CN105700535A - Modular type control panel for four-rotor aircraft - Google Patents
Modular type control panel for four-rotor aircraft Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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Abstract
The invention belongs to the technical field of unmanned plane control, and relates to a modular type control panel for a four-rotor aircraft. A power supply and a voltage-stabilizing circuit are respectively in electrical connection with a main control module, a wireless module, a gyroscope module, and a motor and drive module, so as to supply power. The main control module is electrically connected with the wireless module, the gyroscope module, the motor and drive module, and is used for receiving and processing data information from the wireless module and the gyroscope module. The wireless module is used for transmitting control information, and the gyroscope module is used for detecting the flight attitude. The motor and drive module is controlled by a PWM signal generated by the main control module to supply power to an aircraft. The main control module and a gyroscope achieve data transmission and communication through an I2C protocol, and the main control module and the wireless module achieve data transmission and communication through an SPI protocol, so as to achieve the modular control of the four-rotor aircraft. The control panel is simple in overall structure, is convenient to install, and is easy to operate.
Description
Technical field:
The invention belongs to unmanned aerial vehicle (UAV) control technical field, relate to a kind of panel, particularly a kind of modular control panel suitable in quadrotor, it adopts Modular Structure Design, has versatility height, easy care, parameter can the feature such as adjustment in real time。
Background technology:
Quadrotor is a kind of six degree of freedom vertically taking off and landing flyer, hovering can be completed, low-speed operations, the task that the fixed wing airplanes such as VTOL and indoor flight cannot complete, also it is a kind of there are four aircraft in decussation structure propeller, four relative rotors have identical direction of rotation, compared with traditional helicopter, it has structure and controls simple, the accuracy of manufacture requires low, good stability, the advantages such as more weak gyroscopic effect, thus scout unmanned, traffic administration, forest fire protection, the fields such as city patrol have broad prospect of application, become international study hotspot。It is regulate its flight parameter by certain way that quadrotor realizes the premise of stabilized flight and cruise, and the aircraft in flight course is remotely controlled。Flight parameter and telecommand determine degree of having a smooth flight and the heading of aircraft, and therefore the remote control of aircraft and parameter regulative mode are increasingly important in the control of aircraft；Further, since the control part of quadrotor is by driving module, wireless communication module and controlling the module composition of multiple responsible difference in functionalitys such as module, therefore connects between modules and the convenience of dismounting is also comparatively important。
Quadrotor of the prior art mostly has the disadvantage in that
(1) configuration aspects: major part quadrotor have employed the structure of integral type on the market, although it is attractive in appearance that this design facilitates volume production to also comply with, but can not meet vast four rotor professional users to body can Modularized dismounting demand, when running into certain module damage on circuit, generally require the whole control circuit of replacing or drive circuit, this cost changed for a user is too high, and also result in unnecessary waste；
(2) control chip aspect: most flight control chips use external 16 and 32 single-chip microcomputers on the market, make domestic flight control chip market dispirited for a long time while relatively costly。Therefore the present invention designs a kind of novel modular control panel being applicable to quadrotor, using homemade chip as control chip, by Modular Structure Design, outfit remote controller and upper computer software is remotely controlled and parameter regulates, it is achieved control accurately。
Summary of the invention:
It is an object of the invention to the shortcoming overcoming prior art to exist, design a kind of modular control panel for quadrotor, not only broken the foreign chip monopoly position in flight panel market, and be prone to the convenient control of repacking debugging。
