CN218917984U

CN218917984U - Flight controller

Info

Publication number: CN218917984U
Application number: CN202222892027.9U
Authority: CN
Inventors: 胡华智; 谢惠鹏
Original assignee: Ehang Intelligent Equipment Guangzhou Co Ltd
Current assignee: Ehang Intelligent Equipment Guangzhou Co Ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-04-25
Anticipated expiration: 2032-10-31

Abstract

The disclosure relates to the technical field of flight control, in particular to a flight controller, which comprises a control system, an external interface system, an I MU system arranged in an aircraft and a sensor arranged outside the aircraft; the external interface system is connected with the aircraft; the I MU system is used for monitoring the aircraft and generating a first electric signal; the sensor is used for monitoring the aircraft and generating a second electric signal; the control system is used for acquiring the first electric signal and the second electric signal, converting the first electric signal and the second electric signal into control signals, and outputting the control signals to the aircraft through the external interface system so as to control the aircraft. The flight controller can effectively improve the safety and reliability of the aircraft, and has strong universality.

Description

Flight controller

Technical Field

The disclosure relates to the technical field of flight control, in particular to a flight controller.

Background

The flight controller is a core control component of the aircraft, and can acquire inertial data acquired by the sensor and convert the inertial data into control signals required by the electronic speed regulator through a specific flight control algorithm, so as to change and control the attitude (pitch/roll/heading condition), the geographic position, the altitude and the like of the aircraft. Most of flight controllers in the prior art have the defects of inconvenient operation and assembly and the like, and bring about a plurality of inconveniences to application; and has no good technical means in the aspects of safety and reliability.

Therefore, it is necessary to provide a flight controller that improves the safety and reliability of the aircraft.

Disclosure of Invention

In view of the foregoing drawbacks of the prior art, the present disclosure provides a flight controller that can effectively improve the safety and reliability of an aircraft, and has strong versatility.

In order to achieve the above object, the present disclosure is achieved by the following technical solutions:

the present disclosure provides a flight controller comprising a control system, an external interface system, an IMU system disposed inside an aircraft, and a sensor disposed outside the aircraft;

the external interface system is connected with the aircraft;

the IMU system is used for monitoring the aircraft and generating a first electric signal;

the sensor is used for monitoring the aircraft and generating a second electric signal;

the control system is used for acquiring the first electric signal and the second electric signal, converting the first electric signal and the second electric signal into control signals, and outputting the control signals to the aircraft through the external interface system so as to control the aircraft.

Further, the first electrical signal includes at least three-axis attitude, acceleration, direction, and altitude information of the aircraft; the second electrical signal includes at least position and velocity information of the aircraft.

Further, the control system also comprises a navigation algorithm unit, a pose control algorithm unit and a power control unit; the navigation algorithm unit is used for collecting the first electric signal and the second electric signal, calculating to obtain the optimal estimation of the motion state of the aircraft, obtaining a state control signal and a flight target control signal of the aircraft through a data fusion result, and inputting the state control signal and the flight target control signal to the pose control algorithm unit; the pose control algorithm unit is used for calculating target thrust or moment of four decoupling channels of roll, pitch, yaw and altitude of the aircraft; the power control unit is used for generating target instructions of all actuating mechanisms according to the target thrust or torque so as to control the aircraft.

Further, the flight controller also includes a power system for powering the flight controller.

Further, the output of the power supply system is adjustable, and each output port is provided with overcurrent protection.

Further, the IMU system adopts a double-backup redundancy design.

Further, the IMU system is provided with independent damping.

Further, the data interaction information of the control system is stored in the flight controller in a diary form.

Further, the external interface system includes a plurality of peripheral interfaces for implementing a plurality of aircraft device protocol accesses.

Further, the plurality of peripheral interfaces includes at least an I2C, SPI, UART, USB, PWM and s.bus interface.

Compared with the known public technology, the technical scheme provided by the disclosure has the following beneficial effects:

1) High integration level, small volume and light weight;

2) The multi-protocol interface is supported, so that the multi-protocol interface is suitable for various peripheral access, and further supports various aircrafts such as fixed wings, multiple rotors, vertical take-off and landing and the like, and has strong universality;

3) The internal self-contained independent IMU shock absorption is not needed, external shock absorption is not needed, and the dual IMU backup is adopted, so that the reliability is further improved;

4) The output port belt can recover over-current protection.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

Fig. 1 is a schematic diagram of a flight controller module according to an embodiment of the disclosure.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.

Referring to fig. 1, one embodiment of the present disclosure provides a flight controller including a control system, an external interface system, an IMU system disposed inside an aircraft, and a sensor disposed outside the aircraft; the external interface system is connected with the aircraft; the IMU system is used for monitoring the aircraft and generating a first electric signal; the sensor is used for monitoring the aircraft and generating a second electric signal; the control system is used for acquiring the first electric signal and the second electric signal, converting the first electric signal and the second electric signal into control signals, and outputting the control signals to the aircraft through the external interface system so as to control the aircraft. Specifically, the control system acquires internal and external signals of the IMU system and the like, processes the internal and external signals through an algorithm, converts external output peripheral interface control signals, controls the externally accessed aircraft, namely acquires various sensor data, calculates the attitude position of the externally accessed aircraft, then outputs power control data according to the instructions of the air route or the remote controller, and controls the externally accessed aircraft. Where IMU is an abbreviation for Inertial Measurement Unit, inertial measurement, for measuring the three axis attitude angle (or angular rate) and acceleration of an object.

