CN207937874U - A kind of multi-rotor unmanned aerial vehicle attitude algorithm and control experiment porch - Google Patents
A kind of multi-rotor unmanned aerial vehicle attitude algorithm and control experiment porch Download PDFInfo
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- CN207937874U CN207937874U CN201820332304.1U CN201820332304U CN207937874U CN 207937874 U CN207937874 U CN 207937874U CN 201820332304 U CN201820332304 U CN 201820332304U CN 207937874 U CN207937874 U CN 207937874U
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Abstract
A kind of multi-rotor unmanned aerial vehicle attitude algorithm and control experiment porch, including propeller, brshless DC motor, flight controller, receiver, electron speed regulator, detachable more rotor racks, universal joint, potentiometer, sleeve, supporting leg, bottom plate, data collecting plate card and host computer；Brshless DC motor, electron speed regulator, receiver and flight controller are fixed in detachable more rotor racks, brshless DC motor is connected with electron speed regulator, the electron speed regulator other end connects flight controller, is connected by line between receiver and flight controller；Flight controller is also connected with host computer；Detachable more rotor racks are connected on universal joint, and the vertical axes of universal joint pass through bearing and sleeve connection；It is connected with potentiometer at three rotary shafts of universal joint, potentiometer is connected on data collecting plate card；Potentiometer measurement data give data collecting plate card, and data collecting plate card connects host computer.Simple in structure, flexible design can directly measure attitude angle.
Description
Technical field
The utility model is related to experiment porch more particularly to a kind of more rotors to UAV Attitude resolving and control aspect
UAV Attitude resolves and control experiment porch.
Background technology
In the development process of multi-rotor unmanned aerial vehicle, need to verify unmanned plane machinery knot by largely emulating or testing
Structure, control system configuration, attitude algorithm algorithm, the reasonability and reliability of Flight Control Algorithm etc..Prototype experiment is carried out,
First, cost is excessively high, experiment initial stage often due to a variety of causes causes model machine to damage, increases R＆D costs；Second is that being easy to happen peace
Full accident researches and develops initial stage, and the performance of model machine is often very unstable, is easy uncontrolled generation air crash accident, may cause the person
It threatens；If third, occurring situations such as model machine damage failure in prototype experiment, more time can be spent to carry out software and hardware tune to model machine
Examination, repair etc., extend the research and development time.By experiment porch can preliminary identification attitude algorithm, control algolithm correctness, ask
Topic also can quick adjusting parameter, and be not in the safety accidents such as air crash.Compared with pure values emulate, experiment porch is more intuitive
With it is true.
In the research and development of multi-rotor unmanned aerial vehicle, the research of attitude algorithm algorithm is very the key link.Attitude algorithm is just
It is to measure the attitude data of unmanned plane in space by inertial sensors such as gyroscope, accelerometers, and pass through attitude algorithm
Algorithm merges the data in inertial sensor, is handled, and estimates posture to obtain final aircraft.However Attitude estimation
Effect verified often through numerical simulation, lack experimental verification platform.
Quadrotor drone is not only studied by present research institution and colleges and universities, usually also studies more rotors of other quantity rotor
Unmanned plane, or even special-shaped rack unmanned plane etc., lack general experimental provision.
Invention content
In view of the above-mentioned drawbacks of the prior art or insufficient, the purpose of the utility model is to provide a kind of more rotors
UAV Attitude resolves and control experiment porch, real for being carried out to multi-rotor unmanned aerial vehicle attitude algorithm and gesture stability algorithm
Verification.
To achieve the goals above, the utility model takes following technical solution：
A kind of multi-rotor unmanned aerial vehicle attitude algorithm and control experiment porch, including propeller, brshless DC motor, flight control
Device processed, receiver, electron speed regulator, detachable more rotor racks, universal joint, potentiometer, sleeve, supporting leg, bottom plate, data acquisition
Board and host computer；It is characterized in that, the propeller is mounted on the rotor of brshless DC motor, brushless dc
Mechanical, electrical sub- governor, receiver and flight controller are fixed in detachable more rotor racks, wherein brshless DC motor
It is connected with electron speed regulator, the electron speed regulator other end connects flight controller, passes through line between receiver and flight controller
It is connected；Flight controller is also connected with host computer；
Detachable more rotor racks are bolted on universal joint so that detachable more rotor racks can be done
Three Degree Of Freedom rotates in space, and the vertical axes of universal joint pass through bearing and sleeve connection；At three rotary shafts of universal joint, respectively
There are three potentiometer, three potentiometers to be all connected on data collecting plate card for connection；Rotation angle at three rotary shafts of universal joint
Degree by potentiometer measurement and is given data collecting plate card and is handled, and data collecting plate card is connected with host computer；
The supporting leg upper end is welded on sleeve, and supporting leg lower end welds together with bottom plate.
