WO2018086087A1 - Système de commande de vol sans pilote - Google Patents

Système de commande de vol sans pilote Download PDF

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Publication number
WO2018086087A1
WO2018086087A1 PCT/CN2016/105582 CN2016105582W WO2018086087A1 WO 2018086087 A1 WO2018086087 A1 WO 2018086087A1 CN 2016105582 W CN2016105582 W CN 2016105582W WO 2018086087 A1 WO2018086087 A1 WO 2018086087A1
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WO
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Prior art keywords
detector
control system
unmanned flight
flight control
gyro
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PCT/CN2016/105582
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English (en)
Chinese (zh)
Inventor
钟玲珑
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钟玲珑
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Publication date
Application filed by 钟玲珑 filed Critical 钟玲珑
Priority to PCT/CN2016/105582 priority Critical patent/WO2018086087A1/fr
Publication of WO2018086087A1 publication Critical patent/WO2018086087A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw

Definitions

  • the invention relates to an unmanned flight control system and belongs to the field of unmanned flight control.
  • the micro-miniature unmanned flight control system is an electric, vertical landing and landing (VTOL) aircraft that is controlled by radio ground-controlled or/and autonomously controlled. It is a form of rotorcraft and is functionally a vertical take-off and landing aircraft. . It uses aerodynamics to overcome its own weight, has a simple structure and flexible control, and has gained more and more attention.
  • VTOL electric, vertical landing and landing
  • Rotorcraft UAVs are much slower to develop than fixed-wing UAVs.
  • Fixed-wing UAVs are already very mature in technology, and have demonstrated their superior combat performance in local wars over the past two decades, and have made great contributions to the victory of the US, Israel and other countries in the war [2].
  • the rotary-type vertical take-off and landing aircraft has more advantages than the fixed-wing unmanned aerial vehicles: vertical take-off and landing, air hovering, flying in any direction, small take-off and landing site, strong environmental adaptability, and high intelligence.
  • unmanned helicopters can perform a variety of non-lethal tasks as well as perform various hard and soft killing tasks, including reconnaissance, surveillance, target interception, decoy, attack, and communication relay.
  • unmanned helicopters In civil terms, unmanned helicopters have broad application prospects in atmospheric monitoring, traffic monitoring, resource exploration, power line monitoring, and forest fire prevention.
  • Unmanned Flight Control Systems Compared to conventional helicopters, tail rotor control and rotor tilt problems can be ignored because the two pairs of motors on the diagonal rotate in opposite directions, exactly offsetting the torque they produce. That is to say, the unmanned flight control system does not require a tail rotor to counteract the counter-torque torque and avoid complex rotor tilt control to achieve various flight attitudes. Due to its unique symmetry and multi-rotor, the attitude of the flight is achieved by adjusting the speed of the four rotors.
  • unmanned flight control systems have highly coupled dynamics, and a change in rotor speed will affect at least three degrees of freedom. For example, reducing the speed of the right rotor, the left and right lifts are unbalanced, which will cause the helicopter to roll to the right; The moment of birth and the moment generated by a group of rotors are unbalanced, which will cause the helicopter to yaw to the right; in addition, the rolling motion will cause the helicopter to translate to the right, thus changing the direction of advancement.
  • the object of the present invention is to overcome the deficiencies of the conventional unmanned aerial vehicle and provide an intelligent and lightweight unmanned flight control system.
  • the present invention adopts the following technical solutions:
  • the invention provides an unmanned flight control system, which is composed of a rotorcraft, a motor rotor, a control decision maker, a plurality of detectors, a low-pass filter, a Kalman filter and a plurality of AD conversion interfaces, wherein a plurality of detectors A height detector, a tilt detector and a gyro detector are respectively connected to the height detector, the tilt detector and the gyro detector, and the rotor aircraft is also connected to the motor rotor, and the motor rotor passes the PWM module and controls the decision
  • the height detector is connected to a low pass filter, and the tilt detector and the gyro detector are connected to the Kalman filter.
  • the unmanned flight control system further includes a flight command controller coupled to the control decision maker, the low pass filter, and the Kalman filter, respectively.
  • the height detector is connected to the low pass filter through an SPI interface.
  • the tilt detector and the gyro detector are connected to the Kalman filter through an AD conversion interface.
  • the PWM module includes four PWM channels, namely channel 0 and channel 1, 2 and 3 respectively; using the attitude detection information and the remote control signal to obtain a control strategy, adjusting the duty ratio of the four PWM signals, thereby controlling four The speed of the rotor.
  • the unmanned flight control system uses Kalman filter to optimize the current attitude and the gyro zero drift for the effects of mechanical vibration and zero drift caused by the temperature drift of the gyroscope. It is estimated that the simplified aircraft dynamics model, the system works well and the independent control performance is good.
  • FIG. 1 is a schematic structural view of an unmanned flight control system of the present invention
  • FIG. 2 is a schematic flow chart of a main program of an unmanned flight control system according to the present invention.
  • FIG. 3 is a schematic flow chart of an Ims interrupt program of the unmanned flight control system of the present invention.
  • FIG. 4 is a schematic flow chart of a PWM interrupt routine of the unmanned flight control system of the present invention.
  • the present invention provides an unmanned flight control system.
  • the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
  • the present invention is composed of a rotorcraft 1, a motor rotor 2, a control decision maker 4, a plurality of detectors, a low-pass filter 9, a Kalman filter 11, and a plurality of AD conversion interfaces 10.
  • the plurality of detectors comprises a height detector 5, a tilt detector 6 and a gyro detector 7, which are respectively connected to the height detector 5, the tilt detector 6, and the gyro detector 7, and the rotorcraft 1 further Connected to a motor rotor 2, which is connected to a control decision maker 4 via a PWM module 3, said height detector 5 being connected to a low pass filter 9, a tilt detector 6 and a gyro detector 7 and a Kalman filter 11 connections.
  • the unmanned flight control system further includes a flight command controller 12 coupled to the control decision maker 4, the low pass filter 9, and the Kalman filter 11, respectively.
  • the height detector 5 is connected to the low pass filter 9 via the SPI interface 8.
  • the tilt detector 6 and the gyro detector 7 are connected to the Kalman filter 11 through the AD conversion interface 10.
  • the SPI interface is used to read the height information and the tilt information respectively.
  • the PWM module uses four PWM channels, which are channel 0 and channel 1, 2 and 3.
  • the attitude detection information and the remote control signal are used to derive the control strategy, and the duty ratio of the four PWM signals is adjusted to control the rotation speed of the four rotors.
  • the software program design in this embodiment mainly includes three parts, the module initializes the main program, and the Ims timing Interrupt program, PWM interrupt service subroutine.
  • the main program is the execution entry of the entire program. After the program runs, it first initializes the CPU and its basic modules, then initializes the parameters of the designed aircraft controller and enables each interrupt, and finally enters an infinite loop. Wait for the interrupt event to be generated. When the interrupt event occurs, immediately go to the interrupt program execution interrupt event. After the execution is completed, re-enter the wait state and wait for the next interrupt event.
  • the timer enters the timer interrupt service subroutine every time it counts 1ms. After entering the program, it first reads the AD conversion result of the tilt sensor and the gyroscope, and then performs window width on the sampled value. It is a sliding average filtering of 10; if it is the initial state, it performs zero calibration and gives the initial parameters of Kalman filtering. Otherwise, Kalman filtering is integrated on the inclination information and angular velocity information to obtain attitude angle information and gyro zero drift estimation. information.
  • the PWM interrupt service subroutine is the control decision part of the program.
  • the interrupt frequency is 100Hz, which mainly takes into account the response speed of the brushless ESC.
  • Both the remote control and the ESC signals are standard 1-2ms pulse width signals, and the actual command size is determined by reading the pulse width.
  • the position, attitude and remote control information of the integrated aircraft are calculated by the designed control algorithm, and the current motor speed and the duty ratio of the required output are calculated, and then the duty cycle is reloaded as a PWM hardware module to control the rotor speed. Adjust the attitude of the aircraft.
  • the unmanned flight control system uses the Kalman filter to optimally estimate the current attitude and the gyro zero drift for the problem of mechanical vibration and the zero drift caused by the temperature drift of the gyroscope.
  • the aircraft dynamics model the system works well and the independent control performance is good.

