WO2018032430A1 - Système de véhicule aérien sans pilote intelligent - Google Patents

Système de véhicule aérien sans pilote intelligent Download PDF

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Publication number
WO2018032430A1
WO2018032430A1 PCT/CN2016/095743 CN2016095743W WO2018032430A1 WO 2018032430 A1 WO2018032430 A1 WO 2018032430A1 CN 2016095743 W CN2016095743 W CN 2016095743W WO 2018032430 A1 WO2018032430 A1 WO 2018032430A1
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WO
WIPO (PCT)
Prior art keywords
control
drone
autopilot
intelligent
lateral
Prior art date
Application number
PCT/CN2016/095743
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English (en)
Chinese (zh)
Inventor
邹霞
钟玲珑
Original Assignee
邹霞
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 邹霞 filed Critical 邹霞
Priority to PCT/CN2016/095743 priority Critical patent/WO2018032430A1/fr
Publication of WO2018032430A1 publication Critical patent/WO2018032430A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present invention relates to an intelligent drone system, which belongs to the field of drones.
  • the Unmaned Aerial Vehicle is an acronym for an unmanned, powered, reusable aircraft on board. Compared with manned aircraft, it has the advantages of small size, low cost and convenient use. It is favored by all countries in the world and has a wide range of civil and military uses.
  • the drone autopilot is the core part of the drone, and it undertakes multiple tasks such as data acquisition, communication, control quantity calculation, and control quantity output.
  • the advanced level of drones is largely reflected in their autopilots. From the overall situation, China's UAVs have developed rapidly in the military field. At present, many technologies have already taken the lead in the world, but in terms of civilian use, they have started late and have limited application.
  • An intelligent drone system which mainly comprises an airborne control system, a ground control device and a navigation system, and the airborne control system is composed of an autopilot, an airborne device, a servo mechanism, an airborne radio station and a receiver.
  • the ground control equipment includes a ground station and a remote control, and the ground station is in communication with the airborne station.
  • the above ground station is connected to a ground station.
  • the UAV system further includes a navigation system, and a wireless connection between the navigation system and the autopilot.
  • the signal of the autopilot receiving navigation system is combined with the inertial navigation part of the autopilot itself to calculate the attitude, speed, altitude, and position of the drone, and the drone is calculated by the autopilot processor.
  • the target attitude, speed, and other information should be given, and the control amount control servo mechanism should be given to control the aircraft.
  • the above autopilot consists of a sensitive component, a computer and a servo mechanism.
  • the autopilot is composed of a processor module, a navigation module, a control output module, a sensor module, a communication module, an RC receiver module, and a power module.
  • the present invention provides a flight control method for implementing the intelligent unmanned aerial vehicle system as described above, which specifically includes decomposing flight control into relatively independent ones according to the symmetry of the longitudinal plane of the unmanned aerial vehicle.
  • Longitudinal channel and lateral lateral channel wherein the longitudinal channel adopts elevator and throttle to stabilize and control the elevation angle, height and speed of the drone; the lateral lateral control channel adopts aileron and rudder to stabilize and control the heading angle of the drone, Rolling angle and side offset; wherein the longitudinal motion control is mainly realized by manipulating the elevator's elevator and throttle.
  • the pitch angle feedback and the pitch rate feedback form the core control loop of the longitudinal channel. Inner loop.
  • lateral lateral motion is achieved by controlling the ailerons and rudders.
  • the rudder loop control is mainly used to increase the Dutch roller damping, and the aileron control loop
  • the roll angle is controlled as an inner loop, and the lateral offset is controlled as an outer loop.
  • the aileron is used to change the roll angle of the aircraft, thereby changing the heading angle to control the lateral deviation.
  • the intelligent drone system and the control method provided by the invention adopt an intelligent integrated manner, realizes an integrated operation, and increases in longitudinal motion and lateral lateral motion. Considering the factors, different control channels are designed with corresponding control methods to ensure the accuracy of the control and the ease of operation.
  • DRAWINGS 1 is a schematic structural view of an intelligent drone system according to the present invention.