Other features of the utility model are：
The universal joint is made of T shapes axis, internal layer frame and outer framework three parts, wherein the vertical axes of T shape axis can
To be rotated in sleeve without that can be moved axially along sleeve, internal layer frame can be rotated around the trunnion axis of T shape axis, and outer framework can
It is dynamic with the shaft rotation in internal layer frame, the rotation of Three Degree Of Freedom in space may be implemented.
Arrange that four columns being externally threaded, detachable more rotor racks pass through on the outer framework of the universal joint
Nut is connected with the column.
Detachable more rotor racks are divided into quadrotor rack or six rotor racks according to the difference of rotor quantity.
The brshless DC motor is connected by screw in detachable more rotor racks, and electron speed regulator is solid by band
Due in detachable more rotor racks, flight controller and receiver by sandwich rubber be fixed on detachable more rotor racks it
On.
The flight controller is mainly made of Inertial Measurement Unit, microcontroller.
The bottom plate is equipped with through-hole, is fixed on ground by foundation bolt, limits entire testing stand three in space
The translation in direction ensures that detachable more rotor racks can only do Three Degree Of Freedom rotation in space.
The posture of detachable more rotor racks is measured by Inertial Measurement Unit, is sent after microcontroller is handled to upper
In computer；Meanwhile detachable more rotor rack attitude datas that three potentiometers measure pass through data collecting plate card
It is also fed into host computer after processing, is compared by host computer, analyzes two groups of data, verification attitude algorithm algorithm has
Effect property.
The multi-rotor unmanned aerial vehicle attitude algorithm and control experiment porch of the utility model, compared with prior art, advantage exists
In：
(1) more rotor rack sections are designed to detachable, and are connected with universal joint with bolt arrangement, dismounting side
Just, it can be adapted for the multi-rotor unmanned aerial vehicle of different number rotor, the even research of the unmanned plane of polymorphic structure, it is entire to test
Platform is flexible, can fully meet the Research Requirements of colleges and universities or research institute.
(2) existing unmanned plane experiment porch uses oscillating bearing more, but can not directly measure unmanned plane using oscillating bearing
Rack attitude angle, the gimbal structure designed by the utility model is simple, while being respectively arranged in three rotary shaft shaft ends of universal joint
Potentiometer can directly measure the attitude angle of unmanned aerial vehicle rack.
(3) flight controller is connected with host computer, can monitor flight state by host computer, and can repair in real time
Change the attitude algorithm and Flight Control Algorithm in flight controller and downloads in flight controller, it is convenient to verify repeatedly.
(4) attitude angle data that the attitude angle data and potentiometer that flight controller measures measure is sent to host computer
In, potentiometer measure attitude angle data can be used as true attitude angle with fly control measure compared with attitude angle, easily verify posture
The validity of computation.
(5) the multi-rotor unmanned aerial vehicle attitude algorithm and control experiment porch, not only can easily carry out attitude algorithm calculation
The experimental verification of method, while equipped with motor, propeller, the components such as electron speed regulator, receiver, flight controller can also
Aircraft tune ginseng or Flight Control Algorithm confirmatory experiment are carried out, there is multifunctionality.
(6) entire experiment porch is fixed on by ground by foundation bolt, limits the translation in the space of unmanned plane, disappears
The risk of air crash, reduces the generation of accident, to reduce R＆D costs in being tested in addition to prototype.
Description of the drawings
Fig. 1 is the multi-rotor unmanned aerial vehicle attitude algorithm of the utility model and controls the structural schematic diagram of experiment porch.
Fig. 2 is gimbal structure schematic diagram.
Fig. 3 is quadrotor rack construction schematic diagram.
Fig. 4 is six rotor rack structural schematic diagrams.
Label in Fig. 1 indicates respectively：1, propeller, 2, brshless DC motor, 3, flight controller, 4, receiver, 5,
Electron speed regulator, 6, detachable more rotor racks, 7, universal joint, 8, potentiometer, 9, sleeve, 10, supporting leg, 11, bottom plate, 12, number
According to analog input card, 13, host computer.
Label in Fig. 2 indicates respectively：71, column, 72, outer framework, 73, internal layer frame, 74, T shape axis.
The utility model is described in further detail with reference to the accompanying drawings and examples.
Specific implementation mode
As shown in Figure 1, the present embodiment provides a kind of multi-rotor unmanned aerial vehicle attitude algorithm and control experiment porch, including spiral
Paddle 1, brshless DC motor 2, flight controller 3, receiver 4, electron speed regulator 5, detachable more rotor racks 6, universal joint 7,
Potentiometer 8, sleeve 9, supporting leg 10, bottom plate 11, data collecting plate card 12, host computer 13.
