CN104898492A - High integration flight control system with multiple built-in sensors - Google Patents
High integration flight control system with multiple built-in sensors Download PDFInfo
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- CN104898492A CN104898492A CN201410144834.XA CN201410144834A CN104898492A CN 104898492 A CN104898492 A CN 104898492A CN 201410144834 A CN201410144834 A CN 201410144834A CN 104898492 A CN104898492 A CN 104898492A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
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Abstract
The invention discloses a high integration flight control system with multiple built-in sensors, belonging to the unmanned plane flight control technology field. The high integration flight control system with multiple built-in sensors comprises a machine box, an interface board, a power strip, a serial port board, a CPU board, a CPU core processing part, built-in altitude/airspeed sensor modules, a built-in three-shaft angular rate gyro, a accelerometers module and a built-in GPS module with the updating speed being 20ms-50ms. The high integration flight control system with multiple built-in sensors combines sensors and a flight control calculation unit through reasonable arrangement. A welding plate type aviation socket is adopted to realize the interface between the sensors and the CPU. Insertion needles realize the communication between boards, in which flexible connection leads are absent, and thus the complex wiring is prevented. The invention fixedly fastens a lamination and an external flight control machine box through supporting by studs, which improves the shock resistance of the flight control computer. The high integration flight control system with multiple built-in sensors solves the problems that the internal wiring is complex, the structure of the externally-positioned sensor is loose and the volume is big, and has high integration and miniaturization.
Description
Technical field
The present invention relates to a kind of UAV Flight Control System, particularly relate to a kind of flight control system comprising the highly integrated of multisensor and miniaturization.
Background technology
Along with unmanned plane application expands, unmanned plane small form factor requirements and unmanned plane are finished the work and the complexity of practical function improves constantly, this kind of unmanned plane volume and performance are had higher requirement, make the flight control system of unmanned plane core component towards with better function, the development of integration degree higher and miniaturization.
In order to the function of the Navigation of Pilotless Aircraft that obtains and control, complete more aerial missions, UAV Flight Control System needs to be connected with multiple sensors and task device usually.In the design of flight-control computer, general, by communication interface or digital sample mode, all kinds of flight is controlled desired data feeding CPU between sensor and CPU and carry out process calculating, sensor is placed on flight controller outside usually, the transmission of sensing data is realized by outside connection data line and signal wire, the mode that this sensor is external, sensor itself is made to occupy certain space, the volume of flight control computer is caused to increase, and make wiring in flight-control computer numerous and diverse, be unfavorable for the integrated of flight control system, miniaturization and use.
Summary of the invention
The object of this invention is to provide the highly integrated flight control system that a kind of multisensor is built-in, solve cabling in flight-control computer complicated, take up room during outer sensor large problem, meets flight control system miniaturization, highly integrated, high performance requirements.
To achieve these goals, the invention provides the highly integrated flight control system that a kind of multisensor is built-in, comprise machine box, described machine box inside is disposed with interface board, power panel, serial ports plate and CPU board from top to bottom, and strained by stud between described interface board, power panel, serial ports plate and CPU board and fix with machine box, be provided with contact pin between described interface board, power panel, serial ports plate and CPU board, described contact pin is used for data and signal transmission between each plate; The upper integrated serial ports plate of embedded UR8 and welding plate formula aviation socket on described interface board, described welding plate formula aviation socket is for realizing the communication with external unit; Described power panel is provided with power transfer module; The integrated serial ports plate of an embedded UR8 on described serial ports plate; Described CPU board is embedded with core cpu processing element; Also comprise built-in height/airspeed sensor module, built-in tri-axis angular rate gyro and acceleration sensor module and built-in GPS module; Described built-in height/airspeed sensor module comprises static pressure total-pressure probe, rubber tube and static pressure stagnation pressure admission piece, described static pressure total-pressure probe is built on serial ports plate, described static pressure stagnation pressure admission piece is arranged on interface board, described static pressure total-pressure probe is connected by rubber tube with static pressure stagnation pressure admission piece, simultaneously the through power panel of described rubber tube; Described built-in tri-axis angular rate gyro and acceleration sensor module are built between serial ports plate and power panel, transmit by adopting the data of SPI Interface realization and CPU; Described built-in GPS module comprises the GPS of renewal rate between 20ms-50ms and gps antenna socket, the GPS of described renewal rate between 20ms-50ms is built on power panel, and described gps antenna socket is arranged on interface board, between the GPS of described renewal rate between 20ms-50ms and gps antenna socket, pass through wire communication.
