WO2020187094A1 - Dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote - Google Patents

Dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote Download PDF

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Publication number
WO2020187094A1
WO2020187094A1 PCT/CN2020/078626 CN2020078626W WO2020187094A1 WO 2020187094 A1 WO2020187094 A1 WO 2020187094A1 CN 2020078626 W CN2020078626 W CN 2020078626W WO 2020187094 A1 WO2020187094 A1 WO 2020187094A1
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WO
WIPO (PCT)
Prior art keywords
rudder surface
angle
detection unit
control
angle detection
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Application number
PCT/CN2020/078626
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English (en)
Chinese (zh)
Inventor
刘玉华
谷韬
Original Assignee
深圳市道通智能航空技术有限公司
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Publication of WO2020187094A1 publication Critical patent/WO2020187094A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C5/00—Stabilising surfaces
    • B64C5/10—Stabilising surfaces adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/14—Adjustable control surfaces or members, e.g. rudders forming slots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/14—Adjustable control surfaces or members, e.g. rudders forming slots
    • B64C9/16—Adjustable control surfaces or members, e.g. rudders forming slots at the rear of the wing
    • B64C9/20—Adjustable control surfaces or members, e.g. rudders forming slots at the rear of the wing by multiple flaps

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a technical solution adopted by the present invention is: a drone control device for a drone, the drone includes a rudder surface, the rudder surface is arranged on the drone On the fixed surface, the control device includes a main controller, a rudder surface control structure and an angle detection module;
  • the rudder surface control structure includes a drive controller, a drive mechanism, a transmission mechanism and a rudder surface drive shaft;
  • the drive controller is electrically connected to the main controller and the drive mechanism, and the drive mechanism is also connected to the rudder surface transmission shaft through the transmission mechanism, and the rudder surface transmission shaft is provided at the On the rudder surface;
  • the angle detection module includes a first angle detection unit and a second angle detection unit. Both the first angle detection unit and the second angle detection unit are electrically connected to the main controller.
  • the first angle detection unit The unit is arranged on the rudder surface, and the second angle detection unit is arranged on the fixed surface;
  • 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 to obtain the control surface according to the signals sent by the first angle detection unit and the second angle detection unit.
  • the actual tilt angle of the rudder surface corresponding to the first angle detection unit;
  • the driving controller is configured to receive the control surface tilt control instruction, and control the operation of the driving mechanism according to the control surface tilt control instruction.
  • the rudder surface control structure further includes an angle feedback unit connected to the rudder surface transmission shaft and used to detect the actual tilt angle of the rudder surface.
  • the angle feedback The unit is also electrically connected with the drive controller;
  • the drive controller is specifically used for:
  • 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 main controller is specifically configured to:
  • 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 drive controller is further configured to execute after executing the internal closed-loop control:
  • the main controller is specifically configured to:
  • 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 main controller is also used to:
  • the number of the first angle detection unit and the number of the second angle detection unit are different, and the number of the second angle detection unit is one.
  • the first angle detection unit and the second angle detection unit appear as a pair, and the number of the first angle detection unit and the second angle detection unit are the same.
  • the first angle detection unit and the second angle detection unit are inertial measurement units
  • the angle feedback unit is a potentiometer
  • the transmission mechanism is a gear assembly
  • the drive mechanism is a motor
  • an unmanned aerial vehicle including:
  • a wing connected to the fuselage
  • the drone control device is provided on the fuselage.
  • a first angle detection unit is provided on the rudder surface of the drone, and a second angle is provided on the fixed surface of the drone
  • the detection unit the main controller can obtain the actual tilt angle of the rudder surface according to the signals detected by the first angle detection unit and the second angle detection unit. Therefore, the main controller can accurately and effectively control the rudder surface according to the actual tilt angle of the rudder surface.
  • Figure 1 is a schematic structural diagram of an embodiment of the drone of the present invention
  • Figure 2 is a schematic diagram of a rudder surface and a fixed surface in an embodiment of the UAV of the present invention
  • Fig. 3 is a schematic structural diagram of an embodiment of the drone control device of the present invention.
  • Figure 4 is a schematic structural diagram of an embodiment of a drone control device of the present invention.
  • FIG. 5 is a schematic diagram of the hardware structure of the main controller in an embodiment of the drone control device of the present invention.
  • Fig. 6 is a schematic diagram of the hardware structure of the drive controller in an embodiment of the drone control device of the present invention.
  • FIG. 1 it is a schematic diagram of the structure of the UAV 100 provided by the embodiment of the present invention.
  • 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.
  • the UAV 100 includes a fuselage, wings connected to the fuselage, aileron rudder surfaces 21, a vertical tail rudder surface 22, and a horizontal tail fixed on the fuselage fixed surface 24.
  • Rudder surface 23 please refer to FIG.
  • the fixed surface 24 is a fixed surface on the fuselage, which is fixed, the rudder surface can move relative to the fixed surface, and the movement of the rudder surface can change the attitude of the drone.
  • 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
  • the vertical tail rudder surface 22 Used to control the yaw angle of the UAV.
  • 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.
  • the control device 10 includes a main controller 11 and at least one rudder surface control structure 12 (FIG. 3 only shows a rudder surface control structure) ⁇ Angle detection module 13.
  • the rudder surface control structure 12 includes a driving controller 121, a driving mechanism 122, a transmission mechanism 123 and a rudder surface transmission shaft 124.
  • 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.
  • the rudder surface transmission shaft 124 is arranged on the rudder shown in FIG. 1 or FIG. Surface.
