WO2020187092A1

WO2020187092A1 - Unmanned aerial vehicle control device and unmanned aerial vehicle

Info

Publication number: WO2020187092A1
Application number: PCT/CN2020/078611
Authority: WO
Inventors: 刘玉华; 谷韬
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2019-03-19
Filing date: 2020-03-10
Publication date: 2020-09-24
Also published as: CN109760821A; CN109760821B

Abstract

An unmanned aerial vehicle control device, comprising a master controller (11) and a rudder surface control structure (12). The rudder surface control structure comprises a driving controller (121), a driving mechanism (122), a transmission mechanism (123), a rudder surface transmission shaft (124), and an angle feedback unit (125). The angle feedback unit is connected to the rudder surface transmission shaft and is configured to detect an actual rudder surface tilting angle. The master controller sends a rudder surface tilting control instruction to the driving controller according to a target rudder surface tilting angle, receives a feedback signal sent by the angle feedback unit, and obtains the actual rudder surface tiling angle according to the feedback signal. Also provided is an unmanned aerial vehicle. The control device can achieve accurate and effective rudder surface control according to the actual rudder surface tilting angle.

Description

UAV control device and UAV

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on March 19, 2019, the application number is 201910207560.7, and the application name is "A UAV Control Device and UAV", the entire content of which is incorporated by reference In this application.

Technical field

This application relates to the technical field of drones, and in particular to a drone control device and a drone using the drone control device.

Background technique

The fixed-wing UAV mainly relies on the tilt of each control rudder surface to adjust the aircraft attitude during the flight. The current implementation scheme is to set the motor to drive the tilt of the rudder surface. When the angle of the rudder surface needs to be adjusted, the external main controller sends a control signal to the corresponding motor controller, and the motor controller drives the corresponding motor to rotate after receiving the control signal. . The rotating torque of the motor drives the drive shaft of the rudder surface to rotate through the transmission of the gear set, thereby driving the angle of the rudder surface to change.

In the process of implementing the present invention, the inventor found that the current main controller cannot know the true tilting situation of the rudder surface, and thus cannot achieve accurate and effective control of the rudder surface.

Summary of the invention

The purpose of the embodiments of the present invention is to provide an unmanned aerial vehicle control device and an unmanned aerial vehicle using the unmanned aerial vehicle control device, and the main controller can learn the true tilt of the rudder surface.

In order to solve the above technical problems, a technical solution adopted by the present invention is: an unmanned aerial vehicle control device, the control device includes a main controller and a rudder surface control structure;

The rudder surface control structure includes a driving controller, a driving mechanism, a transmission mechanism, a rudder surface transmission shaft and an angle feedback unit;

Wherein, the driving controller is electrically connected to the main controller and the driving mechanism, and the driving mechanism is also connected to the rudder surface transmission shaft through the transmission mechanism, and the rudder surface transmission shaft is arranged on the rudder. Face

The angle feedback unit is connected to the rudder surface transmission shaft for detecting the actual tilt angle of the rudder surface, and the angle feedback unit is also electrically connected to the main controller and the drive controller, respectively ；

The main controller is used to send a rudder surface tilt control command to the drive controller according to the target tilt angle of the rudder surface, and receive a feedback signal sent by the angle feedback unit, and obtain the actual rudder surface tilt according to the feedback signal angle.

The driving controller is used for receiving the rudder surface tilting control instruction and receiving the feedback signal sent by the angle feedback unit, so as to control the operation of the driving mechanism according to the rudder surface tilting control instruction and the feedback signal.

In some embodiments, the drive controller is specifically used for:

Perform internal closed-loop control, where the internal closed-loop control includes:

Obtain the actual tilt angle of the rudder surface according to the feedback signal received by the drive controller; and

The control of the driving mechanism is adjusted according to the actual tilt angle of the rudder surface, so that the actual tilt angle of the rudder surface is close to the target tilt angle of the rudder surface corresponding to the rudder surface tilt control command.

In some embodiments, the main controller is specifically configured to:

Perform external closed-loop control, where the external closed-loop control includes:

Adjust the control command of the rudder surface tilting according to the actual tilting angle of the rudder surface obtained by the main controller, so that the actual tilting angle of the rudder surface is close to the target tilting angle of the rudder surface.

