CN102339063B - Autonomous taking off and landing control method for indoor airship - Google Patents
Autonomous taking off and landing control method for indoor airship Download PDFInfo
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- CN102339063B CN102339063B CN 201110197461 CN201110197461A CN102339063B CN 102339063 B CN102339063 B CN 102339063B CN 201110197461 CN201110197461 CN 201110197461 CN 201110197461 A CN201110197461 A CN 201110197461A CN 102339063 B CN102339063 B CN 102339063B
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Abstract
The invention discloses an autonomous taking off and landing control method for an indoor airship, which is designed for solving the technical problems that the indoor airship is inflexible in control and often deviates from the air line so as to frequently collide, scratch and the like. The method comprises the following steps of: under an autonomous taking off and landing mode, firstly, setting the taking off and landing height and the taking off and landing speed; acquiring air data of the current indoor airship from an ultrasonic sensor and a UWB (Ultra Wide Band) sensor which are loaded by the airship; acquiring coordinate data through a wireless data transmission module; transmitting the coordinate data to a land station according to a preset protocol format for analyzing; calculating the coordinate data according to the set taking off and landing mode and an autonomous taking off and landing control algorithm to form control commands and parameters; transmitting the control commands and the parameters to an on-board computer on the indoor unmanned airship through the wireless data transmission module; and generating a PWM (Pulse Width Modulation) signal for controlling an accelerator, the direction and the taking off and landing of the airship and controlling the indoor airship to reach the designated height, wherein a subdivision control method is respectively used for taking off and landing. The invention has the benefits that: according to the control method, the safety, the reliability and the stability of the autonomous taking off and landing process of the indoor airship can be ensured, the taking off and landing height and the taking off and landing speed can be freely adjusted and the replacing process is realized conveniently and quickly.
Description
Technical field:
The present invention relates to a kind of autonomous landing control method of dirigible, relate in particular to a kind of autonomous landing control method that applies to indoor dirigible.Belong to automation field.
Background technology:
Indoor dirigible has the ability that suspends aloft as a kind of floated aircraft that is widely used, and operation is driven simple and convenient, it can fly at low-altitude low-speed, and security performance is relatively good, and is not high to the site requirements that rises and falls, operation cost is also lower, and is easy to maintaining.The advantage of indoor dirigible is its commercial value, and it can provide good peripheral visual field, can carry out that advertisement is showed, taken photo by plane, activity such as television relay and security monitoring.Now a lot of large-scale science ﹠ technology Hall and exhibition center all can adopt various situation to put on display and perform, indoor dirigible can be filled up the space in the large-scale indoor sky as indoor equipment of small motor aircraft, also is a kind of fabulous publicity and performance means for some large-scale exhibition centers and fair.
Indoor dirigible by huge streamlined ship body, be positioned at gondola below the ship body, the tail vane and the propulsion plant that play stable control action form.
The autonomous landing control system of indoor dirigible mainly is made up of sensor (ultrasonic sensor, UWB sensor) dirigible ground station control system and ship loading system three parts.When requiring indoor dirigible landing, ultrasonic sensor is measured unmanned airship earlier apart from the current distance on ground, the current coordinate information of dirigible in the UWB sensor receiving chamber, these two sensors provide the positional information of dirigible for land station, consider when the rotating speed of front propeller with to the Desired Height of dirigible again.At ground control station the relevant flying quality of sensor measurement and the information of input are resolved, be transformed into the relevant information of the dirigible lifting that can be used by flight-control computer in conjunction with autonomous landing control algolithm, calculate control output quantity to topworks according to status informations such as the autonomous lifting route of setting, speed, directions simultaneously.
Because indoor dirigible is different from the singularity of outdoor dirigible, external interference is less and kinetic energy that self screw propeller produces is less, comparing in the indoor hall of spaciousness with the open air does not have serious air flow disturbance, but because dirigible is too huge with respect to the volume in room, so realize that under the situation of not being rebuffed autonomous lifting control is higher to the accuracy requirement of control, also very high to the requirement of algorithm.
The autonomous landing control of early stage dirigible all is to adopt indoor GPS to obtain height and coordinate information, can demonstrate the current position of dirigible by the information of GPS, flight path that can the recording and tracking dirigible, the height barometer has been installed in addition, flight control system need be known current atmospheric pressure, with air speed and the air pressure altitude information that is converted into dirigible.But because indoor unmanned airship can't be accepted gps data under indoor environment, so and be subjected to the restriction of flying height also can't use the height barometer in doors.And if use the UWB super-broadband tech to determine the current location of indoor dirigible separately, then overhead cross when near owing to stopping and the reason of reflection etc. will cause bigger error to the test data of UWB sensor when indoor dirigible.
