulator.
Preferably, the receiver includes a decryptor and a second binary pseudorandom sequence generator, and the decryptor decrypts the received ciphertext data by using the second binary pseudorandom sequence generator to obtain plaintext data.
Preferably, the frequency synthesizer includes a first frequency multiplier 825, a second frequency multiplier 827, a third frequency multiplier 820, a first phase shifter 824, a second phase shifter 823, a third phase shifter 830, a first multiplier 821, a second multiplier 822, and a first adder 826, wherein the first frequency multiplier 825 is configured to multiply the frequency of the signal provided by the frequency source to obtain a first signal; the first phase shifter 824 is configured to shift the phase of the first signal to obtain a second signal orthogonal to the first signal; the second frequency multiplier 827 is configured to multiply the frequency of the signal provided by the frequency source to obtain a third signal; the second phase shifter 823 is configured to shift the phase of the third signal to obtain a fourth signal orthogonal to the third signal; the first multiplier 821 is used for multiplying the second signal and the fourth signal and providing the result to the first adder; the second multiplier is used for multiplying the first signal and the third signal and providing the multiplied first signal and the multiplied third signal to the first adder; the first adder adds the signals provided by the first multiplier and the second multiplier, and then provides the signals to the third multiplier 820 to obtain the first frequency signal, and the output signal of the adder is phase-shifted by the third phase shifter 830 to obtain the second frequency signal.
Preferably, the frequency multiplication times of the first frequency multiplier, the second frequency multiplier and the third frequency multiplier are controlled by a PN code generated by a PN sequence generator.
Preferably, the frequency source comprises a Voltage Controlled Oscillator (VCO).
Preferably, the Voltage Controlled Oscillator (VCO) comprises a film bulk acoustic wave oscillator BAWF1, a film bulk acoustic wave oscillator BAWF2, a field effect transistor T3, a field effect transistor T4, a field effect transistor T7, a field effect transistor T5, a field effect transistor T6, a field effect transistor T8 and a constant current source, wherein the source of the field effect transistor T3 is connected to the drain of the field effect transistor T4, and the drain and the gate of the field effect transistor T3 are both connected to a power supply; the grid electrode of the field effect transistor T7 is connected with the source electrode of the field effect transistor T3, the drain electrode is connected with the power supply, and the source electrode is connected with the constant current source; the source electrode of the field effect transistor T5 is connected with the drain electrode of the field effect transistor T6, and the drain electrode and the grid electrode of the field effect transistor T5 are both connected with a power supply; the drain of the field effect transistor T8 is connected to the power supply, the gate is connected to the source of the field effect transistor T5, and the source is connected to the constant power supply; the grid T4 of the field effect transistor is connected with the grid of the field effect transistor T5 and is a signal input end, and the source electrode of the field effect transistor T4 and the source electrode of the field effect transistor T6 are signal output ends; the drain electrode of the field effect transistor T4 is connected to the first end of the thin film bulk acoustic wave resonator BAWF 1; the drain electrode of the field effect transistor T6 is connected to the first end of the thin film bulk acoustic resonator BAWF 2; the second end of the film bulk acoustic resonator BAWF1 is connected with the second end of the film bulk acoustic resonator BAWF2 and is a voltage control end.
Preferably, the Voltage Controlled Oscillator (VCO) further includes a field effect transistor T9, a field effect transistor T10, a field effect transistor T11, and a constant current source, one end of the constant current source is connected to the power supply EC, the other end is connected to the drain of the field effect transistor T11, the source of the field effect transistor T11 is grounded, the gate is connected to the drain thereof and is connected to the gate of the field effect transistor T9 and the gate of the field effect transistor T10, the source of the field effect transistor T9 is grounded, and the drain is connected to the source of the field effect transistor T7 to supply a constant current thereto; the source of the fet T10 is grounded, and the drain is connected to the source of the fet T8 to supply a constant current thereto.
Compared with the prior art, the system the utility model provides a system has strengthened interference immunity through frequency hopping modulation and mode of unfreezing, and a transceiver sharing frequency synthesizer, control system are small and with low costs.
Drawings
Fig. 1 is a top view of a fixed wing drone provided by the present invention;
fig. 2 is a block diagram of a control system of the unmanned aerial vehicle provided by the present invention;
fig. 3 is a schematic diagram illustrating the components of the energy conversion device of the fixed-wing drone provided by the present invention;
fig. 4 is a schematic sectional view showing the energy conversion apparatus a-B in fig. 3;
fig. 5 is a schematic view of a power plant of the fixed wing drone provided by the utility model;
fig. 6 is a schematic diagram of the motor according to the present invention;
fig. 7 is a schematic composition diagram of the ground control terminal provided by the present invention;
fig. 8 is a block diagram of the reverse control system of the unmanned aerial vehicle according to the present invention;
fig. 9 is a block diagram of the frequency source provided by the present invention;
fig. 10 is a block diagram of the voltage controlled oscillator provided by the present invention;
fig. 11 is a circuit diagram of a power amplifier provided by the present invention;
fig. 12 is a schematic diagram of an encryptor encryption process provided by the present invention;
fig. 13 is a schematic diagram of the decryption process of the decryptor provided by the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and the description thereof will not be repeated.
In the present specification, the term "horizontal plane" refers to a plane intersecting the direction of gravity, and is not limited to a plane that intersects the direction of gravity at an angle of exactly 90 °. Among them, it is preferable from the aspect of the operation of the energy conversion device 100 to place the housing of the drone on a plane that makes an angle with the direction of gravity as close to 90 ° as possible. In the present specification, the vertical direction means a direction of gravity (vertical direction).