In this embodiment, the control system further includes a navigation algorithm unit, a pose control algorithm unit, and a power control unit; the navigation algorithm unit is used for collecting the first electric signal and the second electric signal, calculating to obtain the optimal estimation of the motion state of the aircraft, obtaining a state control signal and a flight target control signal of the aircraft through a data fusion result, and inputting the state control signal and the flight target control signal to the pose control algorithm unit; the pose control algorithm unit is used for calculating target thrust or moment of four decoupling channels of roll, pitch, yaw and altitude of the aircraft; the power control unit is used for generating target instructions of all actuating mechanisms according to the target thrust or torque so as to control the aircraft.

Specifically, the control system acquires sensor information such as an IMU, a GPS, a barometer and the like, and realizes optimal estimation of motion states such as the attitude, the speed, the position and the like of the aircraft by a multi-sensor combination navigation technology based on extended Kalman filtering; the data fusion result is used as state observation, is input to a pose control algorithm unit together with a target instruction, and the target thrust/moment of four decoupling channels of roll, pitch, yaw and height is calculated according to a preset self-adaptive control algorithm; and then, a power distribution algorithm generates target instructions (such as target rotating speeds of motors of multiple rotor wings) of each actuating mechanism, so that the aircraft is driven to realize designated gesture and position control.

In this embodiment, referring to fig. 1, the flight controller further includes a power supply system for powering the flight controller. In addition, the output of the power supply system is adjustable, and each output port is provided with overcurrent protection. Specifically, the power supply system can distribute power for the inside and outside of the flight controller, supports wide power input (3S battery-12S battery), and can be regulated according to actual conditions, each output port is provided with overcurrent protection, the protection function can be recovered, and the output power supply power is high and can directly drive a multi-path steering engine. The design ensures that the output port belt of the power supply system can recover overcurrent protection, can realize wide voltage input and has multipath steering engine driving capability without an external power supply.

In this embodiment, the IMU system adopts a redundant design of dual backup, and the IMU system is provided with independent damping, and the IMU system is internally provided with independent damping, so that the influence of external access equipment is reduced, and the dual backup and damping design improves the safety and reliability of the IMU system, thereby improving the safety and reliability of the whole flight controller.

In this embodiment, the external interface system includes a plurality of peripheral interfaces for implementing a plurality of aircraft device protocol accesses, for example, the plurality of peripheral interfaces may include at least an I2C, SPI, UART, USB, PWM and s.bus interface. The external interfaces are rich, a plurality of protocol interfaces are supported, and the aircraft is suitable for various external interfaces to access, further supports various aircrafts such as fixed wings, multiple rotors, vertical take-off and landing and the like, and has strong universality.

In this embodiment, the data interaction information of the control system is stored in the form of a diary in the flight controller, so that subsequent fault analysis is facilitated.

The flight controller has the advantages that the provided flight controller is high in integration level, small in size and light in weight; furthermore, the flight controller supports multiple protocol interfaces, is suitable for various peripheral access, and further supports multiple aircrafts such as fixed wings, multiple rotors, vertical take-off and landing, and has strong universality; furthermore, the flight controller is provided with multi-path steering engine driving capability without an external power supply; furthermore, the flight controller is internally provided with independent IMU shock absorption without external shock absorption, and the safety and reliability are improved by adopting double IMU backups; finally, the output port belt of the flight controller can recover overcurrent protection and can realize wide voltage input.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; these modifications or substitutions do not depart from the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A flight controller comprising a control system, an external interface system, an IMU system disposed within an aircraft, and a sensor disposed outside the aircraft;

the external interface system is connected with the aircraft;

2. The flight controller of claim 1, wherein the first electrical signal includes at least three-axis attitude, acceleration, direction, and altitude information of the aircraft; the second electrical signal includes at least position and velocity information of the aircraft.

3. The flight controller of claim 2, wherein the control system further comprises a navigation algorithm unit, a pose control algorithm unit, and a power control unit; the navigation algorithm unit is used for collecting the first electric signal and the second electric signal, calculating to obtain the optimal estimation of the motion state of the aircraft, obtaining a state control signal and a flight target control signal of the aircraft through a data fusion result, and inputting the state control signal and the flight target control signal to the pose control algorithm unit; the pose control algorithm unit is used for calculating target thrust or moment of four decoupling channels of roll, pitch, yaw and altitude of the aircraft; the power control unit is used for generating target instructions of all actuating mechanisms according to the target thrust or torque so as to control the aircraft.

4. A flight controller as claimed in claim 3, further comprising a power supply system for powering the flight controller.

5. The flight controller of claim 4, wherein the output of the power system is adjustable and each output port has an over-current protection.

6. The flight controller of claim 1, wherein the IMU system employs a dual-backup redundancy design.

7. The flight controller of claim 1, wherein the IMU system is provided with independent damping.

8. The flight controller of claim 1, wherein the data interaction information of the control system is stored within the flight controller in a diary.

9. The flight controller of claim 1, wherein the external interface system includes a plurality of peripheral interfaces for enabling a plurality of aircraft device protocol accesses.

10. The flight controller of claim 9, wherein the plurality of peripheral interfaces includes at least an I2C, SPI, UART, USB, PWM and s.bus interface.