CN211494483U - Low-cost four-rotor aircraft used in low-temperature environment - Google Patents

Low-cost four-rotor aircraft used in low-temperature environment Download PDF

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Publication number
CN211494483U
CN211494483U CN201921843416.4U CN201921843416U CN211494483U CN 211494483 U CN211494483 U CN 211494483U CN 201921843416 U CN201921843416 U CN 201921843416U CN 211494483 U CN211494483 U CN 211494483U
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China
Prior art keywords
motor
battery
driving circuit
motor driving
circuit
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Expired - Fee Related
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CN201921843416.4U
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Chinese (zh)
Inventor
马跃
叶智华
唐明斌
陶梓唯
曾庆毅
朱红
刘民豪
邓尚玮
马畅
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Shanghai Dianji University
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Shanghai Dianji University
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The utility model provides a four rotor crafts of low cost for under low temperature environment, it includes: a control module; the control end of each motor driving circuit is connected with the control module, the input end of each motor driving circuit is connected with a battery, and the output end of each motor driving circuit is connected with a motor; the motor is a brush direct current motor; the motor driving circuit comprises an MOS field effect transistor, and the grid electrode of the MOS field effect transistor is connected with the control end of the motor driving circuit and used for adjusting the output current of the motor driving circuit according to the voltage of the control end, so that the rotating speed of the motor is adjusted. The motor control means of this embodiment responds rapidly for four rotor craft's control system has better control performance, can adapt to more violent environmental disturbance.