Fig. 1 is the utility model provides a top view of fixed wing unmanned aerial vehicle. As shown in fig. 1, the fixed wing drone includes a frame 800, two sides of the frame 800 are respectively provided with a side wing, and the front and the rear of the frame 800 are respectively provided with a front edge and a rear wing. A duct is arranged on the rear wing of the rack 800 along the Z direction (the direction perpendicular to the horizontal plane), a support is arranged in the duct, the support is provided with a motor 200A, and the output shaft of the motor 200A is provided with blades. The frame both sides are provided with the flank respectively, and the place ahead of every flank is provided with the support, are located to be provided with motor 200C on the left support of unmanned aerial vehicle, are provided with the paddle on motor 200C's the output shaft, are located to be provided with motor 200B on the support of unmanned aerial vehicle right side, are provided with the paddle on motor 200B's the output shaft. A generator 100 is also arranged in the drone frame 800, said generator 100 converting the kinetic energy of the fuel engine into electrical energy to provide electrical energy to the motor 200A, the motor 200B, the motor 200C and other inorganic electrical consumers. The output shaft of the fuel engine transmits kinetic energy to the generator 100 through the gear 400. Set up the fin on unmanned aerial vehicle's the back wing, the fin is the V type for increase flight stability. A counter-torque flow deflector is arranged below the paddle and used for balancing the rotating torque generated when the paddle rotates. Meanwhile, a thrust guide vane is arranged below the blade to generate forward thrust.
The frame, the front edge, the rear wing and the tail wing are made of aluminum alloy frameworks, and carbon fiber composite materials are paved outside, so that the weight of the airplane body is reduced while the strength is ensured.
Fig. 2 is a block diagram of a control system of the unmanned aerial vehicle, as shown in fig. 2, according to the present invention, the control system of the unmanned aerial vehicle includes a flight controller 406, a servo mechanism for driving the unmanned aerial vehicle to fly according to the instruction of the flight processor, a communication subsystem, a camera subsystem and a processor 405, wherein the flight controller 406 provides a control signal to the servo mechanism according to the instruction of the processor 405, so that the servo mechanism flies according to the instruction of the preset path or the ground control terminal, and also transmits the data of the unmanned aerial vehicle during flying to the processor 405, the servo mechanism exemplarily includes three motor controllers and three motors, the motor controllers are, such as a motor controller CON1, a motor controller CON2 and a motor controller CON 3; the motors are motor M1, motor M2 and motor M3, and the three motor controllers respectively control the three motors. The drone further comprises a camera subsystem comprising a camera 412 and a camera controller 413, said camera 412 being connected to the camera controller 413 for aerial photographing the monitored area and transmitting the aerial image information to the camera controller 413, the camera controller 413 being connected to the processor 405 for processing the input image information and then transmitting to the processor 405. The communication subsystem comprises a digital baseband unit 410, a radio frequency unit 411 and a communication card 414, wherein the communication card 414 is connected to the digital baseband unit 410 through a slot, when transmitting, the digital baseband unit 410 is used for carrying out source coding and channel coding on information to be transmitted by a processor and then transmitting the information to the radio frequency unit 411, the radio frequency unit 411 comprises a transmitter, and the transmitter is used for encrypting the information transmitted by the digital baseband unit, modulating the information to a carrier signal which is frequency-changed along with PN generated by a PN random sequence generator, then carrying out power amplification and finally transmitting the information to a space through an antenna; the rf unit 411 further includes a receiver, where the receiver is configured to demodulate and decrypt the signal received by the antenna, and then send the data to the digital baseband unit 410, and the digital baseband unit 410 is configured to perform channel decoding and source decoding on the digital baseband signal, and extract the data or the instruction sent by the control terminal.
In the utility model, the camera is fixed through the universal jointFixed on the unmanned aerial vehicle platform to make the camera shoot axisWith OZ coincidence of the coordinate system of the body of the unmanned aerial vehicle, the image plane of the camera is madeWith axes parallel to the OX of the body coordinate system of the drone, the image plane of the cameraThe axis is parallel with OY of the body coordinate system of the unmanned aerial vehicle, so that the attitude angle of the photographing axis can be calculated by measuring the attitude angle of the unmanned aerial vehicle.
According to the utility model discloses first embodiment, unmanned aerial vehicle's control system still includes altimeter 415, and it is used for acquireing the altitude information of unmanned aerial vehicle and ground. According to the utility model discloses an embodiment, unmanned aerial vehicle's control system still includes memory 408, and it is used for the storage to fly the data that acquire of accuse procedure and unmanned aerial vehicle servo. The servo mechanism comprises a motor and a controller thereof.
The control system of the drone also includes a navigation positioning receiver 403 which receives position information and time information about the drone from navigation positioning satellites via antenna a1 and transmits the data to the processor 405. The navigation positioning receiver 403 is, for example, a GPS receiver, a beidou positioning time service receiver, etc. According to the utility model discloses an embodiment, with the coaxial setting of the receiving antenna axle of navigation locator and the optical axis of camera, so can confirm the coordinate of the central point of the image that the camera was shot according to the principle of coordinate transformation according to the positional information of the unmanned aerial vehicle that navigation locator confirmed.
The control system of the drone also includes MEMS402, which when mounted on the drone, makes it possible to measure the attitude angle of the camera's camera axis. According to the utility model provides an embodiment, the utility model provides an unmanned aerial vehicle is provided the energy by power module 100 to each part, and it can break off and switch-on control through the switch, and power module 100 includes the generator at least.
According to one embodiment, the control system of the drone further comprises a distance measuring device 418 for measuring the distance of the drone from a target or the like, said distance measuring device 418 being for example a laser distance meter. The control system of the drone further comprises a direction finding device 418 for measuring the direction of the monitored target and the drone. The processor determines the position, velocity, etc. of the monitored target based on the data provided by the ranging device and the direction finding device. The control system of the drone further comprises a memory 401 for storing applications including calculation programs like position, speed, etc. of the object to be monitored, image processing programs, etc. and the obtained data.