Because the needs of purposes such as room noise control, power motor power and rotating speed that indoor dirigible assembles are all less, and will reduce the generation that rotating speed changes situation suddenly on a large scale as far as possible, cause the dirigibility of indoor dirigible to be had a greatly reduced quality, the dirigible translational speed is slow, and the control overshoot is big.
Indoor dirigible is bulky with respect to the space, place, and there are barriers such as large number quipments, showpiece in the interior space in addition, causes the airship flight space narrow and small, has increased the difficulty of flight control.And present dirigible opertaing device all is that the indoor and outdoor is general, does not consider these special circumstances of indoor dirigible, causes the non-constant of automatic driving effect of indoor dirigible, clash into frequently, scratch body of wall, showpiece in addition in personnel.
Summary of the invention:
The present invention for solve at a little less than the indoor dirigible power, flight space is little, barrier is many and characteristics such as security requirement height, dumb to the control of indoor aircraft, often occur drifting off the course and frequent bump, scratch body of wall, showpiece take place, even in technical matters such as personnel, a kind of autonomous landing control method for indoor dirigible is provided, and this method realizes by following step:
Under autonomous landing pattern, at first set landing height and landing speed, the sonac that is loaded with from dirigible, the flying quality that the UWB sensor obtains current indoor dirigible, and by wireless data transmission module with these dirigible coordinate datas of obtaining, be transferred to land station by the predetermined protocol form; Resolved by land station, according to selected landing mode, after the calculating by autonomous landing control algolithm, form steering order and control parameter; By wireless data transmission module these steering orders and control parameter are transferred on the ship borne computer on the indoor unmanned airship again; Data generate pwm signal control dirigible throttle, direction and the corresponding motor of lifting or steering wheel, the dirigible arrival specified altitude assignment pulpit in through checking after correct; The segmentation control method is all adopted in the landing of taking off, definition control highly is Height_control, object height be Height_target then, current dirigible height is Height_current, when | Height_current-Height_targ et|＞2m, segmentation adjustment control height H eight_control, each adjusting range is the height of dirigible, until object height Height_targ et.
Characteristics of the present invention and beneficial effect: this control method has guaranteed the autonomous landing process safe of indoor dirigible, reliability and stationarity, and height that can the free adjustment lifting and speed and change procedure are convenient, fast.
Can be according to the requirement difference of landing control algolithm, realize at the uniform velocity landing, speed change landing and play degradation according to desired trajectory.Rotating speed according to height, horizontal ordinate, ordinate and the screw propeller of the indoor dirigible that accurately measures arranges the safe falling point according to different situations in different venues, be conducive to the safety of miscellaneous equipment in indoor unmanned airship and the venue.Realize autonomous, quick, the steady and accurate autonomous landing of indoor dirigible.
Under the control of autonomous lifting control algolithm, the current height and position of unmanned airship in the mode orientation room that UWB super-broadband tech and ultrasonic sensor combine, ultrasonic sensor plays the effect that compensation UWB locatees medium-altitude error, can better for providing, control algolithm prepare secure data, make the autonomous landing control of indoor dirigible steadily, rapidly, the variation of landing mode.
Description of drawings
Fig. 1 is the physics pie graph of indoor dirigible system;
Fig. 2 is the mobile system structural representation of indoor dirigible system;
Fig. 3 is the used I2C bus communication schematic diagram of the present invention.
Fig. 4 is flat horizontal rotational speed regulation schematic diagram of the present invention.
Fig. 5 is the autonomous landing control method of the present invention integration synoptic diagram
Embodiment
Below with reference to accompanying drawing 1-5, the present invention is described further.
The autonomous landing control method that is used for indoor dirigible can realize the autonomous landing of indoor dirigible better, guarantees the steady, accurate and rapid of landing process, the variation of landing mode.For achieving the above object, the present invention includes following content:
Indoor dirigible system (referring to Fig. 1) is motor, the ultrasonic distance measuring module formation link of electronic digit compass, wireless communication module, steering wheel or the charged sub-speed regulator of core and periphery with the STC12C5A60S2 single-chip microcomputer; Carry out radio communication by wireless communication module and land station and remote manual control, resolve to receive instruction and generate pwm signal according to the communication protocol of formulating and control the corresponding motor of dirigible throttle, direction and elevating screw or steering wheel; Communicate with electronic digit compass and ultrasonic sensor, obtain the relevant information of dirigible attitude and near barrier, and send back to land station.
Indoor dirigible will be realized autonomous lifting control, at first, land station switches to autonomous landing pattern earlier, landing height and the landing speed of input expectation, obtain the flying quality of current indoor dirigible from sensor, the sonac that these data are loaded with by dirigible, UWB sensor obtain and by wireless data transmission module these dirigible coordinate datas of obtaining are transferred to land station with predetermined in advance prescribed form.In land station these data are resolved, form steering order and control parameter according to selected landing mode by control algolithm, by wireless data transmission module these steering orders and control parameter are transferred to ship borne computer on the indoor unmanned airship again, the ship borne computer is by the final autonomous lifting control that realizes indoor unmanned airship of the power system of control dirigible.