Abstract

La présente invention concerne un système de commande de vol sans pilote, comprenant un aéronef à voilure tournante (1), un rotor de moteur (2), un dispositif de prise de décision de commande (4), une pluralité de détecteurs, un filtre passe-bas (9), un filtre de Kalman (11) et une pluralité d'interfaces de conversion A/N (10). La pluralité de détecteurs comprend un détecteur de hauteur (5), un détecteur d'inclinaison (6) et un détecteur gyroscopique (7). L'aéronef à voilure tournante (1) est connecté respectivement au détecteur de hauteur (5), au détecteur d'inclinaison (6) et au détecteur gyroscopique (7), et est également connecté au rotor de moteur (2). Le rotor de moteur (2) est connecté au dispositif de prise de décision de commande (4) par l'intermédiaire d'un module MID (3). Le détecteur de hauteur (5) est connecté au filtre passe-bas (9), et le détecteur d'inclinaison (6) et le détecteur gyroscopique (7) sont tous deux connectés au filtre de Kalman (11). Le système de commande de vol sans pilote fonctionne bien et présente de bonnes performances de commande indépendante.
PCT/CN2016/105582 2016-11-14 2016-11-14 Système de commande de vol sans pilote WO2018086087A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2016/105582 WO2018086087A1 (fr) 2016-11-14 2016-11-14 Système de commande de vol sans pilote

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Application Number Priority Date Filing Date Title
PCT/CN2016/105582 WO2018086087A1 (fr) 2016-11-14 2016-11-14 Système de commande de vol sans pilote

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WO2018086087A1 true WO2018086087A1 (fr) 2018-05-17

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108664036A (zh) * 2018-07-03 2018-10-16 安徽太通信科技有限公司 一种无人机控制系统及无人机控制方法

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Publication number Priority date Publication date Assignee Title
CN108664036A (zh) * 2018-07-03 2018-10-16 安徽太通信科技有限公司 一种无人机控制系统及无人机控制方法

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