Fig. 3 is a schematic diagram illustrating the components of the energy conversion device of the fixed-wing drone provided by the present invention; fig. 4 is a schematic cross-sectional view taken along a direction a-B of the energy conversion apparatus of fig. 3, and as shown in fig. 3-4, a motor, a gear mechanism and a generator are provided in the frame, the motor is connected to the generator through the gear mechanism, the generator includes a stator and a rotor, the stator includes a hollow circular coil bobbin 102 around which N coils 101 are wound at equal intervals; a rotor is arranged in a cavity in the circular ring-shaped coil frame 102, the rotor at least comprises a permanent magnet and a ring-shaped gear 105, and a window part 108 which enables a part of the ring-shaped gear to be exposed out of the circular ring-shaped coil frame is formed on the circular ring-shaped coil frame between the adjacent coils; the motor 600 rotates the rotor within the cavity in the toroidally shaped bobbin by engaging the gear mechanism 400 with the ring gear through the window. Preferably, the rotor comprises a magnet ring concentric with the circular ring bobbin 102, the magnet ring comprising: an annular magnet box 106, a plurality of permanent magnets, a ring gear 105 and a plurality of pulleys 104, wherein the annular magnet box 106 is used for accommodating a plurality of magnets, the magnets are arranged in an N polarity, an S polarity and an N polarity, …, namely the polarities of two adjacent magnets are the same, and the ring gear 105 is concentric with the annular magnet box and is arranged on the annular magnet box; the plurality of pulleys 104 are uniformly arranged on the annular magnet case so as to be in contact with the inner wall of the hollow cavity of the circular coil bobbin 102. In the present invention, a window 108 for exposing a part of the ring gear to the bobbin is formed on the circular ring bobbin 102 between the adjacent coils 101 so that a part of the teeth of the gear 400 can pass through the window 108 to engage with the teeth of the ring gear 105. The portion where window 108 is formed is not limited as long as the teeth of gear 105 can mesh with some of the teeth of gear 400. The window 108 is not limited to the formation of the bobbin 1, and may be formed in a plurality of portions. The permanent magnet 107 is housed in a magnet case formed in the magnet case 106. In fig. 3, 10 permanent magnets are shown housed in the magnet case 106. However, this configuration is merely an example, and the number of the permanent magnets 1 housed in the magnet case 106 may be at least 1.
Rare earth magnets are preferably used for the permanent magnets 107. Generally, a rare-earth magnet has a stronger magnetic force (coercive force) than a ferrite magnet of the same size. As the rare earth magnet, for example, samarium-cobalt magnet or neodymium magnet can be used. Neodymium magnets are particularly preferred in embodiments of the present invention.
In general, a neodymium magnet has a stronger magnetic force (coercive force) at the same size as compared with a samarium-cobalt magnet. Therefore, for example, a small permanent magnet can be used. Alternatively, the output of the energy conversion device can be increased (a larger amount of energy can be extracted) by using the neodymium magnet, as compared with the case of using a phase-sized samarium-cobalt magnet. However, the embodiments of the present invention do not exclude permanent magnets other than rare-earth magnets. Ferrite magnets may be used as the permanent magnets 107.
The magnet case 106 is formed in a ring shape with an opening provided in an upper portion thereof. Therefore, the permanent magnet 107 is inserted into the magnet case 106 from above. The permanent magnet 107 may be inserted into a part of the magnet case to form a ring shape.
The magnet case 106 is made of a non-magnetic material. The material of the magnet case 106 is not particularly limited as long as it is a nonmagnetic material. In one embodiment, the magnet box 106 is formed of a non-magnetic metal (e.g., aluminum). If the temperature of the permanent magnet 107 is too high, the permanent magnet 107 may be demagnetized. That is, the magnetic force of the permanent magnet 107 may be weakened. By forming the magnet case 106 of a non-magnetic metal, the heat generated by the permanent magnet 107 can be efficiently released to the outside, and therefore, the possibility of occurrence of such a problem can be reduced. In another embodiment, the magnet case 106 is formed of a resin material. By forming the magnet case 106 from a resin material, the weight of the magnet case 106 can be reduced.
The gear 105 is mechanically fixed to the magnet case 106. The gear 105 is formed in a ring shape and is disposed concentrically with the magnet case 106. Screws are used for fixing the ring gear 105. The screw passes through the gear and is fixed to the magnet case 106.
The upper surface of the ring gear 105 is machined to: so that the head of the screw does not protrude from the upper surface of the gear 105. The ring gear 105 is formed with teeth to mesh with the pinion 400 in the main duct. The ring gear 105 rotates with respect to the central axis of the main duct of the magnet box 106.
The width of the ring gear 105 is wider than the width of the magnet case 106. When the ring gear 105 is attached to the magnet case 106, the ring gear 105 extends from the magnet case 106 in the inner diameter direction of the magnet case 106.
The annular ring bobbin 102 has a hollow annular cavity formed therein for accommodating a magnet ring, that is, a magnet case 106 accommodating a permanent magnet and a gear 105. The circular ring-shaped bobbin 102 is formed in a ring shape having a common center with the magnet case 106 and the gear 105, the common center being the axis of the main duct.
The wheel 104 is spherical and is fixed to the magnet holder by a wheel frame. The plurality of wheels are uniformly provided on the magnet holder, and the plurality of wheels are in contact with the inner wall of the inner cavity of the bobbin, and when the ring gear 105 is rotated by the pinion, the magnet case 106 is rotated, and the wheels 104 are rotated. The magnet case 106 can be smoothly rotated with the rotation of the wheel 104.
