CN102520656A - Realization method for intelligent bus servo motor of unmanned aircraft - Google Patents
Realization method for intelligent bus servo motor of unmanned aircraft Download PDFInfo
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- CN102520656A CN102520656A CN2011104225674A CN201110422567A CN102520656A CN 102520656 A CN102520656 A CN 102520656A CN 2011104225674 A CN2011104225674 A CN 2011104225674A CN 201110422567 A CN201110422567 A CN 201110422567A CN 102520656 A CN102520656 A CN 102520656A
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Abstract
The invention provides an intelligent bus-controlled realization method of a servo motor of an unmanned aircraft. In order to solve technical problems, the method employed in the invention comprises: a control panel based on a one-chip microcomputer is used to implement controlling and monitoring on a servo motor; and an intelligent bus interface is provided for the control panel as well as corresponding bus control instructions are provided for all controlling and monitoring functions. A current sensor, a voltage sensor, a temperature sensor and a rotating speed position sensor are installed on the servo motor; and information including a working temperature, a loading moment, a working current and a working voltage, a rotating speed and a position and the like of the servo motor is provided. And one-chip microcomputer control panels configured for all servo motors are used to carry out AD conversion and collection of sensor output signals and realize a bus transmit-receive function. According to the invention, beneficial effects are as follows: working state information of a servo motor can be reported to an aircraft controller of an unmanned aircraft; a system monitoring function can be provided; the number and application of the servo motors can be configured flexibly; and system expandability can be strengthened; and meanwhile, wire distribution is simple; and reliability is improved.
Description
Technical field
The present invention relates to a kind of implementation method that is used for unmanned vehicle intelligent bus servomotor, particularly relate to the implementation method of a kind of unmanned vehicle by the servomotor of serial bus control.
Background technology
The unmanned vehicle that present domestic civil area occurs; Usually use common model plane to use servomotor; Satisfy request for utilization though this type model plane servomotor can be rough on power and bulking value, also have shortcomings such as function simply is merely passive input control, reliability is relatively poor, system wiring is mixed and disorderly.Model plane are used for the unmanned vehicle of commercial operation with servomotor; Operational reliability is not good, and failure rate is higher, and need an independent interface be provided for each servomotor on the corresponding flight controller; The interface quantity that provides on the controller has determined system to support the quantity of servomotor; To a certain degree limit the expansion and the upgrading of whole unmanned vehicle systemic-function, cause the flight controller position to be full of mixed and disorderly wiring simultaneously, often again the investigation and the diagnosis of fault caused obstacle; The serious consequence that the fault that is at every turn caused by servomotor all often brings complete machine to crash causes any property loss.
Summary of the invention
Be merely passive input control mode in order to overcome the model plane of installing in the existing civilian unmanned vehicle with servomotor, the deficiency state feedback function, interface shape is not easy to the deficiency that machine system carries out function expansion and upgrading simultaneously.The present invention provides a kind of servo electrical machinery system by intelligent bus control, and this servo electrical machinery system is driven by the instruction that intelligent bus transmits, and also can upwards feed back the running status of self through bus.Simultaneously the implementation method realization through bus is connected between said servo electrical machinery system and the flight controller, has increased the dirigibility of system configuration greatly, has reduced wiring, has improved system reliability indirectly.
The technical solution adopted for the present invention to solve the technical problems is: use SCM Based control panel that motor is implemented control and monitoring, and for this control panel provides the intelligent bus interface, for all are controlled and monitoring function provides corresponding bus steering order.Servomotor is equipped with current sensor, voltage sensor, temperature sensor, rotating speed position transducer; The information such as working temperature, loading moment, working current voltage, rotating speed and position of servomotor can be provided, AD conversion and the collection and the bus data interface function of each sensor output data is provided by the SCM Based control panel of each servomotor configuration.
The invention has the beneficial effects as follows: work state information from servomotor to the flight controller of unmanned vehicle that can upload; The system monitoring function is provided, and the quantity of servomotor is with use can flexible configuration, the enhanced system extensibility; Distribution is simple and clear simultaneously, and reliability improves.
Another object of the present invention is, has proposed a kind of unmanned vehicle servo electrical machinery system implementation method based on intelligent bus, may further comprise the steps successively:
(1) servo electrical machinery system is equipped with current sensor, voltage sensor, temperature sensor, rotating speed position transducer; The information such as working temperature, loading moment, working current voltage, rotating speed and position of servomotor can be provided, AD conversion and the collection and the bus data interface function of each sensor output data is provided by the SCM Based control panel of each servo electrical machinery system configuration.
(2) servo electrical machinery system is inserted the unmanned vehicle intelligent bus, system initially powers on, and flight controller is to bus broadcast inquiry message.
(3) servo electrical machinery system receives behind the inquiry message reference address with this servo electrical machinery system and becomes to reply message with the device attribute information preparation and issue flight controller.
(4) flight controller receives that all are connected the answer message of the servo electrical machinery system on the bus, generates the bus apparatus address list.