  • FIG. 2 is a schematic structural diagram of a basic control channel of an intelligent drone system according to the present invention.
  • Reference numerals 1-airborne control system; 2-ground control equipment; 3-autopilot; 4-navigation system; 5-airborne equipment; 6-servo mechanism; 7-airborne station; Receiver; 9-terrestrial station; 10-remote control; 11- ground station.
  • the intelligent UAV system provided by the present invention, the main task of the UAV flight control system is to control the unmanned aircraft to complete the flight task, complete the telemetry data transmission, and perform the actual monitoring on the UAV.
  • the UAV control system consists of two parts: the onboard control system 1 and the ground control equipment.
  • the autopilot 3 of the intelligent drone system receives the signal of the navigation system 4 and combines the inertial navigation part of the autopilot 3 itself to calculate the attitude, speed, altitude, position and other navigation information of the drone, by automatic
  • the driver 3 processor calculates the target attitude, speed, and the like that the drone should have, and gives the control amount control servo mechanism 6, and then controls the aircraft.
  • the autopilot 3 can also leave a control interface to the onboard equipment to enable the drone to complete the corresponding task.
  • the autopilot 3 also maintains real communication with the ground, and generally the autopilot 3 and the ground station 11 communicate through the radio to ensure that the ground monitoring personnel can grasp the state of the drone and pass the instant. Commands control the flight of the drone.
  • the main function of the ground station is to display the flight status of the drone and save the flight data and the dispatch control command.
  • the drone will use the remote control 10 for manual control at the critical stage of take-off or landing to ensure the safe take-off and landing of the drone.
  • the autopilot 3 is the control core of the drone system, which is composed of a sensitive component, a computer and a servo mechanism 6.
  • the sensitive component detects the change
  • the computer calculates the corrected rudder offset
  • the servo mechanism 6 manipulates the rudder surface to the desired position. Its basic functions are as follows:
  • Navigation and guidance functions It is mainly to give information about the position, speed, height, etc. of the aircraft. According to the mission, the control amount is calculated, and the output control amount controls the flight of the drone.
  • Signal acquisition function It mainly collects the signals on the drone through sensors and A/D devices, and gives information on the flight of the drone.
  • the main purpose is to maintain the contact between the drone and the ground station 11 by radio, etc., to display the unmanned flight condition through the ground station, and to receive the mission from the ground station 11 to control the drone flight.
  • the autopilot 3 is composed of the following modules:
  • the processor module is an autopilot automatic control core.
  • the processor is mainly responsible for collecting sensor information, communicating with other modules of the UAV system, and after obtaining various information, performing software filtering processing and corresponding conversion, and finally calculating by a certain algorithm, and outputting the calculated result.
  • This requires both the processor to have high processing speed and computing power, and the processor to have a rich communication interface and control interface.
  • embedded microprocessors such as DSP, FPGA, ARM.
  • AVR microcontroller are generally used, which can meet the requirements of the autopilot processor and meet the requirements of miniaturization and low power consumption.
  • Navigation module is an important part of the autopilot.
  • the module measures the flight state of the drone using sensors installed on the autopilot, such as using three axial gyros and accelerometers.
  • Information on the triaxial angular rate and triaxial acceleration of the man-machine using the air pressure sensor to measure the altitude of the aircraft, airspeed and other information, and then combining navigation satellite information such as GPS, Beidou, etc. to perform attitude and navigation operations, and obtain the attitude of the drone.
  • Information such as height, speed and position, and then the control rate solving device compares with the preset command to calculate the output control signal to the steering gear to drive the steering surface, thereby generating aerodynamic force and torque to stabilize and control the drone. Flight status.
  • Control output module Generally, the output PWM control signal or the output control signal is used to control the equipment carried on the drone, such as a camera, a pan/tilt, a parachute, and the like.
  • Sensor module mainly collects the flight status of the drone, the power supply voltage of the autopilot, and the working status of the onboard equipment.