In some embodiments, the drive controller is further configured to execute after executing the internal closed-loop control:

Send a feedback instruction to the main controller.

In some embodiments, the main controller is specifically configured to:

Receiving the feedback instruction sent by the drive controller;

Perform external closed-loop control according to the feedback instruction:

In some embodiments, the main controller is also used to:

Receiving the feedback instruction sent by the drive controller;

Receive the feedback signal sent by the angle feedback unit, obtain the actual tilt angle of the rudder surface according to the feedback signal, determine whether the actual tilt angle of the rudder surface meets the target tilt angle of the rudder surface, if the actual rudder surface If the tilt angle matches the target tilt angle of the rudder surface, it is confirmed that the corresponding rudder surface control structure is normal.

In some embodiments, the angle feedback unit is a potentiometer.

In some embodiments, the transmission mechanism is a gear assembly.

In some embodiments, the driving mechanism is a motor.

To solve the above technical problems, another technical solution adopted by the present invention is: an unmanned aerial vehicle including:

body;

A wing connected to the fuselage;

As well as the above-mentioned drone control device, the drone control device is provided on the fuselage.

The drone control device of the embodiment of the present invention and the drone using the drone control device detect the actual tilt angle of the rudder surface by setting an angle feedback unit connected to the drive shaft of the rudder surface. The main controller can obtain the actual tilt angle of the rudder surface through the angle feedback unit, so that the rudder surface can be accurately and effectively controlled according to the actual tilt angle of the rudder surface.

Description of the drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. Elements with the same reference numbers in the drawings are represented as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a limitation of scale.

Figure 1 is a schematic structural diagram of an embodiment of the drone of the present invention;

Figure 2 is a schematic structural diagram of an embodiment of the drone control device of the present invention;

3 is a schematic diagram of the hardware structure of the main controller in an embodiment of the drone control device of the present invention;

Figure 4 is a schematic diagram of the hardware structure of the drive controller in an embodiment of the drone control device of the present invention.

detailed description

In order to facilitate the understanding of the present invention, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as there is no conflict between them.

As shown in FIG. 1, it is a schematic diagram of the structure of the UAV 100 provided by the embodiment of the present invention. In the embodiment shown in FIG. 1, the UAV 100 is a fixed-wing UAV, which mainly relies on various controls during flight. The rudder surface is used to adjust the attitude of the aircraft. In the embodiment shown in FIG. 1, the UAV 100 includes a fuselage, wings connected to the fuselage, an aileron rudder surface 21, a vertical tail rudder surface 22 and a horizontal tail rudder surface 23. Among them, the aileron rudder surface 21 is located at the trailing edge of the two wings of the UAV, and is used to control the rolling motion of the UAV, the horizontal tail rudder surface 23 is used to control the pitch angle of the UAV, and the vertical tail rudder surface 22 Used to control the yaw angle of the UAV.

It should be noted that FIG. 1 only exemplarily shows several rudder surfaces of the UAV 100. In other embodiments, other rudder surfaces or a larger number of rudder surfaces may also be included.

The drone 100 also includes a control device 10 arranged on the fuselage. As shown in FIG. 2, the control device 10 includes a main controller 11 and at least one rudder surface control structure 12 (FIG. 2 shows only one rudder surface control structure) . The rudder surface control structure 12 includes a driving controller 121, a driving mechanism 122, a transmission mechanism 123, a rudder surface transmission shaft 124 and an angle feedback unit 125. Wherein, the driving controller 121 is electrically connected to the main controller 11 and the driving mechanism 122, and the driving mechanism is also connected to the rudder surface transmission shaft 124 through the transmission mechanism 123, and the rudder surface transmission shaft 124 is provided on the rudder surface shown in FIG. The angle feedback unit 125 is connected to the rudder drive shaft 124, and the angle feedback unit 125 is also electrically connected to the main controller 11 and the driving controller 121, respectively.

Wherein, the number of rudder surface control structures 12 can be set according to the number of rudder surfaces in the UAV 100 and control requirements. In the embodiment shown in FIG. 1, at least one rudder surface control structure may include two aileron rudder surfaces. The control structure, a vertical tail rudder surface control structure and two horizontal tail rudder surface control structures are respectively used to control the tilting of the corresponding aileron rudder surface, vertical tail rudder surface and horizontal tail rudder surface.