To achieve these goals, the modular control panel agent structure for quadrotor that the present invention relates to includes main control module, wireless module, gyro module, power supply and mu balanced circuit, motor and driving module, power supply and mu balanced circuit respectively with main control module, wireless module, gyro module and motor and driving module electrically connect to provide power supply, main control module respectively with wireless module, gyro module and motor and driving module electrically connect, for accepting and processing the data message from wireless module and gyro module, wireless module is responsible for transmission control information, gyro module is used for detecting flight attitude, motor and driving module provide power for aircraft under the pwm signal that main control module produces controls；Carry out data transmission communication by I2C agreement between main control module and gyro module, between main control module and wireless module, carry out data transmission communication by SPI protocol, to realize the modular of quadrotor is controlled。
Further, described main control module is model is IAP15W4K58S4 8 single-chip microcomputers that macrocrystalline Science and Technology Ltd. produces, and compare 8051 traditional single-chip microcomputers has had lifting and aboundresources in performance；Compared to external 16 and 32 single-chip microcomputers less costly, but performance can reach control quadrotor smooth flight requirement；Major function is that reception from the angle information of gyro module and solves quaternary number to draw current pose, and produces four road pwm signals control motor speeds to reach to regulate the purpose of quadrotor attitude according to control algolithm。
Further, described wireless module is NRF24L01 chip, and this chip is the monolithic wireless transceiver chip being operated in 2.4GHz-2.5GHzISM frequency range produced by NORDIC；Major function is to receive the instruction of the remote controller from outside separate configurations and be sent to main control module；Wireless module connects with P6.1, P6.2, P6.3, P1.0, P1.1, P4.7 pin of main control module single-chip microcomputer。
Further, described gyro module is MPU6050, MPU6050 is six axle motion process sensors, and it is integrated with three axis MEMS gyro, 3 axis MEMS accelerometer, and gyroscope and accelerometer have been used the ADC of three 16 by respectively；Major function is that the analog quantity of its measurement is converted into exportable digital quantity, and passes through I2C interface and main control module carry out communication；Gyro module connects with P0.0 and the P4.6 pin of main control module single-chip microcomputer。
Further, described power supply and mu balanced circuit are 3.7V high magnification model airplane battery and voltage raising and reducing circuit, and this circuit is first to be boosted to by the supply voltage of 3.7V after then 5V is depressured to 3.3V again to obtain the standard operating voltage of supply modules。
Further, described motor and driving module are high speed hollow-cup motor and metal-oxide-semiconductor, and it adopts high speed hollow-cup motor to be power set, adopt metal-oxide-semiconductor as power tube；Motor and driving module connect with P2.1, P2.2, P2.3, P3.7 pin of main control module single-chip microcomputer。
Preferably, described modular control panel can connect upper computer software by USB interface, this upper computer software include flight attitude show and flight attitude control two parts, with realize respectively regulate or amendment quadrotor pid parameter with display flight attitude function。
The present invention is compared with prior art, the control chip used is domestic 8 single-chip microcomputers, effectively reduces cost, adopts the structural design pattern of modular, making single module detachable thus reducing maintenance cost, being also that the user of different demands provides multiple choices simultaneously；Panel is reserved with the interface being connected with upper computer software, in order to the upgrading to flight parameter redjustment and modification and flight attitude algorithm；Overall panel simple in construction, easy for installation, it is easy to operation。
Accompanying drawing illustrates:
Fig. 1 be the present invention relates to for the construction module schematic diagram of control circuit in the modular control panel of quadrotor。
Fig. 2 is the circuit structure diagram of the main control module related in the present invention。
Fig. 3 is the circuit structure diagram of the gyro module that the present invention relates to。
Fig. 4 is the circuit structure diagram of the wireless module that the present invention relates to。
Fig. 5 is the circuit structure diagram of power supply and the mu balanced circuit that the present invention relates to。
Fig. 6 is the motor that the present invention relates to and the circuit structure diagram driving module。
Fig. 7 is the flight attitude flow for displaying figure that the present invention relates to。
Fig. 8 is the upper computer software main window related in the embodiment of the present invention 3。
Fig. 9 is the 3D model control related in the embodiment of the present invention 3。