  • Communication module Used for communication with a ground station, generally requires a communication interface with different communication standards to improve the compatibility and expandability of the autopilot.
  • RC receiver module The purpose is to deal with the sudden situation encountered during the flight of the drone, and can switch to manual control in the emergency engraving, and the ground control personnel can control the aircraft to restore the safety state.
  • the power module provides power to the entire system.
  • the entire autopilot system will use To a variety of different voltage values, in order to reduce the external interface and ease of use, only an external power supply to supply power, which requires the autopilot to have a voltage conversion function to meet the requirements of different chips.
  • the drone control is a multi-input multi-output control system.
  • the control of aircraft motion is accomplished using elevators, aileron rudders, rudders and throttles.
  • the purpose of the control is to make the attitude and track parameters of the drone meet the set requirements.
  • the control system needs to perceive the attitude and track information of the drone through the sensor.
  • the control signal is calculated according to a certain flight control algorithm, and then amplified and adjusted.
  • the steering gear drives the elevator, the aileron rudder, the rudder and the throttle rudder to deflect accordingly.
  • drone control uses a control attitude to change the flight trajectory, which requires the drone control to first know its angular motion. Therefore, the flight attitude stabilization and control loop based on angular motion signal feedback is called the inner loop. In order to improve the performance of angular motion, the inner loop angular rate feedback should also be introduced to form a damping loop to compensate for the lack of self-damping of the drone and improve the stability of the attitude motion.
  • the invention decomposes the flight control into relatively independent longitudinal passages and lateral lateral passages under certain conditions.
  • the longitudinal channel adopts elevator and throttle to stabilize and control the elevation angle, altitude and speed of the UAV;
  • the lateral lateral control channel adopts aileron and rudder to stabilize and control the heading angle, roll angle and side offset of the man-machine.
  • the longitudinal movement of the drone mainly refers to the pitching and lifting movement of the drone
  • the control of the longitudinal movement of the drone is mainly realized by manipulating the elevator and the throttle of the drone.
  • the pitch angle feedback and the pitch rate feedback form the inner loop of the core control loop of the longitudinal channel.
  • the lateral movement of the drone mainly refers to the roll and yaw motion of the drone, which is achieved by controlling the aileron and the rudder.
  • the rudder loop control is relatively simple, mainly used to increase the Dutch roller damping.
  • the aileron control loop is relatively complex, with the roll angle controlled as the inner loop and the lateral offset controlled as the outer loop.
  • the ailerons are used to change the roll angle of the aircraft, which in turn changes the heading angle to control lateral deviation.
  • the intelligent drone system and the control method provided by the invention adopt an intelligent integrated manner to realize integrated operation, and increase consideration factors and different control channels in longitudinal motion and lateral lateral motion.
  • the corresponding control method is designed to ensure the precision of control and the convenience of operation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention se rapporte à un système de véhicule aérien sans pilote intelligent, qui comprend essentiellement un système de commande embarqué (1), un dispositif de commande au sol (2), et un système de navigation (4). Le système de commande embarqué (1) comprend un pilote automatique (3), un dispositif embarqué (5), un servomécanisme (6), une station de radio de bord (7), et un récepteur (8). Le dispositif de commande au sol (2) inclut une station de radio au sol (9) et une télécommande (10), la station de radio au sol (9) étant en liaison de communication avec la station de radio de bord (7) et reliée à une station au sol (11). Le système de véhicule aérien sans pilote intelligent et un procédé de commande associé réalisent une opération intégrée à l'aide d'une approche intelligente et intégrée, et ils prennent en considération davantage de facteurs par rapport à un mouvement longitudinal et à un mouvement latéral, et des procédés de commande correspondants sont conçus pour différents canaux de commande, ce qui garantit une précision de commande et une commodité d'opération.
PCT/CN2016/095743 2016-08-17 2016-08-17 Système de véhicule aérien sans pilote intelligent WO2018032430A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2016/095743 WO2018032430A1 (fr) 2016-08-17 2016-08-17 Système de véhicule aérien sans pilote intelligent

