KR100560057B1 - Assistance apparatus for automatic control in radio control system - Google Patents

Abstract

The present disclosure relates to an automatic control assistance device for a wireless control system, and converts a PWM signal output from a receiver receiving a manual control command of a controller having a wireless controller into a digital value and converts the converted PWM signal into a digital value. PWM signal measuring unit for outputting through; Auto or manual mode is determined based on the PWM signal which is converted into digital value through the PWM signal measuring unit according to the manual control command of the operator, and the PWM signal according to the manual control command of the operator input from the PWM signal measuring unit is controlled. A control unit for generating an operation control signal of a servo motor for each channel for driving a steering target by selecting or combining the automatic control command outputted from the automatic control computer installed in each channel and each channel; Generates a PWM signal for driving each servo motor according to the operation control signal of the servo motor for each channel input from the controller, and outputs the generated PWM signal to the corresponding servo motor so that the steering target moves according to the operation of the servo motor. A PWM signal generator; A variable resistor unit comprising a plurality of variable resistors corresponding to the number of servo motors for driving the steering target, and outputting an analog voltage value of the variable resistors to the controller; Stores automatic control command and manual control command of servo motor for each channel according to the control of the controller, and if necessary, saves the control command of the servo motor for each channel according to the control of the controller to an external PC through the serial communication unit. It consists of wealth.

Therefore, the present invention can easily build a system using only the existing multi-channel radio controller and receiver, thereby increasing the economic efficiency, and greatly improves the stability of the radio control system through the output of the automatic control system even in case of a mistake of the operator. In addition, it is possible to guarantee stability and reliability when testing the automatic control device through complementary operation between manual control and automatic control, and it is useful for finding problems when problems occur in the wireless control system, and it is easy to identify the cause when an accident occurs. To provide.

Radio Control, Aircraft, Ship, Automotive, Automatic Control, Pulse Width Modulation (PWM)

Description

Assistance apparatus for automatic control in radio control system

1 is a block diagram schematically showing the configuration of an automatic control auxiliary device of a wireless control system according to the present invention;

Figure 2 is a flow chart illustrating in detail the operation of the automatic control auxiliary device of the wireless control system according to the present invention.

Explanation of symbols on the main parts of the drawings

10: wireless remote controller

20: receiver

30: automatic control computer

40: PC

50: servo motor

100: automatic control auxiliary means

110: PWM signal measuring unit

120: control unit

130: PWM signal generator

140: variable resistance unit

150: storage unit

160: serial communication unit

The present invention relates to a wireless steering system.

More specifically, to control or control a wireless control system such as an aircraft, a ship, or a vehicle operating with a pulse width modulation (PWM) signal, a manual control signal and an automatic control signal can be selected or used in various forms. The present invention relates to an automatic control auxiliary device for a wireless steering system.

In general, automatic control in a wireless control system means that a computer installed in an aircraft, a ship, or a vehicle, which is a target of control, performs a desired task automatically by inputting various sensors without a controller having a controller. In other words, in the wireless control system, the case in which the manipulator operates by the manipulator is called manual control, and the case in which the manipulator operates autonomously without the intervention of the manipulator is called automatic control. A typical wireless control system with automatic control is an unmanned aerial vehicle used for military reconnaissance.

Even in the case of a system with automatic control, it does not always operate automatically, and manual control and automatic control are used depending on the situation. For example, in the case of an unmanned aircraft, take off manually in case of difficult takeoff of automatic control, and normal flight is automatically performed, and when landing, it is controlled by switching manually.

For such manual / automatic switching, a manual / automatic switching signal must be transmitted to the steering target as a signal from the remote controller. Also, the automatic control generated by the automatic control computer installed on the remote control and the manual control signal of the remote controller according to the manual / automatic mode The function of selecting one of the control signals is required.

In the conventional wireless control system, a PWM signal input to a target to be controlled is controlled by using a relay or a digital multiplex (manual control signal of the operator is wirelessly transmitted through the remote controller and received through a receiver. A device that simply selects either a PWM signal) or an automatic control signal (a PWM signal generated by a computer installed on the steering target) was used.

However, in order to operate a wireless control system having only a manual / automatic switching system smoothly, there has been a problem in that an automatic control computer installed on a steering target in the automatic mode must operate perfectly. For example, in the case of a radio-controlled helicopter, in order to perform automatic control, the three-dimensional attitude value of the helicopter must be accurately known and controlled by a precise control algorithm, but in the development stage of the automatic control system, such a complete control system is provided. There was a very difficult issue.

An object of the present invention is to solve the above problems, the manual control signal from the radio control receiver and the automatic control from the computer installed on the steering target for the control of the radio control system of aircraft, ships, automobiles, etc. operating with a PWM signal An object of the present invention is to provide an autonomous control device for a radio-controlled system that can select or combine signals in various forms.