Wherein, the main controller 11 is used to send a rudder surface tilting control command to the driving controller 121 according to the target tilting angle of the rudder surface, and the driving controller 121 receives the rudder surface tilting control command and rotates according to the rudder surface The control command controls the operation of the driving mechanism 122. The operation of the driving mechanism 122 drives the transmission mechanism 123 to operate, and the transmission mechanism 123 drives the rudder surface transmission shaft 124 to rotate. The angle feedback unit 125 is connected to the rudder surface transmission shaft 124. When the rudder surface transmission shaft 124 rotates, the angle feedback unit 125 can rotate with the rudder surface transmission shaft 124 so as to detect the actual tilt angle of the rudder surface, that is, the actual rudder surface. Tilt angle. The angle feedback unit 125 sends the feedback signal it generates to the main controller 11 and the driving controller 121. The main controller 11 can calculate the actual tilting angle of the rudder surface according to the feedback signal, and the driving controller 121 according to the main controller 11 The sent rudder surface tilting control command and the feedback signal control the operation of the driving mechanism.

By setting an angle feedback unit connected to the drive shaft of the rudder surface, the actual tilt angle of the rudder surface is detected. The main controller 11 can obtain the actual tilt angle of the rudder surface through the angle feedback unit 125, so as to achieve accurate and effective control of the rudder surface according to the actual tilt angle of the rudder surface. For example, according to the actual tilt angle of the rudder surface, the control command of the rudder surface tilt is adjusted, and the attitude of each rudder surface is self-checked before the drone takes off.

The driving controller 121 may adjust the control of the driving mechanism 122 according to the feedback signal received by the driving controller 121. In some embodiments, the driving controller 121 may perform closed-loop control according to the rudder surface tilt control command and the feedback signal. Obtain the actual tilt angle of the rudder surface according to the feedback signal received by the drive controller 121, and then continuously adjust the control of the driving mechanism 122 according to the actual tilt angle of the rudder surface, so that the actual tilt angle of the rudder surface is continuously close to the rudder surface The target tilt angle until the actual tilt angle of the rudder surface approaches the target tilt angle of the rudder surface to meet the preset accuracy requirements.

Wherein, the main controller 11 can adjust the rudder surface tilt control command according to the feedback signal received by the main controller 11. In some embodiments, the main controller 11 may perform closed-loop control according to the target tilt angle of the rudder surface and the feedback signal. Obtain the actual tilting angle of the rudder surface according to the feedback signal received by the main controller 11, and then continuously adjust the steering surface tilting control command according to the actual tilting angle of the rudder surface, so that the actual tilting angle of the rudder surface is continuously close to the rudder surface The target tilt angle until the actual tilt angle of the rudder surface approaches the target tilt angle of the rudder surface to meet the preset accuracy requirements.

In other embodiments, the main controller 11 performs external closed-loop control according to the target tilting angle of the rudder surface and the feedback signal received by the main controller 11, and the driving controller 121 performs the external closed-loop control according to the steering surface tilting control command and the driving controller 121 The received feedback signal performs internal closed-loop control. That is, the outer closed loop control of the main controller 11 and the inner closed loop control of the drive controller 121 are combined to improve the control efficiency.

The main controller 11 first sends a rudder surface tilt control command to the drive controller 121 according to the target tilt angle of the rudder surface, and the drive controller 121 performs an internal closed loop according to the rudder surface tilt control command and the feedback signal received by the drive controller 121 control. The drive controller 121 sends a feedback instruction to the main controller 11 after executing the internal closed-loop control. The main controller 11 then adjusts the rudder surface tilt control command according to the target tilt angle of the rudder surface and the feedback signal received by the main controller 11. Then the adjusted rudder surface tilting control command is sent to the drive controller 121 for internal closed-loop control. After the internal closed-loop control ends, the drive controller 121 sends a feedback command to the main controller 11 again, and the main controller 11 performs external control again. Closed loop control until the actual tilt angle of the rudder surface approaches the target tilt angle of the rudder surface to meet the accuracy requirements preset by the main controller 11.