  • the angle detection module 13 includes at least one first angle detection unit 131 and at least one second angle detection unit 132. At least one first angle detection unit 131 is respectively disposed on each rudder surface, and the second angle detection unit 132 is disposed relative to the rudder. On the fixed surface (ie, fixed surface). The first angle detection unit 131 can detect the angle of the rudder surface, and the second angle detection unit 132 can detect the angle of the fixed surface. By detecting the above two angles, the angle change of the rudder surface, that is, the actual tilt angle of the rudder surface, can be obtained.
  • the first angle detection unit 131 and the second angle detection unit 132 appear in pairs, that is, the numbers of the two are the same.
  • the first angle detection unit 131 is disposed on the rudder surface
  • the second angle detection unit 132 is disposed on the fixed surface on which the rudder surface is located.
  • the number of the first angle detection unit 131 and the second angle detection unit 132 may also be different.
  • the first angle detection unit is provided on each rudder surface to be controlled, and only on a certain fixed surface.
  • a second angle detection unit 132 is provided, and the angle of the other fixed surface can be obtained according to the positional relationship with the fixed surface.
  • 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.
  • 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.
  • 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, the transmission mechanism 123 drives the rudder surface transmission shaft 124 to rotate, and the rudder surface transmission shaft 124 drives the rudder surface to tilt.
  • the angle of the rudder surface can be obtained through the first angle detection unit 131, and then the angle change of the rudder surface, that is, the actual tilting angle of the rudder surface, can be obtained according to the angle of the corresponding fixed surface.
  • the main controller can detect according to the first angle detection unit and the second angle
  • the signal detected by the unit obtains the actual tilt angle of the rudder surface. Therefore, the main controller can accurately and effectively control 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 rudder surface control structure 12 further includes an angle feedback unit 125, which is connected to the rudder surface transmission shaft 124, and the angle feedback unit 125 is also electrically connected to the drive controller 121 connection.
  • the angle feedback unit 125 is connected to the rudder surface transmission shaft 124.
  • 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 driving controller 121, and the driving controller 121 controls the operation of the driving mechanism according to the rudder surface tilt control instruction sent by the main controller 11 and the feedback signal.
  • the driving controller 121 may adjust the control of the driving mechanism 122 according to the feedback signal received by the driving controller 121.
  • 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.
  • the main controller 11 can adjust the rudder surface tilting control command according to the actual tilting angle of the rudder surface obtained by the main controller 11.
  • the main controller 11 may perform closed-loop control according to the target tilt angle of the rudder surface and the actual tilt angle of the rudder surface. That is, according to the actual tilt angle of the rudder surface, continuously adjust the rudder surface tilt control command so that the actual tilt angle of the rudder surface continuously approaches the target tilt angle of the rudder surface until the actual tilt angle of the rudder surface approaches the rudder surface The degree of the target tilt angle meets the preset accuracy requirements.
  • the main controller 11 performs external closed-loop control according to the target tilt angle of the rudder surface and the actual tilt angle of the rudder surface
  • the drive controller 121 performs the external closed-loop control according to the rudder surface tilt control command and the command received by the drive controller 121
  • the 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 actual rudder surface tilt angle obtained 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.
  • 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.
  • the control structure of each rudder surface may be self-checked before the drone 100 takes off according to the signals sent by the first angle detection unit and the second angle detection unit.
  • the main controller 11 first The target tilt angle of the rudder surface sends a rudder surface tilt control command 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 actual tilt angle of the rudder surface at this time, and then determines whether the actual tilt angle of the rudder surface meets the target tilt angle of the rudder surface, and if the actual tilt angle of the rudder surface meets the rudder surface
  • the target tilt angle indicates that the corresponding rudder surface control structure is operating normally, otherwise, it is considered that the rudder surface control structure is operating abnormally.
  • the actual tilt angle of the rudder surface meets the target tilt angle of the rudder surface, which means that the difference between the actual tilt angle of the rudder surface and the target tilt angle of the rudder surface meets a preset error requirement.
  • 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 first angle detection unit and the second angle detection unit are an inertial measurement unit (IMU).
  • the potentiometer is usually composed of a resistor and a movable brush.
  • 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 brush of the potentiometer is connected to the rudder surface transmission shaft 124.
  • 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.
  • 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.
  • the torque transmission of the gear assembly drives the rudder surface drive shaft to rotate, thereby driving the rudder Face change angle.
  • the rotation of the drive shaft of the rudder will drive the potentiometer to rotate, which in turn causes the voltage at the potentiometer output to change.
  • the angle change of the rudder surface can be calculated to obtain the actual tilt angle of the rudder surface.
  • FIG. 5 is a schematic diagram of the hardware structure of the main controller 11. As shown in FIG. 5, the main controller 11 includes:
  • One or more first processors 11a and first memory 11b are taken as an example.
  • the first processor 11a and the first memory 11b may be connected by a bus or in other ways.
  • the connection by a bus is taken as an example.
  • 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.
  • 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.
  • 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.
  • FIG. 6 is a schematic diagram of the hardware structure of the drive controller 121. As shown in FIG. 6, the drive controller 121 includes:
  • One or more second processors 121a and second memory 121b are taken as an example.
  • the second processor 121a and the second memory 121b may be connected by a bus or in other ways.
  • the connection by a bus is taken as an example.
  • 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.
  • 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.
  • 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 foregoing method is executed.