In order to disperse the weight of the magnet ring, that is, the total weight of the magnet dispersing case 106 and the gear 105, the larger the number of the wheels 104, the better. Therefore, the number of wheels 104 is preferably 3 or more. 1 plane is defined by 3 points. If the number of the wheels 104 is 3, the wheels 104 are in contact with the inner cavity of the bobbin, thereby preventing the magnet case 105 from vibrating up and down during rotation.
The wheel 104 is also required to have strength to support the weight of the magnet case 106 and the gear 105. When the magnet case 105 rotates at a high speed, the wheel 104 also rotates at a high speed. Therefore, it is preferable that the wheel 104 be as lightweight as possible to enable high-speed rotation. Thus, the wheels 104 are formed of, for example, metal (e.g., aluminum).
In order to stably rotate the magnet in the coil bobbin 102 during the flight of the drone, it is preferable that a plurality of wheels 104 be uniformly provided on the lower surface, left surface and right surface of the magnet holder 105, respectively, and a plurality of wheels 104 be uniformly provided on the upper surface of the ring gear.
The N wire coils 101 are wound on the bobbin 102 at regular intervals. The wire and the number of turns of the coil 101 are not particularly limited. Further, the bobbin 102 functions as follows: as a means for energy conversion within the annular ring groove within the airframe 32 to convert kinetic energy output by the motor into electrical energy during flight of the drone.
The magnet box 105 has a rectangular or circular cross section. But also the cross-section of the annular groove of the frame is rectangular or circular. Since the bobbin 102 is also rectangular or circular in cross section, the distance between the magnet case 105 and the coil 101 can be shortened as much as possible. This can suppress a decrease in the magnetic coupling force between the coil 101 and the permanent magnet 107.
In fig. 3 5 coils 101 are shown. However, the number of coils 101 is not particularly limited as long as it is at least 1. When the number of the coils 101 is plural, it is preferable that the plural coils are arranged at equal angles on the circumference defined by the bobbin.
In fig. 3 to 4, when the gear 400 is driven by the motor 600 to rotate, the gear 400 meshes with the ring gear 105 through the window portion of the bobbin 102 to drive the ring gear to rotate, and the ring gear drives the magnet to rotate in the cavity held in the bobbin 102, since the present invention is provided with the magnet in N-polarity, S-polarity, N-polarity, … arrangement, when the magnet rotates in the coil, an alternating rotating magnetic field is generated in each coil, thereby generating electric energy in the coil. The power plant of the present invention will be described with reference to fig. 5-6.
Fig. 5 is a schematic diagram of a power device of a fixed wing drone, as shown in fig. 5, according to an embodiment of the present invention, the electric energy generated by the generator 100 of the fixed wing drone is rectified into direct current by the rectifier 300, and then charged into the battery E1 by the charger 500, and the electric energy is provided to three motors by the electric energy storage E1, such as the motor 200A, the motor 200B, the motor 200C and other electric devices. According to the utility model discloses an embodiment, for preventing that the battery from providing the electric energy for the charger backward, set up a diode D1 between the positive power output of charger and the positive terminal of battery, diode D1's positive pole is connected in charger 500's positive power output, and the negative pole is connected in the positive pole of domestic animal battery E1. The common terminal of the charger 500 is connected to the negative terminal of the battery. The battery E1 supplies electric power to the motor through a diode D1. According to the utility model discloses an embodiment, unmanned aerial vehicle's paddle is by three motor drive, and the rotational speed of every motor is controlled by motor control circuit according to the instruction.
According to an embodiment of the present invention, the motor includes a housing, a stator and a rotor disposed in the housing, the stator is provided with a first stator winding coil U1, V1 and W1, a second stator winding coil U2, V2 and W2 and a third stator winding coil U3, V3 and W3, the first stator winding coil U1, V1 and W1 and the second stator winding coil U2, V2 and W2 are motor winding coils, each of which is respectively disposed in a same slot, and the first stator winding coil U1, V1 and W1 and the third stator winding coil U3, V3 and W3 are respectively disposed in an interlaced manner, as shown in fig. 6. The motor further includes a speed encoder VS1 and a commutation encoder CD1 rotating together with the shaft of the rotor, the motor control circuit includes a motor driver DR1, and further includes a polarity control unit PC1, a speed control unit VC1, and a pulse width modulation control unit PWM1, and the motor driver DR1 is a semiconductor device that performs switching control in response to a control signal to transmit power to the first stator winding. Here, since the motor drive unit DR1 is provided to supply direct current to the stator windings of the stator, the structure thereof may be changed according to the type of the motor (the number of phases of the stator windings). .
The polarity control unit PC1 receives a photosensor signal from the motor's commutation encoder CD1 and sends a control signal for implementing an electric rectifier to the motor drive unit DR1, thereby implementing the electric rectifier. The speed control unit VC1 receives the encoder VS1 signal from the motor's speed encoder and sends a speed control signal to the pulse width modulation control unit PWM 1. The motor control circuit also includes a dc rectifier H1 that rectifies the ac power generated from the third stator winding (part of the energy recovery coil) of the motor and generates pulsating dc power that is filtered by a filter C1 to generate dc power. The motor control circuit further comprises a polarity control unit PC2, a speed control unit VC2, and a pulse width modulation control unit PWM2, the polarity control unit PC2 receiving the photosensor signal from the commutation encoder CD1 of the motor and sending a control signal for implementing an electric rectifier to the motor drive unit DR2, thereby implementing electric commutation. The speed control unit VC2 receives the encoder VS2 signal from the motor's speed encoder and sends a speed control signal to the pulse width modulation control unit PWM 2. And the flight controller of the unmanned aerial vehicle sends control signals of the rotating speed to the pulse width modulation control unit PWM1 and the pulse width modulation control unit PWM2 according to the sent instructions. The pulse width modulation control unit PWM1 and the pulse width modulation control unit PWM2 respectively transmit PWM signals for controlling the rotational speed of the motor according to the control signals to the motor driver DR1 and the motor driver DR 2.