The propeller 1 is mounted on the rotor of brshless DC motor 2, and brshless DC motor 2, receives electron speed regulator 5
Machine 4 and flight controller 3 are fixed in detachable more rotor racks 6, wherein brshless DC motor 2 and 5 phase of electron speed regulator
Even, 5 other end of electron speed regulator connects flight controller 3, is connected by line between receiver 4 and flight controller 3；Flight control
Device 3 processed is also connected with host computer 13, realizes information exchange.
Detachable more rotor racks 6 are bolted on universal joint 7 so that detachable more rotor racks 6 can
It is rotated with doing Three Degree Of Freedom in space, the vertical axes of universal joint 7 are connect by bearing with sleeve 9；In 7 three rotary shafts of universal joint
Place is separately connected there are three potentiometer 8, and three potentiometers 8 are all connected on data collecting plate card 12；7 three rotations of universal joint
Rotation angle at axis, is measured by potentiometer 8 and gives data collecting plate card 12 and handled, data collecting plate card 12 with it is upper
Bit machine 13 is connected；
10 upper end of the supporting leg is welded on sleeve 9, and 10 lower end of supporting leg welds together with bottom plate 11.
Referring to Fig. 2, the universal joint 7 is made of T shapes axis 74, internal layer frame 73 and 72 three parts of outer framework, wherein
The vertical axes of T shapes axis 74 can be rotated in sleeve 9 without can be moved axially along sleeve 9, and internal layer frame 73 can be around T shapes axis 74
Trunnion axis rotation, outer framework 72 can be dynamic around the shaft rotation in internal layer frame 73, therefore outer framework 72 may be implemented in space
The arbitrary rotation of Three Degree Of Freedom.
Four columns 71 being externally threaded, detachable more gyroplanes are arranged on the outer framework 72 of the universal joint 7
It is set in frame 6 there are four corresponding through-hole, can be connected by nut and column 71.
Detachable more rotor racks 6 are according to the difference of rotor quantity, and there are many types, such as the quadrotor machine of Fig. 3
Six rotor racks of frame and Fig. 4 are used as the experiment of the multi-rotor unmanned aerial vehicle of different rotor quantity.
The brshless DC motor 2 is connected by screw in detachable more rotor racks 6, and electron speed regulator 5 passes through bundle
Band is fixed in detachable more rotor racks 6, and flight controller 3 and receiver 4 are fixed on detachable more rotors by sandwich rubber
On rack 6.
In the present embodiment, the flight controller 3 is mainly by Inertial Measurement Unit (IMU), microcontroller (MCU) group
At.
The bottom plate 11 is equipped with through-hole, is fixed on ground by foundation bolt, limits entire testing stand in space three
The translation in a direction ensures that detachable more rotor racks 6 can only do Three Degree Of Freedom rotation in space.
The posture of detachable more rotor racks 6 is measured by Inertial Measurement Unit, is sent after microcontroller is handled supreme
In bit machine 13；Meanwhile detachable more 6 attitude datas of rotor rack that three potentiometers 8 measure are adopted by data
Collection board 12 is also fed into after handling in host computer 13, is compared by host computer 13, is analyzed two groups of data, verifies posture
The validity of computation.
Specific experiment step is described as follows, and selects the more rotor rack types needed first, complete according to the experimental program
It is connected with electric part at multi-rotor unmanned aerial vehicle attitude algorithm and the mechanical part for controlling experiment porch；The receiving of receiver 4 comes from
The signal of remote controler is simultaneously sent into flight controller 3, and the Inertial Measurement Unit (IMU) in flight controller 3 measures aircraft
Attitude data calculates the corresponding output signal of generation through microcontroller (MCU) processing in flight controller 3 and send to electron speed regulator 5,
Change 2 rotating speed of brshless DC motor by electron speed regulator 5, and then change the lift that corresponding propeller 1 generates, to which control flies
The flight attitude of row device；Flight controller 3 is connected with host computer 13, and the relevant informations such as aircraft flight posture pass through serial ports
It send into host computer 13；Meanwhile potentiometer 8 is connected at 7 rotary shaft of universal joint, detachable more rotor racks 6 pass through spiral shell
Bolt is fixed on universal joint 7, therefore universal joint 7 can directly measure the flight attitude angle of aircraft, and potentiometer 8 measures attitude angle data
It is sent into host computer 13 after the processing of data collecting plate card 12, is finally calculated at 13 pairs of all acquisition data analyses through host computer
Reason, can be obtained corresponding chart or data, the validity of attitude algorithm algorithm or gesture stability algorithm used by being evaluated with this.