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/095743 WO2018032430A1 (fr) 2016-08-17 2016-08-17 Système de véhicule aérien sans pilote intelligent

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110673624A (zh) * 2019-11-11 2020-01-10 湖南斯凯航空科技股份有限公司 一种飞行器控制系统及其控制方法
CN112034875A (zh) * 2020-09-15 2020-12-04 西安爱生技术集团公司 一种常规布局通用型无人机全自动离地起飞控制方法
CN114003053A (zh) * 2021-11-02 2022-02-01 东南大学 一种基于ArduPilot的固定翼无人机自动驾驶自适应控制系统
CN114077259A (zh) * 2020-08-21 2022-02-22 海鹰航空通用装备有限责任公司 太阳能无人机无动力下滑控制方法
CN114740704A (zh) * 2022-04-25 2022-07-12 上海沃兰特航空技术有限责任公司 一种冗余地面站远程操控系统

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CN104656660A (zh) * 2015-01-22 2015-05-27 南京航空航天大学 微小型无人直升机多模态自主飞行的控制系统及其方法
CN204557220U (zh) * 2015-04-14 2015-08-12 黄石北斗产业发展股份有限公司 一种小型智能化无人机飞控导航系统
US20160048132A1 (en) * 2014-06-10 2016-02-18 Sikorsky Aircraft Corporation Tail-sitter flight management system
CN105404308A (zh) * 2015-11-24 2016-03-16 中国电子科技集团公司第二十七研究所 一种翼伞无人机飞行控制器
CN105807779A (zh) * 2016-05-11 2016-07-27 飞智控（天津）科技有限公司 一种无人机飞行控制系统及方法
CN106249747A (zh) * 2016-08-17 2016-12-21 邹霞 智能化无人机系统

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US20160048132A1 (en) * 2014-06-10 2016-02-18 Sikorsky Aircraft Corporation Tail-sitter flight management system
CN104656660A (zh) * 2015-01-22 2015-05-27 南京航空航天大学 微小型无人直升机多模态自主飞行的控制系统及其方法
CN204557220U (zh) * 2015-04-14 2015-08-12 黄石北斗产业发展股份有限公司 一种小型智能化无人机飞控导航系统
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CN105807779A (zh) * 2016-05-11 2016-07-27 飞智控（天津）科技有限公司 一种无人机飞行控制系统及方法
CN106249747A (zh) * 2016-08-17 2016-12-21 邹霞 智能化无人机系统

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110673624A (zh) * 2019-11-11 2020-01-10 湖南斯凯航空科技股份有限公司 一种飞行器控制系统及其控制方法
CN114077259A (zh) * 2020-08-21 2022-02-22 海鹰航空通用装备有限责任公司 太阳能无人机无动力下滑控制方法
CN114077259B (zh) * 2020-08-21 2024-05-07 海鹰航空通用装备有限责任公司 太阳能无人机无动力下滑控制方法
CN112034875A (zh) * 2020-09-15 2020-12-04 西安爱生技术集团公司 一种常规布局通用型无人机全自动离地起飞控制方法
CN112034875B (zh) * 2020-09-15 2024-04-19 西安爱生技术集团公司 一种常规布局通用型无人机全自动离地起飞控制方法
CN114003053A (zh) * 2021-11-02 2022-02-01 东南大学 一种基于ArduPilot的固定翼无人机自动驾驶自适应控制系统
CN114003053B (zh) * 2021-11-02 2023-12-01 东南大学 一种基于ArduPilot的固定翼无人机自动驾驶自适应控制系统
CN114740704A (zh) * 2022-04-25 2022-07-12 上海沃兰特航空技术有限责任公司 一种冗余地面站远程操控系统
CN114740704B (zh) * 2022-04-25 2024-04-26 上海沃兰特航空技术有限责任公司 一种冗余地面站远程操控系统

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