In other embodiments, the control structure of each rudder surface can be self-checked before take-off of the UAV 100 according to the feedback signal. For example, the main controller 11 first sends the rudder surface tilt control according to the target tilt angle of the rudder surface. Instructions are given to the drive controller 121. The driving controller 121 performs internal closed-loop control according to the rudder surface tilting control command and the feedback signal received by the driving controller 121. The drive controller 121 sends a feedback instruction to the main controller 11 after executing the internal closed-loop control. The main controller 11 obtains the feedback signal sent by the angle feedback unit 125 at this time, and obtains the actual tilt angle of the rudder surface according to the feedback signal. Then determine whether the actual tilt angle of the rudder surface meets the target tilt angle of the rudder surface. If the actual tilt angle of the rudder surface meets the target tilt angle of the rudder surface, it means that the rudder surface control structure is operating normally, otherwise , It is considered that the rudder surface control structure is not operating normally.

Specifically, in some embodiments, the driving mechanism 122 may use a motor, such as a brush motor, a brushless motor, a DC motor, a stepping motor, an AC induction motor, and so on. The transmission mechanism 123 may be a gear assembly, and the main controller 11 may adopt a separate controller or a flight control chip of an unmanned aerial vehicle. The angle feedback unit 125 may be a potentiometer, or other devices that can be connected to the rudder surface drive shaft and generate a change signal as the rudder surface drive shaft rotates.

The potentiometer is usually composed of a resistor and a movable brush. When the brush moves along the resistor, the resistance of the resistor changes with the displacement of the brush, which can be obtained and displaced at the output of the potentiometer. The value of resistance or voltage measured in a certain relationship. In actual application, the brush of the potentiometer is connected to the rudder surface transmission shaft 124. When the rudder surface transmission shaft 124 rotates, the brush of the potentiometer also rotates, thus causing the voltage of the potentiometer output pin to change. After the driving controller 121 receives the rudder surface tilt control command from the main controller 11, it drives the motor to rotate according to the rudder surface tilt control command. After the motor rotates, the torque transmission of the gear assembly drives the rudder surface drive shaft to rotate, thereby driving the rudder Face change angle. When the rudder surface drive shaft rotates, the potentiometer will rotate, which in turn causes the voltage at the output end of the potentiometer to change. According to the voltage change, the angle change of the rudder surface can be calculated to obtain the actual tilt angle of the rudder surface.

Among them, the methods executed in the main controller 11 (for example, an external closed-loop control method, a rudder surface control structure self-check method, etc.) can be implemented by running a software program in the main controller 11. FIG. 3 is a schematic diagram of the hardware structure of the main controller 11. As shown in FIG. 3, the main controller 11 includes:

One or more first processors 11a and first memory 11b. In FIG. 3, one first processor 11a is taken as an example.

The first processor 11a and the first memory 11b may be connected by a bus or in other ways. In FIG. 3, the connection by a bus is taken as an example.

As a non-volatile computer-readable storage medium, the first memory 11b can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The first processor 11a executes various functional applications and data processing of the main controller 11 by running the non-volatile software programs, instructions, and modules stored in the first memory 11b, that is, realizes the closed-loop control method of the foregoing embodiment , Self-checking method of rudder surface control structure, etc.

The first memory 11b may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the main controller. In addition, the first memory 11b may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the first memory 11b may optionally include memories remotely provided with respect to the first processor 11a, and these remote memories may be connected to the relay point generating device through a network. Examples of the aforementioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the first memory 11b, and when executed by the one or more first processors 11a, the above-mentioned outer closed-loop control method, the self-check method of the rudder surface control structure, etc. are executed.

The method executed in the drive controller 121 (for example, an internal closed-loop control method, etc.) can be implemented by running a software program in the drive controller 121. FIG. 4 is a schematic diagram of the hardware structure of the drive controller 121. As shown in FIG. 4, the drive controller 121 includes:

One or more second processors 121a and second memory 121b. In FIG. 4, one second processor 121a is taken as an example.

The second processor 121a and the second memory 121b may be connected through a bus or in other ways. In FIG. 4, the connection through a bus is taken as an example.

As a non-volatile computer-readable storage medium, the second memory 121b can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The second processor 121a executes various functional applications and data processing of the drive controller 121 by running the non-volatile software programs, instructions, and modules stored in the second memory 121b, that is, realizes the internal closed-loop control of the above embodiment Methods etc.