Description

Low-cost four-rotor aircraft used in low-temperature environment
Technical Field
The utility model relates to a model aeroplane and model ship field especially relates to a four rotor crafts of low cost for low temperature environment is down.
Background
The quadcopter is also called a quadrotor and a quadrotor helicopter, and is called a quadcopter and a quadrotor for short. The quadoror is a multi-rotor aircraft. Four propellers of the four-axis aircraft are simple mechanisms with directly connected motors, and the cross-shaped layout allows the aircraft to obtain the force for rotating the aircraft body by changing the rotating speed of the motors, so that the self posture of the aircraft can be adjusted.
In the prior art, the four-axis aircraft usually adopts brushless motors to drive the rotor, and during the flight, the rotating speed of each motor needs to be accurately adjusted so as to adjust the posture of the four-axis aircraft. However, the brushless motor needs a special electric tuning module to control the rotating speed of the brushless motor, the speed regulation performance of the low-cost electric tuning module is poor, the response speed is low, the low-cost four-axis aircraft is difficult to respond timely due to the disturbance of the attitude, and the flight performance of the four-axis aircraft is poor.
However, the four-axis aircraft in the prior art is difficult to apply in cold regions. The main reason is that the existing four-axis aircraft needs to adopt a lithium battery with high energy density, but the discharging efficiency of the lithium battery is too low under the low-temperature condition, so that the four-axis aircraft is difficult to fly under the low-temperature condition.
SUMMERY OF THE UTILITY MODEL
To not enough among the above-mentioned prior art, the utility model provides a four rotor crafts of low cost for under low temperature environment, this four rotor crafts of low cost for under low temperature environment adopt to have brush direct current motor and corresponding drive circuit, have solved that brushless DC motor control is complicated, the slow problem of response of low-cost control scheme precision low.
In order to achieve the above object, the utility model provides a four rotor crafts of low cost for under low temperature environment, it includes:
a control module;
the nine-axis sensor is electrically connected with the control module;
the air pressure sensor is electrically connected with the control module;
the control end of each motor driving circuit is connected with the control module, the input end of each motor driving circuit is connected with a battery, and the output end of each motor driving circuit is connected with a motor; the motor is a brush direct current motor;
the motor driving circuit comprises an MOS field effect transistor, and the grid electrode of the MOS field effect transistor is connected with the control end of the motor driving circuit and used for adjusting the output current of the motor driving circuit according to the voltage of the control end so as to adjust the rotating speed of the motor;
a radiating fin is attached to the MOS field effect transistor; the radiating fin is also attached to the surface of the battery; heat-conducting silicone grease is filled in gaps among the radiating fins, the MOS field effect transistor and the battery;
the NRF circuit is electrically connected with the control module.
The input end of the power supply module is connected with the battery, and the output end of the power supply module is electrically connected with the power ends of the control module, the nine-axis sensor, the air pressure sensor and the NRF circuit.
The utility model discloses a further improvement lies in, nine sensors and baroceptor passes through I2And the C bus is in communication connection with the control module.
The utility model has the further improvement that the motor driving circuit also comprises a diode; the source electrode of the MOS field effect transistor is grounded, a first resistor is connected between the source electrode and the grid electrode, and the grid electrode is connected with the control end of the motor driving circuit through a second resistor;
the anode and the cathode of the diode are respectively connected with the cathode and the anode of the output end of the motor driving circuit; the cathode of the diode is also connected with the anode of the battery, and the anode of the diode is also connected with the drain electrode of the MOS field effect transistor.
The utility model discloses a further improvement lies in, be used for low cost four rotor crafts under low temperature environment still include battery charging circuit; the input end of the battery charging circuit is a USB socket, and the output end of the battery charging circuit is connected with the battery.
The utility model discloses a further improvement lies in, the battery includes battery interface circuit; the battery interface circuit includes a filter circuit connected between the positive and negative poles of the battery.
The utility model is further improved in that each motor driving circuit is connected with one motor; each motor is connected with a rotor wing.
The utility model has the advantages of: the position of the rotor is determined without a sensor in conventional electric regulation in the speed regulation process of the motor, and filtering means such as capacitors and inductors for reducing the response speed are not needed in a motor driving circuit, so that the motor control means of the embodiment is quick in response, a control system of the low-cost four-rotor aircraft in a low-temperature environment has better control performance, and can adapt to more severe environmental disturbance.
Drawings
Fig. 1 is a block diagram of a driving control system of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a pin definition diagram of the control module of the present invention;
fig. 3 is a schematic diagram of a nine-axis sensor and an air pressure sensor according to the present invention;
FIG. 4 is a schematic diagram of an NRF circuit of the present invention;
fig. 5 is a schematic diagram of a power module according to the present invention;
fig. 6 is a schematic diagram of a battery interface circuit according to the present invention;
fig. 7 is a schematic diagram of a battery charging circuit according to the present invention;
fig. 8 is a schematic diagram of a motor driving circuit according to the present invention.
Detailed Description
The following description of the preferred embodiment of the present invention will be given in detail with reference to the accompanying drawings 1, so as to better understand the functions and features of the present invention.
Referring to fig. 1, an embodiment of the present invention includes a low-cost quad-rotor aircraft for low temperature environment, the low-cost quad-rotor aircraft for low temperature environment has a mechanical structure similar to that of the existing quad-rotor aircraft, and includes an aircraft body and four cantilevers, and a motor and a rotor are disposed at the end of each cantilever. The main improvement of this embodiment is that the quad-rotor aircraft further comprises: the device comprises a control module, a nine-axis sensor, an air pressure sensor, four motor driving circuits, an NRF circuit, a battery and a power supply module.