According to an embodiment of the present invention, the stator of the motor further includes a plurality of ring-shaped silicon pieces stacked on each other, a plurality of partial energy recovery winding slots, a plurality of motor winding slots, a plurality of magnetic flux dividing slots, a plurality of offset canceling slots, a plurality of partial energy recovery windings wound around the corresponding partial energy recovery winding slots, and a plurality of motor windings wound around the corresponding motor winding slots.
The motor windings function as a motor that rotates the rotor by receiving electric power from the motor circuit. Part of the energy recovery winding is used to generate electricity using the current induced by the rotation of the rotor. In this embodiment the total number of winding slots and windings is 6, divided into 3 regions. U1/U2, U3, V1/V2, V3, W1/W2, W3 are arranged in the stator circumferential direction as follows. The first stator winding is connected to motor driver DR1 and the second stator winding is connected to motor driver DR 2. The second stator windings are connected to respective dc rectifiers CH 1. When the windings of the respective phases are wound in parallel, the windings are distributed and wound by phase and polarity and connected to the corresponding wires without any connection therebetween.
In addition, since the magnetic flux dividing slots having relatively narrow widths are equally provided between the motor winding slots and the partial energy recovery winding slots, the magnetic flux is divided, thereby blocking a path through which the magnetic flux of the motor winding can flow to the partial energy recovery winding, so that the magnetic flux of the motor winding can flow only to the magnetic field of the stator, thereby enabling the motor to be driven more efficiently. In addition, the flux dividing slots maintain a constant field width around the motor winding slots, thereby allowing the motor winding slots to operate without affecting or being affected by adjacent winding slots during driving.
And offset cancellation grooves which are equal in width and relatively narrow are arranged between the partial energy recovery winding grooves and the adjacent partial energy recovery winding grooves so as to cancel magnetic flux offsets, so that the partial energy recovery efficiency is improved.
The rotor includes a plurality of silicon wafers stacked on each other and a plurality of flat permanent magnets embedded in the stacked silicon wafers in a radial direction. In this regard, the permanent magnet is designed to have a strong magnetic force so that a relatively wide magnetic field surface can be formed, and thus, magnetic flux can be concentrated on the magnetic field surface, increasing the magnetic flux density of the magnetic field surface. The number of poles of the rotor depends on the number of poles of the stator.
Turning in detail to the rotor, three permanent magnets are equidistantly spaced apart from each other and embedded in stacked circular silicon wafers with polarities of alternating N and S polarities. A non-magnetic core is provided on the center of the stacked circular silicon wafers to support the permanent magnet and the silicon wafers, and a shaft is provided through the center of the non-magnetic core. The permanent magnets are formed in a flat shape, and empty spaces are formed between the permanent magnets.
A motor using a permanent magnet is designed to have a rotational force formed by combining passive energy of a rotor and active energy of a stator. In order to achieve super efficiency in the motor, it is very important to enhance the passive energy of the rotor. Therefore, "neodymium (neodymium, iron, boron)" magnets are used in the present embodiment. These magnets increase the magnetic field surface and concentrate the magnetic flux onto the magnetic field of the rotor, thereby increasing the flux density of the magnetic field.
At the same time, a commutation encoder and a speed encoder are provided to control the rotation of the motor. The rectifying encoder CD1 and the speed encoder VS1 are mounted on an outer recess of the motor main body case so as to rotate together with the rotation shaft of the rotor.
The utility model discloses in the unmanned aerial vehicle's that provides power part, in the motor of converting the kinetic energy of diesel engine output into the electric energy in order to provide unmanned aerial vehicle, owing to set up the third stator winding on the stator in the motor, partial energy has been collected at unmanned aerial vehicle flight in-process, and the energy that should collect is applied to second stator winding to the electric power that the change was applied in first stator winding, thereby saved the energy, so can make extension unmanned aerial vehicle's flight time.
The drone communicates with a ground server, described in detail below in connection with fig. 7.
Fig. 7 is a block diagram of a ground server, as shown in fig. 7, the ground server provided by the present invention includes a processor 20, an input/output interface, a network adapter 23, a communication module 23, a transceiver antenna 24 and a memory 25, wherein the transceiver antenna 24 is used for converting a space electromagnetic wave signal into an electrical signal and providing the electrical signal to the communication module 23, the communication module 23 includes a digital baseband unit, a radio frequency unit and a communication card, the communication card is connected to the digital baseband unit through a slot, when transmitting, the digital baseband unit is used for performing source coding and channel coding on information to be transmitted by the processor and then transmitting the information to the radio frequency unit, the radio frequency unit includes a transmitter, the transmitter is used for encrypting information transmitted by the digital baseband unit and modulating the information onto a carrier signal controlled by a PN code generated by a PN sequence generator and then performing power amplification, finally, transmitting the signal to the space through an antenna; the radio frequency unit also comprises a receiver, the receiver is used for demodulating and decrypting signals received by the antenna and then sending data to the digital baseband unit, and the digital baseband unit is used for carrying out channel decoding and information source decoding on the digital baseband signals and taking out data or instructions sent by the control terminal. The processor 20 unpacks the data frame sent by the unmanned aerial vehicle-mounted control system and displays the data frame on the display through the input/output interface 21, the processor processes the obtained data according to the user instruction, judges the position of the ground target, makes the flight instruction of the unmanned aerial vehicle according to the position of the ground target, packs the flight instruction of the unmanned aerial vehicle into a flight instruction frame, and sends the flight instruction frame to the unmanned aerial vehicle-mounted flight control system through the communication module 14 and the antenna 18. The ground server prints the received image sent by the unmanned co-load control system through a printer, can also store the image into the memory 25, and also sends the image to other users through a network adapter or the memory of the server, wherein at least the ground receiving end at least comprises a decryption program and a gray scale image. The input/output interface 21 may also be connected to a keyboard for inputting instructions or performing certain operations and a mouse for performing certain operations.