Onboard modules utilizes the I2C bus to communicate by letter with ultrasonic wave module.As shown in Figure 3, the I2C bus only is made up of two signal wires, and one is serial data line SDA, and another root is serial time clock line SCL.They all are bidirectional lines, and the device output that is connected to bus is required to be open-drain or open collector, and when bus was idle, this two signal line was high level.Therefore, all must to connect and draw resistance to high level be VCC for SDA and SCL signal wire.SCL is between high period, and the data on the sda line need remain unchanged, Data transmission between the device, and saltus step can only take place during for low level at SCL in the data on the data line, changes into the state of next bit data.
Transmission initial state and the final state of data produced by primary controller on the I2C bus.Commencing signal: when between clock line SCL maintenance high period, SDA is low level by the high level saltus step, and expression begins to transmit data; Termination signal: when between clock line SCL maintenance high period, SDA is high level by low transition, and the expression terminating number reportedly send.
The segmentation control method is all adopted in the landing of taking off, and makes the dirigible slowly land, has guaranteed that the landing process of dirigible is steady on the one hand, is convenient on the other hand stop the landing process of taking off at any time when occurring having hindered the degradation accident, and is more safe and reliable.As shown in Figure 4, adopt the increment type PID controller as the height controller of indoor dirigible, definition control highly is Height_control, object height be Height_targ et then, current dirigible height is Height_current, when | Height_current-Height_targ et|＞2m, and segmentation adjustment control height H eight_control, each adjusting range is the height of dirigible, until object height Height_targ et.
When taking off, after dirigible enters specified altitude assignment, keep dirigible to be in setting height automatically, be changed or start landing procedure until setting height.Control method as shown in Figure 5, it is that the elevating screw motor speed of lift when equaling gravity is balancing speed Speed_balance that definition can keep dirigible to be in a certain height constant.When wearing Height_control on the Height_current, begin both differences are carried out integration, when wearing Height_control under the Height_current, integral result is designated as S at every turn
1, the integral result zero clearing also begins another time integration, and when Height_current wore Height_control on again, integral result was designated as S
2, the integration zero clearing also begins integration next time, by that analogy.When each integration finishes balancing speed Speed_balance is upgraded, update method is undertaken by following formula
λ wherein
SpeedAdjusting step-length for balancing speed.
Suppose that indoor dirigible height is 1.5 meters, be in ground, current height H eight_current is 0.During landing, establishing current height H eight_current is 6 meters, and dirigible is finished the landing process according to the following steps:
(1) because | Height_current-Height_targ et|=6＞2m, then program automatic setting control height H eight_control is 6-1.5=4.5 rice;
(2) regulating dirigible elevating screw motor speed by the increment type PID controller makes dirigible approach the control height;
(3) near dirigible height H eight_current arrives control height H eight_control4.5 rice, namely | during Height_current-Height_t arget|＜0.3m, it is 4.5-1.5=3 rice that program resets control height H eight_control;
(4) repeating step (1) reaches object height Height_target0 rice to step (3) up to the dirigible height.
When taking off, establishing object height Height_target is 7 meters, and dirigible is finished take-off process according to the following steps:
(1) because | Height_current-Height_targ et|=7＞2m, then program automatic setting control height H eight_control is 0+1.5=1.5 rice;
(2) regulating dirigible elevating screw motor speed by the increment type PID controller makes dirigible approach the control height;
(3) near dirigible height H eight_current arrives control height H eight_control1.5 rice, namely | during Height_current-Height_t rag et|＜0.3m, it is 1.5+1.5=3 rice that program resets control height H eight_control;
(4) repeating step (1) reaches object height Height_targ et7 rice to step (3) up to the dirigible height.
After arriving object height, the dirigible lifting controller starts automatically keeps the object height program, and current elevating screw motor speed is balancing speed, and control program carries out proportional control to rotating speed on the basis of balancing speed, be that the current height of dirigible reduces rotating speed when being higher than object height, vice versa; Simultaneously balancing speed is adjusted automatically, process is as follows:
(1) when the first time, dirigible height H eight_current surpassed object height Height_targ et (7 meters), poor to current height and object height every a second, and be added to S
1
When (2) current height drops under the object height, stop right S
1Add up, begin S simultaneously
2Cumulative process;
(3) when dirigible height H eight_current surpasses object height Height_targ et again, stop S
2Add up;
(4) suppose that current balancing speed is 1600 rev/mins, regulate step-length λ
Speed=10, accumulation result is S before
1=47, S
2=69, then new balancing speed is
(5) repeating step (1) enters new state of flight to step (4) up to dirigible.