The second memory 121b may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the main controller and the like. In addition, the second memory 121b may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the second storage 121b may optionally include a storage remotely provided with respect to the second processor 121a, and these remote storages may be connected to the relay point generating device through a network. Examples of the aforementioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the second memory 121b, and when executed by the one or more second processors 121a, the aforementioned internal closed-loop control method and the like are executed.

It should be noted that the description of the present invention and its accompanying drawings give preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not intended as additional limitations on the content of the present invention, and the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. In addition, the above technical features continue to be combined with each other to form various embodiments not listed above, which are regarded as the scope of the description of the present invention; further, for those of ordinary skill in the art, improvements or changes can be made based on the above description. , And all these improvements and transformations should belong to the protection scope of the appended claims of the present invention.

Claims

An unmanned aerial vehicle control device, characterized in that: the control device includes a main controller and a rudder surface control structure;

The rudder surface control structure includes a driving controller, a driving mechanism, a transmission mechanism, a rudder surface transmission shaft and an angle feedback unit;

Wherein, the driving controller is electrically connected to the main controller and the driving mechanism, and the driving mechanism is also connected to the rudder surface transmission shaft through the transmission mechanism, and the rudder surface transmission shaft is arranged on the rudder. Face

The angle feedback unit is connected to the rudder surface transmission shaft for detecting the actual tilt angle of the rudder surface, and the angle feedback unit is also electrically connected to the main controller and the drive controller, respectively ；

The main controller is used to send a rudder surface tilt control command to the drive controller according to the target tilt angle of the rudder surface, and receive a feedback signal sent by the angle feedback unit to obtain the actual rudder surface tilt according to the feedback signal. Angle of rotation

The driving controller is used to receive the rudder surface tilting control instruction and the feedback signal sent by the angle feedback unit, and control the operation of the driving mechanism according to the rudder surface tilting control instruction and the feedback signal.
The drone control device according to claim 1, wherein the drive controller is specifically used for:

Perform internal closed-loop control, where the internal closed-loop control includes:

Obtain the actual tilt angle of the rudder surface according to the feedback signal received by the drive controller; and

The control of the driving mechanism is adjusted according to the actual tilt angle of the rudder surface, so that the actual tilt angle of the rudder surface is close to the target tilt angle of the rudder surface corresponding to the rudder surface tilt control command.
The drone control device according to claim 1, wherein the main controller is specifically configured to:

Perform external closed-loop control, where the external closed-loop control includes:

Receiving the feedback signal sent by the angle feedback unit, and obtaining the actual tilt angle of the rudder surface according to the feedback signal;

The control command of the rudder surface tilt is adjusted according to the actual tilt angle of the rudder surface, so that the actual tilt angle of the rudder surface is close to the target tilt angle of the rudder surface.
The drone control device according to claim 2, wherein the drive controller is further configured to execute after executing the inner closed loop control:

Send a feedback instruction to the main controller.
The drone control device according to claim 4, wherein the main controller is specifically configured to:

Receiving the feedback instruction sent by the drive controller;

Perform external closed-loop control according to the feedback instruction:

Receiving the feedback signal sent by the angle feedback unit, and obtaining the actual tilt angle of the rudder surface according to the feedback signal;

The control command of the rudder surface tilt is adjusted according to the actual tilt angle of the rudder surface, so that the actual tilt angle of the rudder surface is close to the target tilt angle of the rudder surface.
The drone control device according to claim 4, wherein the main controller is further used for:

Receiving the feedback instruction sent by the drive controller;

Receive the feedback signal sent by the angle feedback unit according to the feedback instruction, obtain the actual tilt angle of the rudder surface according to the feedback signal, determine whether the actual tilt angle of the rudder surface meets the target tilt angle of the rudder surface, if If the actual tilt angle of the rudder surface matches the target tilt angle of the rudder surface, it is confirmed that the corresponding rudder surface control structure is normal.
The drone control device according to any one of claims 1-6, wherein the angle feedback unit is a potentiometer.
The drone control device according to any one of claims 1-6, wherein the transmission mechanism is a gear assembly.
The drone control device according to any one of claims 1-6, wherein the driving mechanism is a motor.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises:

body;

A wing connected to the fuselage;

And the drone control device according to any one of claims 1 to 9, wherein the drone control device is provided on the fuselage.