In the present invention, the components of the communication subsystem in the unmanned aerial vehicle-mounted control system and the communication module in the ground server are the same, and the components of the transmitter and the receiver included in the unmanned aerial vehicle-mounted control system are also the same, and this detailed description will be described below with reference to fig. 8 to 12.
Fig. 8 is a block diagram of the radio frequency part of the communication subsystem of the unmanned aerial vehicle, as shown in fig. 8, the radio frequency part of the communication subsystem of the unmanned aerial vehicle includes a transmitter, a receiver, a frequency synthesizer 801, a frequency source 829 and a PN code generator 828, the transmitter includes a radio frequency modulator (modulator) 805 for modulating ciphertext data to be transmitted onto a first frequency signal generated by the frequency synthesizer 801, the frequency synthesizer 801 synthesizes different frequencies from the frequency generated by the frequency source according to the PN code generated by the PN code generator 828, the receiver includes a mixer 808, and the mixer 808 is configured to mix a received signal with a second frequency signal generated by the frequency synthesizer 801 to demodulate ciphertext data transmitted by a transmitting end. The transmitter further includes at least an encryptor 803 and a binary sequence generator 801, the length of the binary sequence is one byte, the data bits from high to low are sequentially denoted as K [ n ], the encryptor 803 divides the plaintext data to be transmitted into M bytes, any bit of any byte is denoted as D [ M, K ], and then any bit S [ M, K ] of M bytes of the ciphertext data is calculated according to the following formula:
， wherein k and n are determined by the set password.
The receiver further comprises a decryptor 809, the receiver comprises the decryptor 809 and a binary pseudo-random sequence generator, the decryptor 809 divides the received ciphertext data into M bytes, and decrypts the ciphertext data according to the following formula to obtain plaintext data:
， wherein k and n are determined by the set password.
The radio frequency part further comprises a duplexer 806 and an antenna 804, and the power amplifier 807 and the mixer 808 are connected to the antenna 804 through the duplexer.
According to one embodiment, the frequency synthesizer 801 includes a frequency multiplier 825, a frequency multiplier 827, a frequency multiplier 820, a first phase shifter 824, a phase shifter 823, a phase shifter 830, a multiplier 821, a multiplier 822, and an adder 826, wherein the frequency multiplier 825 is configured to multiply a frequency of a signal provided by a frequency source to obtain a first signal; the phase shifter 824 is configured to shift the phase of the first signal to obtain a second signal orthogonal to the first signal; the frequency multiplier 827 is configured to multiply the frequency of the signal provided by the frequency source to obtain a third signal; the phase shifter 823 is configured to shift the phase of the third signal to obtain a fourth signal orthogonal to the third signal; the multiplier 821 is used for multiplying the second signal and the fourth signal and providing the result to the adder; the multiplier 822 is used for multiplying the first signal and the third signal and providing the multiplied signals to the adder; the adder 826 adds the signals provided by the multipliers 821 and 822 and provides the added signal to the frequency multiplier 820 to obtain a first frequency signal, and the output signal of the adder 826 is phase-shifted by the phase shifter 830 to obtain a second frequency signal.
Fig. 9 is a block diagram of the frequency source provided by the present invention, as shown in fig. 9, the frequency source 829 provided by the present invention includes: the frequency divider comprises a crystal oscillator, a frequency divider with a ratio of K, a phase discriminator, a low-pass filter, a Voltage Controlled Oscillator (VCO) and a frequency divider with a ratio of N, wherein the crystal oscillator is used for generating a fixed frequency signal and supplying the fixed frequency signal to the frequency divider; the VCO generates a voltage-controlled oscillation signal according to a reference Vf and a voltage provided by the low-pass filter, the voltage is divided by the frequency divider and then provided by the phase detector, the phase detector compares phases of signals provided by the frequency divider and filters high frequency through the low-pass filter LPF so as to generate a voltage signal, and the voltage signal is superposed with Vf to further control a frequency signal generated by the VCO.
Fig. 10 is a circuit diagram of a Voltage Controlled Oscillator (VCO), as shown in fig. 10, the present invention provides a Voltage Controlled Oscillator (VCO) comprising a film bulk acoustic wave oscillator BAWF1, a film bulk acoustic wave oscillator BAWF2, a field effect transistor T3, a field effect transistor T4, a field effect transistor T7, a field effect transistor T5, a field effect transistor T6, a field effect transistor T8 and a constant current source, wherein a source of the field effect transistor T3 is connected to a drain of the field effect transistor T4, and a drain and a gate of the field effect transistor T3 are both connected to a power source EC; the grid electrode of the field effect transistor T7 is connected with the source electrode of the field effect transistor T3, the drain electrode is connected with the power supply EC, and the source electrode is connected with the constant current source; the source electrode of the field effect transistor T5 is connected with the drain electrode of the field effect transistor T6, and the drain electrode and the grid electrode of the field effect transistor T5 are both connected with a power supply EC; the drain of the field effect transistor T8 is connected to the power source EC, the gate is connected to the source of the field effect transistor T5, and the source is connected to the constant power source; the grid T4 of the field effect transistor is connected with the grid of the field effect transistor T5 and is a signal input end, and the source electrode of the field effect transistor T4 and the source electrode of the field effect transistor T6 are signal output ends. The drain electrode of the field effect transistor T4 is connected to the first end of the thin film bulk acoustic wave resonator BAWF 1; the drain electrode of the field effect transistor T6 is connected to the first end of the thin film bulk acoustic resonator BAWF 2; the second end of the film bulk acoustic resonator BAWF1 is connected with the second end of the film bulk acoustic resonator BAWF2 and is a voltage control end. The control voltage Vf is connected to the control terminal through a resistor R10.