In this embodiment, the control module is implemented by using an STM32 single chip microcomputer, and the pin configuration of the control module is as shown in fig. 2. In the embodiment, STM32F411 chip of ST company is adopted, and STM32F411 provides the performance of Cortex-M4 kernel (with floating point unit) with the working frequency of 100MHz, and the device is internally provided with Flash memory of 256-512 KB and SRAM of 128 KB. Having a dedicated floating point unit allows the control module to run the control algorithm efficiently. In this embodiment, an existing four-axis control algorithm may be employed.
In this embodiment, the nine-axis sensor and the air pressure sensor are electrically connected to the control module. The three can be integrated on a PCB. The nine-axis sensor is used for measuring the attitude and the speed of the four-rotor aircraft, and the air pressure sensor is used for measuring the height of the four-rotor aircraft.
As shown in FIG. 3, in the present embodiment, an MPU9250 nine-axis sensor integrating 3-axis acceleration, 3-axis gyroscope, and 3-axis magnetism is usedForce meter, using I2The C interface scheme can directly output all data of nine axes, has a clock calibration function, ensures the optimal performance, and opens an auxiliary I for being compatible with other sensors2The interface C enables the interface C to be directly connected with the BMP280 of the air pressure sensor; the BMP280 chip is an absolute air pressure sensor specially designed for mobile application, provides accurate pressure measurement data, has low working noise and ensures the accuracy of the data. In this embodiment, the nine-axis sensor and the air pressure sensor pass through I2And the C bus is in communication connection with the control module.
As shown in fig. 4, the NRF circuit is electrically connected to the control module. The NRF circuit is used for being in communication connection with the remote control handle so as to receive commands sent by the remote control handle.
As shown in fig. 5, the input end of the power module is connected to the battery, and the output end of the power module is electrically connected to the power ends of the control module, the nine-axis sensor, the air pressure sensor, and the NRF circuit, and supplies power to the modules. The design adopts an XC6204-30 chip, 3.7V of a lithium battery is used for supplying power, and 3.3V is output to supply power for other circuits.
As shown in fig. 6, the battery includes a battery interface circuit; the battery interface circuit includes a filter circuit connected between the positive and negative poles of the battery. The filtering circuit can filter out noise waves, and the voltage stability is guaranteed.
As shown in fig. 7, the battery is further connected to a battery charging circuit, an input terminal of the battery charging circuit is a USB socket, and an output terminal of the battery charging circuit is connected to the battery. The design scheme adopts a TP4095 chip, TP4059 is a complete single-section lithium ion battery charger, the positive and negative electrodes with batteries are reversely connected and protected, the charging current is 600mA, and the charging current monitoring device has the functions of charging current monitor, under-voltage locking and automatic recharging.
The control ends of the four motor driving circuits are respectively connected with the corresponding control ends on the control module. The input end of each motor driving circuit is connected with the battery, and the output end of each motor driving circuit is connected with the motor. In this embodiment, the motor is a brushed dc motor, and each motor is connected with a rotor. In the flight process of the four-rotor aircraft, the control module adjusts the voltage of the control end of the motor driving circuit to adjust the output current and the output voltage of the motor driving circuit, and further adjust the rotating speed of the direct current motor.
Fig. 8 is a schematic diagram of a motor driving circuit, taking the motor driving circuit as an example: the motor driving circuit comprises an MOS field effect transistor, and a grid G of the MOS field effect transistor is connected with a control end MORTAR1 of the motor driving circuit and used for adjusting the output current of the motor driving circuit according to the voltage of the control end MORTAR1 so as to adjust the rotating speed of the motor.
The motor drive circuit further includes a diode D3; the source S of the MOS field effect transistor is grounded, a first resistor R13 is connected between the source and the grid, and the grid is connected with a control end MORTAR1 of the motor drive circuit through a second resistor R9.
The anode and cathode of the diode D3 are respectively connected with the cathode and anode of the output terminal P7 of the motor driving circuit. The cathode of the diode is also connected with the anode of the battery. The anode of the diode D3 is also connected to the drain D of the mosfet.
In the working process of the motor driving circuit, the current flowing through the motor is equal to the current flowing through the MOS field effect transistor, the MOS field effect transistor works in the amplification region, and the current flowing through the MOS field effect transistor is determined by the grid voltage of the MOS field effect transistor. Therefore, the current flowing through the motor can be adjusted by adjusting the grid voltage of the MOS field effect transistor (the voltage of the control end MORTAR1 of the motor drive circuit), and the rotating speed of the motor can be adjusted. The position of the rotor is determined without a sensor in a conventional electric regulator in the process, and a filtering means for reducing response speed such as a capacitor and an inductor is not needed in a motor driving circuit, so that the motor control means of the embodiment is quick in response, a control system of the four-rotor aircraft has better control performance, and can adapt to more severe environment disturbance.
The MOS field effect transistor works in an amplification region, so that the heat productivity of the MOS field effect transistor is larger. In this embodiment, the MOS field effect transistor is provided with a heat sink in an attached manner; the radiating fin is also attached to the surface of the battery; and heat-conducting silicone grease is filled in gaps among the radiating fin, the MOS field effect transistor and the battery. The heat that the MOS pipe was emitted can heat the battery, and in high latitude frigid zone area, this kind of heating method can make battery work at suitable temperature for the battery has good work efficiency.
In the embodiment, the motor driving circuit has the functions of driving the motor and heating the battery, and can fully utilize the energy of the battery; in addition, the driving circuit is simple in element and low in weight, does not need to adopt extra capacitance and inductance, and has lower cost.
The present invention has been described in detail with reference to the embodiments shown in the drawings, and those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details of the embodiments should not be construed as limitations of the invention, which are intended to be covered by the following claims.