Preferred: described core cpu processing element is PowerPC family chip.
Preferred: described contact pin is arranged at inside stud.
Preferred: when the tangent plane of described machine box is square, described stud is arranged on four angles of machine box.
Preferred: when the tangent plane of described machine box is circular, described stud is evenly arranged along the circumference of machine box.
Preferred: described static pressure total-pressure probe adopts piezoresistive silicon sensor, described piezoresistive silicon sensor is built on circuit board, by being welded and fixed, piezoresistive silicon sensor is connected with outside pitot by built-in proofed sleeve, realize barometric leveling, designed by peripheral control circuits, realize height air speed and measure and signal conversion.
The highly integrated flight control system that multisensor of the present invention is built-in, compared to existing technology, has following beneficial effect: 1. because interface board of the present invention, power panel, serial ports plate, CPU board adopt stacked plate type structure.Interface board adopts the communication of air plug Interface realization and external unit; On power panel except power transfer module built-in GPS plate; An embedded UR8 integrated serial ports plate, built-in built-in tri-axis angular rate gyro and acceleration sensor module, built-in built-in height/airspeed sensor module on serial ports plate; CPU board with embedded PowerPC processor for core, containing integrated CPU module, signal conditioning circuit, isolating amplifier circuit.Realize 4 road RS232 and 4 road RS232/RS422 serial communication interfaces; Realize the collection that 16 road analog inputs carry out engine voltage, supply voltage, engine temperature, tach signal etc.; The 10 way switch amounts that realize export carries out fire control switch, task, cuts umbrella, oil pump, parking, engine start, night flight lamp, horizontally repaiies/indulge the control of repairing; Realize 7 road PWM and export the control realized elevating rudder, yaw rudder, aileron rudder, throttle rudder, air bag rudder, parachute-opening rudder.Thus compact overall structure, takes up room little, therefore meet that reduction flies that control box body is long-pending, flight control system miniaturization, highly integrated, high performance requirement.
2. adopt welding plate formula aviation socket to realize being connected between sensor with CPU, inner without being flexible coupling wire, realize data transmission by the contact pin between each plate simultaneously, avoid inner complex distribution flexible circuit conductor to connect.
3. adopt stud supporting way fixed strain lamination and outside to fly control machine box, improve flight-control computer anti-seismic performance.
4. built-in tri-axis angular rate gyro and acceleration sensor module are built between serial ports plate and power panel, adopt SPI interface can realize the data transmission of CPU, realize high integration.
5. described in, static pressure stagnation pressure admission piece is pitot, described static pressure total-pressure probe adopts piezoresistive silicon sensor, described piezoresistive silicon sensor is built on circuit board, by being welded and fixed, piezoresistive silicon sensor is connected with outside pitot by built-in proofed sleeve, realize barometric leveling, designed by peripheral control circuits, realize height air speed and measure and signal conversion.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention;
Wherein: A is interface board, B is power panel, and C is serial ports plate, D is CPU board, and 1 is core cpu processing element, and 2 is height/airspeed sensor module, 3 is built-in tri-axis angular rate gyro and acceleration sensor module, and 4 is the GPS of renewal rate between 20ms-50ms, and 5 is stud, 6 is contact pin, and 7 is rubber tube, and 8 is built-in GPS module, 9 is UR8 serial port module, 10 is welding plate formula aviation socket, and 11 is static pressure stagnation pressure admission piece, and 12 is gps antenna socket.
Embodiment
Accompanying drawing discloses the structural representation of a preferred embodiment of the invention without limitation, explains technical scheme of the present invention below with reference to accompanying drawing.
Embodiment
The highly integrated flight control system that a kind of multisensor of the present embodiment is built-in, as shown in Figure 1, comprise machine box, described machine box inside is disposed with interface board, power panel, serial ports plate and CPU board from top to bottom, and strained by stud between described interface board, power panel, serial ports plate and CPU board and fix with machine box, be provided with contact pin between described interface board, power panel, serial ports plate and CPU board, described contact pin is used for data and signal transmission between each plate; The upper integrated serial ports plate of embedded UR8 and welding plate formula aviation socket on described interface board, described welding plate formula aviation socket is for realizing the communication with external unit; Described power panel is provided with power transfer module; The integrated serial ports plate of an embedded UR8 on described serial ports plate; Described CPU board is embedded with core cpu processing element; Also comprise built-in height/airspeed sensor module, built-in tri-axis angular rate gyro and acceleration sensor module and built-in GPS module; Described built-in height/airspeed sensor module comprises static pressure total-pressure probe, rubber tube and static pressure stagnation pressure admission piece, described static pressure total-pressure probe is built on serial ports plate, described static pressure stagnation pressure admission piece is arranged on interface board, described static pressure total-pressure probe is connected by rubber tube with static pressure stagnation pressure admission piece, simultaneously the through power panel of described rubber tube; Described built-in tri-axis angular rate gyro and acceleration sensor module are built between serial ports plate and power panel, transmit by adopting the data of SPI Interface realization and CPU; Described built-in GPS module comprises the GPS of renewal rate between 20ms-50ms and gps antenna socket, the GPS of described renewal rate between 20ms-50ms is built on power panel, and described gps antenna socket is arranged on interface board, between the GPS of described renewal rate between 20ms-50ms and gps antenna socket, pass through wire communication.