The Voltage Controlled Oscillator (VCO) further comprises a field effect transistor T9, a field effect transistor T10, a field effect transistor T11 and a constant current source CS, one end of the constant current source CS is connected to the power supply EC, the other end is connected to the drain of the field effect transistor T11, the source of the field effect transistor T11 is grounded, the gate is connected to the drain thereof and is connected to the gate of the field effect transistor T9 and the gate of the field effect transistor T10, the source of the field effect transistor T9 is grounded, and the drain is connected to the source of the field effect transistor T7 to provide constant current thereto; the source of the fet T10 is grounded, and the drain is connected to the source of the fet T8 to supply a constant current thereto.
Fig. 11 is a circuit diagram of a high frequency power amplifier (power amplifier) in a transmitter provided by the present invention, as shown IN fig. 11, the high frequency power amplifier circuit provided by the present invention comprises a high frequency signal input terminal IN, an input matching network, an amplifier, an output matching network, a high frequency signal output terminal OUT and a bias circuit, wherein the amplifier is composed of a high power amplifier tube T44, the high frequency signal input terminal IN is impedance-matched via the input matching network 300, the signal is input to the base of the high power amplifier T44, the signal output by the collector of the high power amplifier T44 is impedance matched with the antenna loop through the output matching network and then input to the antenna loop, the bias circuit is composed of a transistor T43 and a resistor R47, the base of the transistor T43 is connected to the control voltage Vcon through a resistor R41, the collector of the transistor T43 is connected to the power supply Vcc1, and the emitter supplies current to the base of the high power amplifier T44 through a resistor R47.
Preferably, the high-frequency power amplifying circuit further comprises a temperature compensation circuit, the temperature compensation circuit comprises a transistor T41, a transistor T42, a resistor R43, a resistor R43 and a resistor R44, wherein a base of the transistor T42 is connected to a first end of the resistor R42, a second end of the resistor R42 is connected to a first end of the resistor R41, a second end of the resistor R41 is connected to the control voltage Vcon, and a first end of the resistor R41 is connected to a collector of the transistor T41 and a base of the transistor T43; the collector of the transistor T42 is connected to the power supply Vcc1 through the resistor R43, the emitter is connected to the ground through the resistor R44, and the emitter is connected to the base of the transistor T41; the emitter of transistor T41 is connected to ground and the collector is connected to a first terminal of bank R41. The utility model discloses owing to adopted the temperature compensation circuit of such structure for high frequency power amplifier circuit's temperature compensation ability improves greatly.
According to an embodiment, the high-frequency power amplifying circuit further comprises a voltage stabilizing circuit, wherein the voltage stabilizing circuit comprises a capacitor C41 and a diode D41, one end of the capacitor C41 is connected to the base electrode of the transistor T43, and the other end of the capacitor C41 is grounded; the anode of the diode is grounded, and the cathode is connected to the base of the transistor T43.
Fig. 12 is a schematic diagram of an encryption process of the encryptor, as shown in fig. 12, the length Nbit of the binary sequence generated by the binary pseudorandom sequence generator 802 is sequentially recorded as K [ n ] from high to low data bits, the encryptor divides plaintext data to be transmitted into M equal parts, each part of the length is Nbit, any bit of any equal part is recorded as D [ M, K ], and then any bit S [ M, K ] of M bytes of ciphertext data is calculated according to the following formula:
wherein, and n and k are determined by the entered password.
As shown in fig. 9, the length of the binary sequence generated by the binary pseudorandom sequence generator 802 is one byte, each byte includes 8 bits, the data bits from high to low are sequentially denoted as K [ n ], the plaintext data to be transmitted is divided into M bytes, each byte has a length of 8 bits, any bit of any byte is denoted as D [ M, K ], and the plaintext data is encrypted according to the following formula to obtain ciphertext data:
。
whereinAnd n is determined by the set password.
Optionally, the following preferred method may also be used for encryption: the binary sequence generated by the binary pseudorandom sequence generator 801 has a length of one byte, each byte comprises 8 bits, data bits from high to low are sequentially recorded as K [ n ], plaintext data to be transmitted are divided into M bytes, each byte has a length of 8 bits, any bit of any byte is recorded as D [ M, K ], and the plaintext data are encrypted according to the following formula to obtain ciphertext data
WhereinK is determined by the input password
Fig. 13 is a schematic diagram of a decryption process of the decryptor, as shown in fig. 13, where the length Nbit of the binary sequence generated by the binary pseudorandom sequence generator 802 is sequentially denoted as K [ n ] from high to low, the decryptor divides the received ciphertext data into M equal parts, each part has the length Nbit, and any bit of any equal part is denoted as S [ M, K ], and then any bit D [ M, K ] of M bytes of the decrypted plaintext data is calculated according to the following formula:
。
in the formula, and n and k are determined by the entered password.
According to an embodiment, the binary sequence generated by the binary pseudorandom sequence generation 802 has a length of one byte, each byte includes 8 bits, data bits from high to low are sequentially denoted as K [ n ], the received ciphertext data is divided into M bytes, each byte has a length of 8 bits, any bit of any byte is denoted as S [ M, K ], and the ciphertext data is decrypted according to the following formula to obtain plaintext data:
。
whereinAnd n is determined by the set password.
Optionally, the following preferred method may also be used for encryption: the binary sequence generated by the binary pseudorandom sequence generator 802 has a length of one byte, each byte includes 8 bits, data bits from high to low are sequentially recorded as K [ n ], the received ciphertext data is divided into M bytes, each byte has a length of 8 bits, any bit of any byte is recorded as S [ M, K ], and the ciphertext data is decrypted according to the following formula to obtain plaintext data:
whereinAnd k is determined by the set password.