It is another object of the present invention to assist in the automatic control of a wireless control system so that it is possible to simply build an automatic control system for a wireless control system using only existing multi-channel wireless controllers and receivers without having to provide a separate wireless transmission / reception system. To provide a device.

The automatic control auxiliary device of the wireless control system according to the present invention for achieving the above object, to simply select one of the manual control signal and the automatic control signal according to the PWM signal input from the radio controller through the receiver provided in the steering target In the wireless control system, PWM signal measuring unit for converting the PWM signal output from the receiver receiving the manual control command of the operator with the radio controller into a digital value, and outputs the PWM signal converted to the digital value through serial communication; ; Auto or manual mode is determined based on the PWM signal which is converted into digital value through the PWM signal measuring unit according to the manual control command of the operator, and the PWM signal according to the manual control command of the operator input from the PWM signal measuring unit is controlled. A control unit for generating an operation control signal of a servo motor for each channel for driving a steering target by selecting or combining the automatic control command outputted from the automatic control computer installed in each channel and each channel; Generates a PWM signal for driving each servo motor according to the operation control signal of each servo motor input from the controller, and outputs the generated PWM signal to the corresponding servo motor to move the steering target according to the operation of the servo motor. A PWM signal generation unit to allow; A variable resistor unit comprising a plurality of variable resistors corresponding to the number of servo motors for driving the steering target, and outputting an analog voltage value of the variable resistors to the controller; Stores automatic control command and manual control command of servo motor for each channel according to the control of the controller, and if necessary, saves the control command of the servo motor for each channel according to the control of the controller to an external PC through the serial communication unit. Characterized in that configured to include.

Hereinafter, with reference to the accompanying drawings will be described in detail the automatic control auxiliary device of the wireless control system of the present invention.

1 is a block diagram schematically showing the configuration of an automatic control auxiliary device of a wireless control system according to the present invention.

As shown, the automatic control auxiliary means 100 according to the present invention is a PWM signal measuring unit 110, a controller 120, a PWM signal generator 130, a variable resistor unit 140, a storage unit 150 And a serial communication unit 160.

The PWM signal measuring unit 110 converts the PWM signal output from the receiver 20 receiving the manual control command of the operator having the wireless controller 10 into a digital value, and converts the PWM signal converted into the digital value into SPI and RS. Outputs to the control unit 120 through serial communication, such as -232C, CAN.

The control unit 120 determines the automatic or manual mode based on the PWM signal which is converted into a digital value through the PWM signal measuring unit 110 according to a manual control command of the operator, and is input from the PWM signal measuring unit 110. Operation control of the servo motor 50 for each channel to drive the steering target by selecting or combining the PWM signal according to the manual control command of the operator to each channel with the automatic control command output from the automatic control computer 30 installed on the steering target. A signal is generated and the operation control signal of the generated servo motor 50 for each channel is output to the PWM signal generator 130.

In this case, the controller 120 uses six channels for controlling the servo motor 50 among the PWM signals received from the radio controller 10 through the receiver 20 and digitally converted, and the seventh channel is manual / automatic conversion. The 8th channel is used as the signal to start or stop the recording of control command.

In addition, the controller 120 selects or combines an automatic control command and a manual control command in an automatic mode to generate a control signal for operating the servo motor 50 of a specific channel using the following equation. .

Servo motor control command of nth channel =

     (A / D conversion value of the nth variable resistor) / 255

   * (manual control command of the nth channel)

   + (255-A / D conversion value of the nth variable resistor) / 255

   * (automatic control command of nth channel)

In this case, the A / D conversion value is a value obtained by converting an analog voltage value input from the variable resistor unit 140 into an A / D converter in the control unit 120.

The PWM signal generator 130 generates a PWM signal for driving each servo motor 50 according to the operation control signal of the servo motor 50 for each channel input from the controller 120, and generates the generated PWM signal. It outputs to the servo motor 50, and makes a steering object move according to the operation of the servo motor 50.

In this case, the above-described PWM signal measuring unit 110 and the PWM signal generating unit 130 may be designed using a circuit device such as EPLD or FPGA.

The variable resistor unit 140 includes a plurality of variable resistors corresponding to the number of servo motors 50 for driving a steering target, and outputs an analog voltage value of the variable resistor to the controller 120.

In this case, the variable resistor unit 140 may use the rotary variable resistor to make the output terminal have a value between 0V and 5V as the variable resistor rotates.

The storage unit 150 is composed of a flash memory, a RAM, etc., and stores the automatic control command and the manual control command of the servo motor 50 for each channel according to the control of the controller 120, and if necessary, The control command of the servo motor 50 for each channel stored according to the control is output to the external PC 40 through the serial communication unit 160.