Realize the attitude of indoor unmanned airship, highly, speed control.
Claims (2)
1. be used for the autonomous landing control method of indoor dirigible, realize by following step:
Under autonomous landing pattern, at first set landing height and landing speed, the sonac that is loaded with from dirigible, the flying quality that the UWB sensor obtains current indoor dirigible, and by wireless data transmission module with these dirigible coordinate datas of obtaining, be transferred to land station by the predetermined protocol form; Resolved by land station, according to selected landing mode, after the calculating by autonomous landing control algolithm, form steering order and control parameter; By wireless data transmission module these steering orders and control parameter are transferred on the ship borne computer of indoor unmanned airship again; Data generate pwm signal control dirigible throttle, direction and the corresponding motor of lifting or steering wheel, the dirigible arrival specified altitude assignment pulpit in through checking after correct; It is characterized in that: the segmentation control method is all adopted in the landing of taking off, definition control highly is Height_control, object height is Height_target, current dirigible height is Height_current, as | He_ig-htc_u|ar〉during r, segmentation adjustment control height H eight_control, each adjusting range is the height of dirigible, until object height Height_target;
Described autonomous landing control algolithm after dirigible enters specified altitude assignment, keeps dirigible to be in setting height automatically, is changed or starts landing procedure until setting height; It is that the elevating screw motor speed of lift when equaling gravity is balancing speed Spee that definition can keep dirigible to be in a certain height constant
dBala; When wearing Height_control on the Height_current, begin both differences are carried out integration, when wearing Height_control under the Height_current, integral result is designated as S at every turn
1, the integral result zero clearing also begins another time integration, and when Height_current wore Height_control on again, integral result was designated as S
2, the integration zero clearing also begins integration next time, by that analogy; When each integration finishes balancing speed Speed_balance is upgraded, update method is undertaken by following formula:
λ wherein
SpeedAdjusting step-length for balancing speed.
2. the autonomous landing control method for indoor dirigible according to claim 1 is characterized in that: the adjusting step-length λ of described balancing speed
SpeedSpan is 0.1%-1.5% of maximum (top) speed; Deviation in the restriction landing process between revolution speed of propeller and the balancing speed is at 60 rev/mins or below 5% of maximum (top) speed.
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| CN103977568A (en) * | 2013-02-08 | 2014-08-13 | 上海科斗电子科技有限公司 | Height self-feedback positioning suspension device |
| CN104645629A (en) * | 2013-11-18 | 2015-05-27 | 上海本星电子科技有限公司 | Height self-feedback buoyancy weight-loss aircraft |
| CN103914075B (en) * | 2013-12-13 | 2017-05-03 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle |
| CN103809600B (en) * | 2014-03-04 | 2016-08-17 | 北京航空航天大学 | A kind of human-computer interactive control system of unmanned airship |
| CN106444795B (en) | 2014-03-27 | 2019-12-20 | 深圳市大疆创新科技有限公司 | Method and system for assisting take-off of movable object |
| CN105573339B (en) * | 2016-01-16 | 2019-01-11 | 深圳先进技术研究院 | A kind of navigation flight system based on rotor dirigible |
| CN109313453A (en) * | 2016-06-14 | 2019-02-05 | 深圳市大疆创新科技有限公司 | Support the loose impediment application and development independently of agreement |
| CN106557089B (en) * | 2016-11-21 | 2019-11-01 | 北京中飞艾维航空科技有限公司 | A kind of control method and device of unmanned plane independent landing |
| CN109581882A (en) * | 2018-11-20 | 2019-04-05 | 顺丰科技有限公司 | Master controller, control method, system and the storage medium of dynamic test system |
| CN111538350B (en) * | 2020-05-07 | 2023-06-23 | 烟台南山学院 | Method for realizing high-full-automatic flight of unmanned aerial vehicle by adopting three-section soft switching |
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| KR100638367B1 (en) * | 2004-10-30 | 2006-10-25 | 한국과학기술연구원 | Autonomous vision display apparatus using pursuit of flying path about flying blimp screen or airship screen |
| CN201348739Y (en) * | 2008-12-12 | 2009-11-18 | 宋建明 | Automatic pilot for aeromodelling |
| CN201732296U (en) * | 2010-03-25 | 2011-02-02 | 北京航空航天大学 | Height control stable system for coaxial unmanned helicopter |
| KR100995362B1 (en) * | 2010-06-18 | 2010-11-19 | 주식회사 네스앤텍 | Flight altitude control system of pilotless aircraft |
| CN102033546B (en) * | 2010-11-09 | 2013-03-27 | 上海交通大学 | Low-altitude airship flight control system and flight control method thereof |
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