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  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif de commande de véhicule aérien sans pilote, comprenant un dispositif de commande principal (11), une structure de commande de surface de commande, et un module de détection d'angle ; la structure de commande de surface de commande comprend un dispositif de commande d'entraînement (121), un mécanisme d'entraînement (122), un mécanisme de transmission (123) et un arbre de transmission de surface de commande (124) ; le module de détection d'angle comprend une première unité de détection d'angle (131) disposée sur une surface de commande d'un véhicule aérien sans pilote et une seconde unité de détection d'angle (132) disposée sur une surface fixe (24) du véhicule aérien sans pilote ; et le dispositif de commande principal acquiert un angle d'inclinaison réel de la surface de commande selon des signaux détectés par la première unité de détection d'angle et la seconde unité de détection d'angle. Un véhicule aérien sans pilote est également décrit. Ledit dispositif de commande peut réaliser une commande précise et efficace d'une surface de commande en fonction d'un angle d'inclinaison réel de la surface de commande.
PCT/CN2020/078626 2019-03-19 2020-03-10 Dispositif de commande de véhicule aérien sans pilote et véhicule aérien sans pilote WO2020187094A1 (fr)

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CN201910207575.3 2019-03-19
CN201910207575.3A CN109774918B (zh) 2019-03-19 2019-03-19 一种无人机控制装置和无人机

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CN108750103A (zh) * 2018-06-14 2018-11-06 广东伟力智能科技有限公司 一种可实现垂直定高飞行及水平定高飞行的飞行器
CN109774918A (zh) * 2019-03-19 2019-05-21 深圳市道通智能航空技术有限公司 一种无人机控制装置和无人机
CN210191802U (zh) * 2019-03-19 2020-03-27 深圳市道通智能航空技术有限公司 一种无人机控制装置和无人机

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