Described core cpu processing element is PowerPC family chip.
Described contact pin is arranged at inside stud.
When the tangent plane of described machine box is square, described stud is arranged on four angles of machine box.
When the tangent plane of described machine box is circular, described stud is evenly arranged along the circumference of machine box.
The present invention adopts stacked plate type structure, comprising: interface board, power panel, serial ports plate, CPU board.Interface board adopts the communication of air plug Interface realization and external unit; On power panel except power transfer module built-in GPS plate; An embedded UR8 integrated serial ports plate, built-in built-in tri-axis angular rate gyro and acceleration sensor module, built-in built-in height/airspeed sensor module on serial ports plate; CPU board with embedded PowerPC processor for core, containing integrated CPU module, signal conditioning circuit, isolating amplifier circuit.Realize 4 road RS232 and 4 road RS232/RS422 serial communication interfaces; Realize the collection that 16 road analog inputs carry out engine voltage, supply voltage, engine temperature, tach signal etc.; The 10 way switch amounts that realize export carries out fire control switch, task, cuts umbrella, oil pump, parking, engine start, night flight lamp, horizontally repaiies/indulge the control of repairing; Realize 7 road PWM and export the control realized elevating rudder, yaw rudder, aileron rudder, throttle rudder, air bag rudder, parachute-opening rudder.Compact overall structure, employing welding plate formula aviation socket realizes the interface between each sensor and CPU, connects, adopt stud supporting way fixed strain lamination and outside to fly control machine box, improve flight-control computer anti-seismic performance without inner flexible circuit conductor.
In figure, D is the core cpu processing element PowerPC family chip in CPU board, and the present invention selects PowerPC family chip to be Master control chip.
In Fig. 1, static pressure total-pressure probe, rubber tube, static pressure stagnation pressure admission piece form built-in height/airspeed sensor module, described static pressure stagnation pressure admission piece is pitot, described static pressure total-pressure probe adopts piezoresistive silicon sensor, described piezoresistive silicon sensor is built on circuit board, by being welded and fixed, piezoresistive silicon sensor is connected with outside pitot by built-in proofed sleeve, realizes barometric leveling, designed by peripheral control circuits, realize height air speed and measure and signal conversion.
In Fig. 1, built-in tri-axis angular rate gyro and acceleration sensor module are built between C serial ports plate and B-source plate, adopt SPI interface can realize the data transmission of CPU, realize high integration.
In Fig. 1, Gao Gengxin rate GPS sensor is built on B-source plate by contact pin
Adopt stacked plate type structure, to be strained and fixed each laminate and outside machine box at four angle stud supporting way.
Welding plate formula aviation socket is adopted to realize being connected between sensor with CPU, inner without being flexible coupling wire, realize data transmission by the contact pin between each plate, avoid inner complex distribution flexible circuit conductor to connect.
Adopt stud supporting way fixed strain lamination and outside to fly control machine box, improve flight-control computer anti-seismic performance.
Adopt piezoresistive silicon sensor to be built on circuit board, by being welded and fixed, piezoresistive silicon sensor is connected with external height pitot by built-in proofed sleeve, is designed by peripheral control circuits, realizes height air speed and measures and signal conversion.
Adopt built-in tri-axis angular rate gyro and acceleration sensor module, realize the monitoring that aircraft three shaft angle acceleration and three axles transship, communicated with cpu chip by SPI interface.
GPS sensor is built on circuit board, realizes the transmission of data to serial ports by contact pin.
Adopt stacked plate type cramped construction, to be strained and fixed position between each plywood with stud supporting way.
Adopt stud supporting way fixed strain lamination and outside to fly control machine box, improve flight-control computer anti-seismic performance.