(5) each servo electrical machinery system is driven by the access instruction that flight controller sends; The control panel of servomotor receives the access instruction to this servo electrical machinery system address; Instruction is resolved; The control servomotor is according to instruction running, and according to the request of data information in the access instruction status monitoring information of servomotor replied to flight controller from EBI.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Fig. 1 is the difference synoptic diagram of the system architecture used of the present invention and traditional servomotor application system framework.
Fig. 2 is a principle schematic of the present invention
Fig. 3 is control panel single-chip microcomputer of the present invention and communication interface circuit theory diagrams
Fig. 4 is control panel peripheral sensor data-interface of the present invention and motor-drive circuit
Fig. 5 is one embodiment of the present of invention synoptic diagram
Embodiment
In Fig. 1, can see based on the implementation method of intelligent bus servomotor with based on different on the application system framework of the mode of traditional servomotor; Servocontrol structure in traditional unmanned vehicle is distributed for concentrating, and each servomotor all need be provided the control port of a special use by flight controller.Servomotors all in this system all carry out centralized control by flight controller; Flight controller is assigned movement instruction respectively to each servomotor; Servomotor does not transmit any information to flight controller, and the intelligent bus servomotor implementation method that this paper proposes then is encapsulated as a bus communication unit with each servomotor, can on bus, accept and transmission information; As shown in the figure; Flight controller only need be installed an EBI, and all servo electrical machinery systems all are connected on the bus as bus unit, has simplified the structure of machine routing greatly.When complete machine initially powered on, flight controller sent broadcasting to bus and inquires packet, to understand all bus units that connected on the bus.When bus unit receives that this inquires information, send feedback data packet, feedback information comprises information such as this unit access address, function, special attribute.Flight controller can generate the bus apparatus tabulation after receiving whole feedback informations, selects control strategy and mode automatically.Be in operation, the servomotor operating instruction of flight controller is directly changed into communication identification code and assigns to the servomotor on the bus with the mode of bus data bag, selects controlled device through in data command, specifying the reference address of servomotor.Using another superiority of intelligent bus is to understand the duty of each servomotor; The intelligent bus servo electrical machinery system all is equipped with current sensor, voltage sensor, temperature sensor, rotating speed position transducer; The information such as working temperature, loading moment, working current voltage, rotating speed and position of servomotor can be provided, AD conversion and the collection and the bus transmission-receiving function of duty is provided by the SCM Based control panel of each servomotor configuration.The flight controller fixed cycle carries out inquiring of duty to the servomotor that each is connected on the bus, with the working condition of monitoring and grasp complete machine servo-drive system.
Fig. 2 is the principle schematic of intelligent bus servo electrical machinery system.Servomotor 1 uses photoelectric coded disk 3 as position and speed pickup in Fig. 2; Temperature sensor 2 is used for monitoring the temperature of servomotor 1, and current sensor 4 is used to monitor the electric current that passes through of servomotor 1, and voltage sensor 5 is used to monitor the load voltage of servomotor 1; All the sensors and motor all are connected on the SCM Based control panel 6; Control panel 6 provides the A/D conversion and the data acquisition process of all the sensors, and the drive controlling of servomotor 1 is provided, and through the EBI that provides on the plate operating function is provided; Can assign steering order to servomotor through bus 7, ask various motor status feedback informations.
Fig. 2 is the single-chip microcomputer and the bus interface circuit of intelligent bus servo electrical machinery system control panel.Adopted Atmega8 single-chip microcomputer (U3) as the control panel its processing core.Use SN65VHD230 chip (U6) as CAN bus driver interface, link to each other with the serial data interface of Atmega8 single-chip microcomputer, for the Atmega8 single-chip microcomputer provides CAN bus communication ability.And used MORNSUN-IA0512KP power transfer module (U2), circuit supply VCC conversion is supplied the positive and negative 12V power supply of signal amplifying and conditioning circuit use.Intelligent bus servo electrical machinery system external interface P4 is 5 line connectors, comprises motor power supply DC12V, circuit supply VCC, the high level line of CAN bus and low level line, ground wire.
Fig. 3 is the signal amplifying and conditioning circuit and the motor-drive circuit of SCM peripheral.Motor-drive circuit is made up of LMD18245T chip for driving (U4), and the LMD18245T chip receives the steering order of single-chip microcomputer and converts it to the driving voltage of motor, and this driving voltage links to each other with servomotor through two line interface P1; The electric current of servomotor is gathered by Hall element CHB-25NP (U1), and the simulating signal of its output inserts the ADC0 analog to digital conversion passage of single-chip microcomputer; The voltage signal of servomotor is gathered with signal by AD620 differential operational amplifier (U7) and is amplified conditioning, and simulating signal output inserts the ADC2 dac channel of single-chip microcomputer; The servomotor temperature through interface P3 Access Control plate, is carried out the amplification conditioning of signal by AD620 differential operational amplifier (U5) by the temperature sensor collection, finally imports the ADC1 analog to digital conversion passage of single-chip microcomputer; Photoelectric coded disk is connected to the serial data interface of single-chip microcomputer through interface P2, directly reads the position and the velocity information of motor from serial data interface.