Corresponding algorithm can be changed in upper computer 13 at any time, and is downloaded in real time in flight controller 3, is tested repeatedly.
Claims (8)
1. a kind of multi-rotor unmanned aerial vehicle attitude algorithm and control experiment porch, including propeller (1), brshless DC motor (2) fly
Line control unit (3), receiver (4), electron speed regulator (5), detachable more rotor racks (6), universal joint (7), potentiometer (8),
Sleeve (9), supporting leg (10), bottom plate (11), data collecting plate card (12) and host computer (13)；It is characterized in that, the spiral shell
It revolves paddle (1) to be mounted on the rotor of brshless DC motor (2), brshless DC motor (2), electron speed regulator (5), receiver (4)
And flight controller (3) is fixed on detachable more rotor racks (6), wherein brshless DC motor (2) and electron speed regulator
(5) it is connected, electron speed regulator (5) other end connects flight controller (3), passes through company between receiver (4) and flight controller (3)
Line is connected；Flight controller (3) is also connected with host computer (13)；
Detachable more rotor racks (6) are bolted on universal joint (7) so that detachable more rotor racks (6)
It does Three Degree Of Freedom in space to rotate, the vertical axes of universal joint (7) are connect by bearing with sleeve (9)；In (7) three rotations of universal joint
At shaft, it is separately connected there are three potentiometer (8), three potentiometers (8) are all connected on data collecting plate card (12)；Universal joint
Rotation angle at (7) three rotary shafts is measured by potentiometer (8) and gives data collecting plate card (12) and handled, number
It is connected with host computer (13) according to analog input card (12)；
Supporting leg (10) upper end is welded on sleeve (9), and supporting leg (10) lower end welds together with bottom plate (11).
2. multi-rotor unmanned aerial vehicle attitude algorithm as described in claim 1 and control experiment porch, it is characterised in that：Described ten thousand
Be made of to section (7) T shapes axis (74), internal layer frame (73) and outer framework (72) three parts, wherein T shapes axis (74) it is vertical
Rotation along sleeve (9) without can move axially in sleeve (9) for axis, horizontal shaft rotation of the internal layer frame (73) around T shapes axis (74)
Dynamic, shaft rotation of the outer framework (72) in internal layer frame (73) is dynamic, realizes the rotation of Three Degree Of Freedom in space.
3. multi-rotor unmanned aerial vehicle attitude algorithm as claimed in claim 2 and control experiment porch, which is characterized in that described universal
It saves and arranges that four columns (71) being externally threaded, detachable more rotor racks (6) pass through spiral shell on the outer framework (72) of (7)
It is female to be connected with column (71).
4. multi-rotor unmanned aerial vehicle attitude algorithm as described in claim 1 and control experiment porch, which is characterized in that described removable
Difference of more rotor racks (6) according to rotor quantity is unloaded, quadrotor rack or six rotor racks are divided into.
5. multi-rotor unmanned aerial vehicle attitude algorithm as described in claim 1 and control experiment porch, which is characterized in that described brushless
Direct current generator (2) is connected by screw on detachable more rotor racks (6), and electron speed regulator (5) is fixed on by band can
It dismantles on more rotor racks (6), flight controller (3) and receiver (4) are fixed on detachable more rotor racks by sandwich rubber
(6) on.
6. multi-rotor unmanned aerial vehicle attitude algorithm as described in claim 1 and control experiment porch, which is characterized in that described flies
Line control unit (3) is mainly made of Inertial Measurement Unit, microcontroller.
7. multi-rotor unmanned aerial vehicle attitude algorithm as described in claim 1 and control experiment porch, which is characterized in that the bottom plate
(11) it is equipped with through-hole, ground is fixed on by foundation bolt, limits the translation in entire testing stand three directions in space, is protected
The detachable more rotor racks (6) of card can only do Three Degree Of Freedom rotation in space.
8. multi-rotor unmanned aerial vehicle attitude algorithm as claimed in claim 6 and control experiment porch, which is characterized in that described removable
The posture for unloading more rotor racks (6) is measured by Inertial Measurement Unit, is sent after microcontroller is handled into host computer (13)；
Meanwhile detachable more rotor rack (6) attitude datas that three potentiometers (8) measure pass through data collecting plate card (12)
It is also fed into after processing in host computer (13), is compared by host computer (13), analyzes two groups of data, verify attitude algorithm
The validity of algorithm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959819A (en) * | 2020-06-05 | 2020-11-20 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959819A (en) * | 2020-06-05 | 2020-11-20 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
| CN111959819B (en) * | 2020-06-05 | 2022-08-16 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
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