The serial communication unit 160 outputs the automatic control command and the manual control command of the servo motor 50 for each channel stored in the storage unit 150 to the external PC 40 through serial communication under the control of the control unit 120. do.

Next, the operation process of the automatic control auxiliary device of the wireless control system according to the present invention configured as described above will be described in detail.

First, the manual control mode of the basic radio control system is as follows. As shown in FIG. 1, when a manipulator operates the wireless remote controller 10, the signal is transmitted to the receiver 20 via radio, and the PWM signal output from the receiver 20 is transmitted to the PWM signal measuring unit 110. The digital information is converted into digital information and transmitted to the controller 120 by serial communication such as SPI, RS-232C, and CAN.

Thereafter, the output of the controller 100 is transmitted to the PWM signal generator 130, and the PWM signal output from the PWM signal generator 130 is transmitted to the servo motor 50 to move the steering target.

On the other hand, the rules of serial communication transmitted from the automatic control computer 30 to the control unit 120 is made of 10 bytes as shown in Table 1.

Bytes No. Explanation range code One   Start character 36 2   PWM On-time Value for Channel 1 50 to 255 3   PWM On-time Value for Channel 2 50 to 255 4   PWM On-time Value for Channel 3 50 to 255 5   PWM On-time Value for Channel 4 50 to 255 6   PWM On-time Value for Channel 5 50 to 255 7   PWM On-time Value for Channel 6 50 to 255 8   PWM On-time value for channel 7 50 to 255 9   PWM On-time Value for Channel 8 50 to 255 10   Terminator 39

Since the number of the servo motors 50 used in the case of a normal radio steering system is six or less, only six channel commands are sufficient for the servo control. In the present invention, the seventh channel of the radio controller 20 is used as a signal for manual / automatic conversion, and the eighth channel of the radio controller is used as a signal for recording start / stop of the control command.

The control unit 120 determines the mode of the automatic control auxiliary means 100 using Table 2 as the values of the seventh and eighth channels of the serial communication values input from the PWM signal measuring unit 110. That is, the operator can easily determine the mode of the automatic control assistance means 100 using the wireless remote controller 20.

PWM On-time value of the 7th channel PWM On-time value of the 8th channel Manual / auto mode Record mode Less than 150 Less than 120 manual Control command record Less than 150 120 or more and less than 190 manual Do not record control command Less than 150 More than 190 manual Control Command Playback Mode More than 150 Less than 120 Automatic Control command record More than 150 120 or more and less than 190 Automatic Do not record control command More than 150 More than 190 Automatic Control Command Playback Mode

In the autopilot mode, the control unit 120 properly selects or combines the autonomous control command transmitted from the autonomous control computer 30 and the PWM signal measurement unit 110 through serial communication to generate a PWM signal generation unit ( 130 outputs a PWM signal to the servomotor 50.

At this time, how to select or combine the automatic control command and the manual control command in the automatic mode is determined by the variable resistor unit 140 consisting of six variable resistors.

That is, the controller 120 reads the state of the variable resistor unit 140 made of six variable resistors through an 8-bit A / D converter when power is first turned on or reset. At this time, when the variable resistor is changed, the range of the value read through the 8-bit A / D converter is 0 to 255. The control command output to the servo motor 50 using the six A / D converted values is determined as in Equation 1 above.

For example, if the A / D conversion value of the nth variable resistor is 0, the manual steering command by the operator is completely ignored in the control of the nth servomotor 50, and the automatic steering command by the automatic control computer 30 is completely ignored. Only used. In addition, when the A / D conversion value of the nth variable resistor is 128, the manual control command and the automatic control command are mixed in half.

In the control command recording mode, the manual control command and the automatic control command are recorded in the storage unit 150 including the flash memory or the RAM under the control of the control unit 120. The recorded control command may be transmitted to the external PC 40 through the serial communication unit 160 such as RS-232 under the control of the control unit 120 in the control command playback mode. Table 3, which will be described later, is a rule of serial communication, and is used to output a digital value of a PWM signal of a driving channel stored in a memory in a board.

Bytes No. Explanation range code One   Start character 0x23 ($) 2, 3   Sample order 0 to 65535 (μs) 4   Delimiter 0x2C (,) 5, 6   PWM On-time Value for Channel 1 0 to 65535 (μs) 7   Delimiter 0x2C (,) 8, 9   PWM On-time Value for Channel 2 0 to 65535 (μs) 10   Delimiter 0x2C (,) 11, 12   PWM On-time Value for Channel 3 0 to 65535 (μs) 13   Delimiter 0x2C (,) 14, 15   PWM On-time Value for Channel 4 0 to 65535 (μs) 16   Delimiter 0x2C (,) 17, 18   PWM On-time Value for Channel 5 0 to 65535 (μs) 19   Delimiter 0x2C (,) 20, 21   PWM On-time Value for Channel 6 0 to 65535 (μs) 22   Delimiter 0x2C (,) 23, 24   PWM On-time value for channel 7 0 to 65535 (μs) 25   Delimiter 0x2C (,) 26, 27   PWM On-time Value for Channel 8 0 to 65535 (μs) 28   Terminator 0x2E (.)