Claims (6)

1. A low cost quad-rotor aircraft for use in low temperature environments, comprising:
a control module;
the nine-axis sensor is electrically connected with the control module;
the air pressure sensor is electrically connected with the control module;
the control end of each motor driving circuit is connected with the control module, the input end of each motor driving circuit is connected with a battery, and the output end of each motor driving circuit is connected with a motor; the motor is a brush direct current motor;
the motor driving circuit comprises an MOS field effect transistor, and the grid electrode of the MOS field effect transistor is connected with the control end of the motor driving circuit and used for adjusting the output current of the motor driving circuit according to the voltage of the control end so as to adjust the rotating speed of the motor;
a radiating fin is attached to the MOS field effect transistor; the radiating fin is also attached to the surface of the battery; heat-conducting silicone grease is filled in gaps among the radiating fins, the MOS field effect transistor and the battery;
the NRF circuit is electrically connected with the control module;
and the input end of the power supply module is connected with the battery, and the output end of the power supply module is electrically connected with the power ends of the control module, the nine-axis sensor, the air pressure sensor and the NRF circuit.
2. A low cost quad-rotor aircraft for use in low temperature environments as recited in claim 1, wherein said nine-axis sensor and said barometric sensor pass I2And the C bus is in communication connection with the control module.
3. A low cost quad-rotor aircraft for use in low temperature environments according to claim 1, wherein said motor drive circuit further comprises a diode; the source electrode of the MOS field effect transistor is grounded, a first resistor is connected between the source electrode and the grid electrode, and the grid electrode is connected with the control end of the motor driving circuit through a second resistor;
the anode and the cathode of the diode are respectively connected with the cathode and the anode of the output end of the motor driving circuit; the cathode of the diode is also connected with the anode of the battery, and the anode of the diode is also connected with the drain electrode of the MOS field effect transistor.
4. A low-cost quad-rotor aircraft for use in cryogenic environments according to claim 1, wherein said low-cost quad-rotor aircraft for use in cryogenic environments further comprises a battery charging circuit; the input end of the battery charging circuit is a USB socket, and the output end of the battery charging circuit is connected with the battery.
5. A low cost quad-rotor aircraft for use in low temperature environments as recited in claim 1, wherein said battery comprises a battery interface circuit; the battery interface circuit includes a filter circuit connected between the positive and negative poles of the battery.
6. A low cost quad-rotor aircraft for use in low temperature environments as recited in claim 1 wherein one said motor is connected to each said motor drive circuit; each motor is connected with a rotor wing.
CN201921843416.4U 2019-10-30 2019-10-30 Low-cost four-rotor aircraft used in low-temperature environment Expired - Fee Related CN211494483U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921843416.4U CN211494483U (en) 2019-10-30 2019-10-30 Low-cost four-rotor aircraft used in low-temperature environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921843416.4U CN211494483U (en) 2019-10-30 2019-10-30 Low-cost four-rotor aircraft used in low-temperature environment

Publications (1)

Publication Number Publication Date
CN211494483U true CN211494483U (en) 2020-09-15

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ID=72407851

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN211494483U (en)

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20200915

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