The preferred specific embodiment of the present invention described by reference to the accompanying drawings is above only for illustration of embodiments of the present invention; instead of as the restriction to aforementioned invention object and claims content and scope; every according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belong to the technology of the present invention and rights protection category.
Claims (6)
1. the highly integrated flight control system that a multisensor is built-in, it is characterized in that: comprise machine box, described machine box inside is disposed with interface board, power panel, serial ports plate and CPU board from top to bottom, and strained by stud between described interface board, power panel, serial ports plate and CPU board and fix with machine box, be provided with contact pin between described interface board, power panel, serial ports plate and CPU board, described contact pin is used for data and signal transmission between each plate; The upper integrated serial ports plate of embedded UR8 and welding plate formula aviation socket on described interface board, described welding plate formula aviation socket is for realizing the communication with external unit; Described power panel is provided with power transfer module; The integrated serial ports plate of an embedded UR8 on described serial ports plate; Described CPU board is embedded with core cpu processing element; Also comprise built-in height/airspeed sensor module, built-in tri-axis angular rate gyro and acceleration sensor module, built-in GPS module; Described built-in height/airspeed sensor module comprises static pressure total-pressure probe, rubber tube and static pressure stagnation pressure admission piece, described static pressure total-pressure probe is built on serial ports plate, described static pressure stagnation pressure admission piece is arranged on interface board, described static pressure total-pressure probe is connected by rubber tube with static pressure stagnation pressure admission piece, simultaneously the through power panel of described rubber tube; Described built-in tri-axis angular rate gyro and acceleration sensor module are built between serial ports plate and power panel, transmit by adopting the data of SPI Interface realization and CPU; Described built-in GPS module comprises the GPS of renewal rate between 50ms-100ms and gps antenna socket, the GPS of described renewal rate between 20ms-50ms is built on power panel, and described gps antenna socket is arranged on interface board, between the GPS of described renewal rate between 20ms-50ms and gps antenna socket, pass through wire communication.
2. the highly integrated flight control system that multisensor is built-in according to claim 1, is characterized in that: described core cpu processing element is PowerPC family chip.
3. the highly integrated flight control system that multisensor is built-in according to claim 2, is characterized in that: described contact pin is arranged at inside stud.
4. the highly integrated flight control system that multisensor is built-in according to claim 3, is characterized in that: when the tangent plane of described machine box is square, and described stud is arranged on four angles of machine box.
5. the highly integrated flight control system that multisensor is built-in according to claim 4, is characterized in that: the tangent plane of described machine box is for time circular, and described stud is evenly arranged along the circumference of machine box.
6. the highly integrated flight control system that multisensor is built-in according to claim 5, it is characterized in that: described static pressure total-pressure probe adopts piezoresistive silicon sensor, described piezoresistive silicon sensor is built on circuit board, by being welded and fixed, piezoresistive silicon sensor is connected with outside pitot by built-in proofed sleeve, realize barometric leveling, designed by peripheral control circuits, realize height air speed and measure and signal conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410144834.XA CN104898492A (en) | 2014-04-11 | 2014-04-11 | High integration flight control system with multiple built-in sensors |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410144834.XA CN104898492A (en) | 2014-04-11 | 2014-04-11 | High integration flight control system with multiple built-in sensors |
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Cited By (5)
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| CN105446226A (en) * | 2015-12-23 | 2016-03-30 | 中国航天空气动力技术研究院 | Aero engine controller |
| CN105818992A (en) * | 2016-03-09 | 2016-08-03 | 无锡觅睿恪科技有限公司 | Integrated power circuit module for unmanned aerial vehicle |
| CN106608368A (en) * | 2015-10-23 | 2017-05-03 | 中国飞行试验研究院 | Height and speed testing structure and method based on minimum gas path delay |
| CN113917879A (en) * | 2021-10-29 | 2022-01-11 | 西安微电子技术研究所 | PowerPC-based miniaturized and high-reliability test and launch control system and working method |
| CN118149855A (en) * | 2024-05-13 | 2024-06-07 | 中国民用航空飞行学院 | Unmanned aerial vehicle monitors navigation sensor device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106608368A (en) * | 2015-10-23 | 2017-05-03 | 中国飞行试验研究院 | Height and speed testing structure and method based on minimum gas path delay |
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| CN118149855A (en) * | 2024-05-13 | 2024-06-07 | 中国民用航空飞行学院 | Unmanned aerial vehicle monitors navigation sensor device |
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