Fig. 5 is an one embodiment of the invention.Whole intelligent bus servomotor is made up of servomotor 1, motor temperature sensor 2, photoelectric coded disk 3, control panel 6, encapsulating housing 8, and intelligent bus adopts aviation plug 9 to connect.
Embodiment recited above only is described preferred implementation of the present invention; Be not that design of the present invention and scope are limited; Do not breaking away under the design concept prerequisite of the present invention, various modification and improvement that those skilled in the art makes technical scheme of the present invention all should fall into protection scope of the present invention; The technology contents that the present invention asks for protection all is documented in claims.
Claims (4)
1. implementation method that is used for unmanned vehicle intelligent bus servomotor; It is characterized in that: the servomotor of this method utilization comprises control Driver Circuit and a plurality of motor state sensor, and controls motor and obtain motor feedback states parameter through the intelligent bus interface that control Driver Circuit provides.
2. the implementation method that is used for unmanned vehicle intelligent bus servomotor according to claim 1 is characterized in that: said servomotor comprises that current sensor, voltage sensor, position transducer, speed probe and temperature sensor carry out status monitoring.
3. intelligent bus servomotor according to claim 1 is characterized in that: the intelligent bus interface has adopted the aviation plug form to connect.
4. implementation method that is used for unmanned vehicle intelligent bus servomotor may further comprise the steps successively:
(1) servo electrical machinery system is equipped with current sensor, voltage sensor, temperature sensor, rotating speed position transducer; The information such as working temperature, loading moment, working current voltage, rotating speed and position of servomotor can be provided, AD conversion and the collection and the bus data interface function of each sensor output data is provided by the SCM Based control panel of each servo electrical machinery system configuration;
(2) servo electrical machinery system is inserted the unmanned vehicle intelligent bus, system initially powers on, and flight controller is to bus broadcast inquiry message;
(3) servo electrical machinery system receives behind the inquiry message reference address with this servo electrical machinery system and becomes to reply message with the device attribute information preparation and issue flight controller;
(4) flight controller receives that all are connected the answer message of the servo electrical machinery system on the bus, generates the bus apparatus address list;
(5) each servo electrical machinery system is driven by the access instruction that flight controller sends; The control panel of servomotor receives the access instruction to this servo electrical machinery system address; Instruction is resolved; The control servomotor is according to instruction running, and according to the request of data information in the access instruction status monitoring information of servomotor replied to flight controller from EBI.
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Cited By (8)
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| CN103823442A (en) * | 2014-02-25 | 2014-05-28 | 山河智能装备股份有限公司 | Intelligent steering engine driver based on CAN bus and control method of intelligent steering engine driver |
| CN104634190A (en) * | 2015-02-17 | 2015-05-20 | 北京精密机电控制设备研究所 | Electromechanical servo system with simple attitude control function and aircraft |
| CN106066611A (en) * | 2015-04-21 | 2016-11-02 | 三星电子株式会社 | Method function being extended by docking and electronic installation thereof |
| WO2018072693A1 (en) * | 2016-10-20 | 2018-04-26 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aerial vehicle, and aerial vehicle |
| CN108227537A (en) * | 2016-12-14 | 2018-06-29 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of aircraft stepper motor servo-control system and method based on RVDT position feedbacks |
| CN109739142A (en) * | 2019-01-15 | 2019-05-10 | 南京航空航天大学 | Embedded flight controller |
| CN110842950A (en) * | 2019-11-24 | 2020-02-28 | 深圳华数机器人有限公司 | Driving and controlling integrated control system compatible with multi-field bus protocol |
| CN110989436A (en) * | 2019-12-03 | 2020-04-10 | 北京特种机械研究所 | Networked ground power supply control take-off system of unmanned aerial vehicle |
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Cited By (10)
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| CN103823442A (en) * | 2014-02-25 | 2014-05-28 | 山河智能装备股份有限公司 | Intelligent steering engine driver based on CAN bus and control method of intelligent steering engine driver |
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| CN106066611A (en) * | 2015-04-21 | 2016-11-02 | 三星电子株式会社 | Method function being extended by docking and electronic installation thereof |
| CN106066611B (en) * | 2015-04-21 | 2021-04-06 | 三星电子株式会社 | Method for expanding functions through docking and electronic device thereof |
| WO2018072693A1 (en) * | 2016-10-20 | 2018-04-26 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aerial vehicle, and aerial vehicle |
| CN108227537A (en) * | 2016-12-14 | 2018-06-29 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of aircraft stepper motor servo-control system and method based on RVDT position feedbacks |
| CN109739142A (en) * | 2019-01-15 | 2019-05-10 | 南京航空航天大学 | Embedded flight controller |
| CN110842950A (en) * | 2019-11-24 | 2020-02-28 | 深圳华数机器人有限公司 | Driving and controlling integrated control system compatible with multi-field bus protocol |
| CN110989436A (en) * | 2019-12-03 | 2020-04-10 | 北京特种机械研究所 | Networked ground power supply control take-off system of unmanned aerial vehicle |
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Application publication date: 20120627 |