The control unit 110, which plays a key role in the automatic control aid 100, does not perform a complicated operation and can be implemented with an 8-bit microprocessor such as an A / D converter and a PIC or AVR having basic I / O functions. The program flow diagram of the control unit 120 is shown in FIG. 2.

Specifically, referring to Table 2, the control unit 120 A / D converts the voltage values of the six variable resistors constituting the variable resistor unit 140 (S210) and receives them through the receiver 20. It is determined whether the on-time of channel 7 of one radio controller 20 is less than 150 or more than 150 (S220).

If the on-time of the channel 7 is less than 150, the control unit 120 outputs a manual control command received by the receiver 20 to the servo motor 50 (S230). The control command calculated by the above equation 1 is output to the servo motor 50 (S240).

Thereafter, the controller 120 determines whether the on-time of the channel 8 is less than 120, 120 or more, less than 190, or more than 190 (S250).

If the on-time of the channel 8 is less than 120, the control unit 120 stores the servo control signal in the storage unit 150 (S260). If the on-time of the channel 8 is 120 or more and less than 190, the process is terminated (S270). If the on-time of the channel 8 is 190 or more, the contents stored in the storage unit 150 are output through the serial communication unit 160 (S280).

As described above, according to the automatic control assistance apparatus of the wireless control system of the present invention, the automatic control system of the wireless control system is simply constructed using only the existing multi-channel wireless controller and the receiver without the need for a separate wireless transmission / reception system. Economic efficiency is greatly increased, and the automatic control system can be configured by mixing the signals between the radio control receiver and the automatic control system. Therefore, the stability of the wireless control system can be greatly improved through the output of the automatic control system even in case of a mistake of the operator. It can be effective.

In addition, by applying various mixing ratios, it is possible to ensure stability and reliability in the test of the automatic control device by complementary complementary between manual control and automatic control, and the basic data for configuring the automatic control system of various wireless control systems can be By monitoring and storing the servo signal inside the system to be controlled by the system, it is very useful to find the problem in case of a malfunction such as a malfunction of the radio control system, and it is possible to easily identify the cause in case of an accident.

Herein, while the present invention has been described with reference to the preferred embodiments, those skilled in the art will variously modify the present invention without departing from the spirit and scope of the invention as set forth in the claims below. And can be changed.

Claims (3)

In the radio control system that simply selects one of the manual control signal and the automatic control signal according to the PWM signal input from the radio controller through the receiver provided in the steering target, A PWM signal measuring unit for converting a PWM signal output from a receiver receiving a manual control command of a controller having a wireless controller into a digital value and outputting the converted PWM signal through a serial communication; According to the manual control command of the operator to determine the automatic or manual mode based on the PWM signal is converted into a digital value through the PWM signal measuring unit, and the PWM signal according to the manual control command of the operator input from the PWM signal measuring unit A control unit for generating an operation control signal of the servo motor for each channel for driving the steering target by selecting or combining the automatic control command output from the automatic control computer installed in the steering target for each channel; Generates a PWM signal for driving each servo motor according to the operation control signal of the servo motor for each channel input from the controller, and outputs the generated PWM signal to the corresponding servo motor to move the steering target according to the operation of the servo motor. PWM signal generation unit to be; A variable resistor unit comprising a plurality of variable resistors corresponding to the number of servo motors for driving the steering target, and outputting an analog voltage value of the variable resistors to the controller; And Stores the automatic control command and manual control command of the servo motor for each channel according to the control of the controller, and if necessary, outputs the control command of the servo motor for each channel according to the control of the controller to an external PC through the serial communication unit. Automatic control auxiliary device of a wireless control system, characterized in that configured to include a storage. The method of claim 1, wherein the control unit, Six channels are used for controlling the servo motor among the PWM signals received from the radio controller through the receiver and digitally converted. The 7th channel is used as a signal for manual / automatic conversion. The eighth channel is an automatic control auxiliary device for a wireless control system, characterized in that it is used as a signal for starting and stopping recording of control commands. The method of claim 1, wherein the control unit, When selecting or combining automatic control command and manual control command in automatic mode to generate control signal for servo motor operation of a specific channel, Servo motor control command of nth channel = (A / D conversion value of nth variable resistor) / 255 * (Manual control command of nth channel) + (255-A / D conversion value of nth variable resistor) / 255 * (automatic control command of nth channel) Is determined using And the A / D conversion value is a value obtained by converting an analog voltage value input from the variable resistor unit into an A / D converter in the control unit.

Images