According to one embodiment, the binary pseudo-random sequence generator may be replaced by a password storage table, which password is selected by a user from the storage table, and as long as the password is set before the unmanned aerial vehicle performs the task, the unmanned aerial vehicle and the ground server or the ground terminal encrypt and decrypt data by using the password during the task, so that the security of communication can be enhanced.
The utility model provides an in the system, owing to adopt the binary system pseudorandom preface of a word length to carry out parallel encryption and decryption to data, consequently practiced thrift the cost to encryption and decryption speed has been accelerated.
Furthermore, the present invention provides a decryption method that can be implemented by a computer program of a computer usable program code, which is stored in a computer readable storage medium, such as a magnetic disk, an optical disk, a hard disk, etc., in a data processing system.
The basic principles, main features and advantages of the present invention have been described above with reference to the accompanying drawings. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration only, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An unmanned aerial vehicle counter-control system comprises a transmitter, a receiver, a frequency synthesizer, a frequency source and a PN code generator, wherein the transmitter comprises a radio frequency modulator which is used for modulating ciphertext data to be transmitted onto a first frequency signal generated by the frequency synthesizer, the frequency synthesizer synthesizes the frequency generated by the frequency source into different frequencies according to the PN code generated by the PN code generator, the receiver includes a mixer for mixing a received signal with a second frequency signal generated by a frequency synthesizer to demodulate cipher text data transmitted from a transmitting end, the transmitter is characterized by further comprising an encryptor and a binary pseudorandom sequence generator, wherein the encryptor encrypts plaintext data to be transmitted by using a binary sequence generated by the first binary pseudorandom sequence generator to form ciphertext data and transmits the ciphertext data to the radio frequency modulator.
2. The unmanned aerial vehicle counter control system of claim 1, wherein the receiver comprises a decryptor and a second binary pseudorandom sequence generator, and the decryptor decrypts the received ciphertext data into plaintext data by using the second binary pseudorandom sequence generator.
3. The unmanned aerial vehicle counter-control system of claim 2, wherein the frequency synthesizer comprises a first frequency multiplier (825), a second frequency multiplier (827), a third frequency multiplier (820), a first phase shifter (824), a second phase shifter (823), a third phase shifter (830), a first multiplier (821), a second multiplier (822) and an adder (826), wherein the first frequency multiplier (825) is configured to multiply the frequency of the signal provided by the frequency source to obtain a first signal; the first phase shifter (824) is used for shifting the phase of the first signal to obtain a second signal which is orthogonal to the first signal; the second frequency multiplier (827) is used for multiplying the frequency of the signal provided by the frequency source to obtain a third signal; the second phase shifter (823) is used for shifting the phase of the third signal to obtain a fourth signal orthogonal to the third signal; the first multiplier (821) multiplies the second signal and the fourth signal and provides the multiplied second signal and the fourth signal to the first adder; the second multiplier is used for multiplying the first signal and the third signal and providing the multiplied first signal and the multiplied third signal to the adder; the adder adds the signals provided by the first multiplier and the second multiplier, and then provides the signals to the third multiplier (820) to obtain a first frequency signal, and the output signal of the adder is phase-shifted by the third phase shifter (830) to obtain a second frequency signal.
4. The drone counter-control system according to claim 3, wherein the frequency multiplication times of the first, second and third frequency multipliers are controlled by the PN code generated by the PN sequence generator.
5. An unmanned aerial vehicle counter control system according to claim 4, wherein the frequency source comprises a Voltage Controlled Oscillator (VCO).
6. The unmanned aerial vehicle counter-control system of claim 5, wherein the Voltage Controlled Oscillator (VCO) comprises a film bulk acoustic wave oscillator BAWF1, a film bulk acoustic wave oscillator BAWF2, a field effect transistor T3, a field effect transistor T4, a field effect transistor T7, a field effect transistor T5, a field effect transistor T6, a field effect transistor T8 and a constant current source, wherein a source of the field effect transistor T3 is connected to a drain of the field effect transistor T4, and a drain and a gate of the field effect transistor T3 are both connected to a power supply; the grid electrode of the field effect transistor T7 is connected with the source electrode of the field effect transistor T3, the drain electrode is connected with the power supply, and the source electrode is connected with the constant current source; the source electrode of the field effect transistor T5 is connected with the drain electrode of the field effect transistor T6, and the drain electrode and the grid electrode of the field effect transistor T5 are both connected with a power supply; the drain of the field effect transistor T8 is connected to the power supply, the gate is connected to the source of the field effect transistor T5, and the source is connected to the constant power supply; the grid T4 of the field effect transistor is connected with the grid of the field effect transistor T5 and is a signal input end, and the source electrode of the field effect transistor T4 and the source electrode of the field effect transistor T6 are signal output ends; the drain electrode of the field effect transistor T4 is connected to the first end of the thin film bulk acoustic wave resonator BAWF 1; the drain electrode of the field effect transistor T6 is connected to the first end of the thin film bulk acoustic resonator BAWF 2; the second end of the film bulk acoustic resonator BAWF1 is connected with the second end of the film bulk acoustic resonator BAWF2 and is a voltage control end.
7. The unmanned aerial vehicle counter control system of claim 6, wherein the Voltage Controlled Oscillator (VCO) further comprises a field effect transistor T9, a field effect transistor T10 and a field effect transistor T11, one end of the constant current source is connected to the power supply, the other end is connected to the drain of the field effect transistor T11, the source of the field effect transistor T11 is grounded, the gate is connected to the drain thereof and is connected to the gate of the field effect transistor T9 and the gate of the field effect transistor T10, the source of the field effect transistor T9 is grounded, and the drain is connected to the source of the field effect transistor T7 to supply the constant current thereto; the source of the fet T10 is grounded, and the drain is connected to the source of the fet T8 to supply a constant current thereto.
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