Figure 10 is that the pid parameter related in the embodiment of the present invention 3 regulates flow chart。
Figure 11 is the instruction code related in the embodiment of the present invention 3。
Detailed description of the invention:
By the examples below and in conjunction with accompanying drawing the present invention is described further, but the present invention is not limited in implementation below。
Embodiment 1:
The modular control panel agent structure for quadrotor that the present embodiment relates to includes main control module 1, wireless module 2, gyro module 3, power supply and mu balanced circuit 4, motor and driving module 5, power supply and mu balanced circuit 4 respectively with main control module 1, wireless module 2, gyro module 3 and motor and driving module 5 electrically connect to provide power supply, main control module 1 respectively with wireless module 2, gyro module 3 and motor and driving module 5 electrically connect, for accepting and processing the data message from wireless module 2 and gyro module 3, wireless module 2 is responsible for transmission control information, gyro module 3 is used for detecting flight attitude, motor and driving module 5 provide power for aircraft under the pwm signal that main control module 1 produces controls；Carry out data transmission communication by I2C agreement between main control module 1 and gyro module 3, between main control module 1 and wireless module 2, carry out data transmission communication by SPI protocol, to realize the modular of quadrotor is controlled。
Model is IAP15W4K58S4 8 single-chip microcomputers (as shown in Figure 2) that the main control module 1 related in the present embodiment produces for macrocrystalline Science and Technology Ltd., compare 8051 traditional single-chip microcomputers has had very big lifting and aboundresources in performance；Compared to external 16 and 32 single-chip microcomputers less costly, but performance can reach control quadrotor smooth flight requirement；Major function is that reception from the angle information of gyro module 3 and solves quaternary number to draw current pose, and produces four road pwm signals control motor speeds to reach to regulate the purpose of quadrotor attitude according to control algolithm。
The wireless module 2 related in the present embodiment is NRF24L01 chip (as shown in Figure 3), and this chip is the monolithic wireless transceiver chip being operated in 2.4GHz-2.5GHzISM frequency range produced by NORDIC；Major function is to receive the instruction of the remote controller from outside separate configurations and be sent to main control module 1；It connects with P6.1, P6.2, P6.3, P1.0, P1.1, P4.7 pin of single-chip microcomputer。
The gyro module 3 that the present embodiment relates to is MPU6050 (as shown in Figure 4), MPU6050 is 6 axle motion process sensors, it is integrated with 3 axle MEMS gyroscope, 3 axle mems accelerometers, and gyroscope and accelerometer have been used the ADC of three 16 by respectively；Major function is that the analog quantity of its measurement is converted into exportable digital quantity, and carries out communication by I2C interface and main control module 1；It connects with P0.0 and the P4.6 pin of single-chip microcomputer。
The power supply related in the present embodiment and mu balanced circuit 4 are 3.7V high magnification model airplane battery and voltage raising and reducing circuit (as shown in Figure 5), and this circuit is the standard operating voltage that the supply voltage of 3.7V first boosts to the supply modules obtained after then 5V is depressured to 3.3V again。
The motor and the driving module 5 that relate in the present embodiment are high speed hollow-cup motor and metal-oxide-semiconductor (as shown in Figure 6), it adopts high speed hollow-cup motor to be power set, voltage x current excessive generation amount of heat during due to motor working at high speed, therefore adopts metal-oxide-semiconductor as power tube；It connects with P2.1, P2.2, P2.3, P3.7 pin of single-chip microcomputer。
Embodiment 2:
The present embodiment is for the modular control panel for quadrotor described in embodiment 1, and its specific works flow process is:
(1) normal operation that power supply and mu balanced circuit 4 are panel modules provides suitable power supply, panel initializes each module opens interrupters after powering on, if now receiving calibration signal, gyroscope 3 is zeroed out, otherwise main control module 1 receives from the data of gyro module 3 and carries out Kalman filter, quaternary number is utilized to calculate inclination angle to obtain the attitude of current quadrotor, apply the quadrotor flight control method (i.e. proportional integral differential control) based on digital PID, by selecting control gain to make system realize expected performance, it is adjusted obtaining better performance to the parameter of quadrotor by upper computer software；Described PID formula is as follows:
Wherein Uk is total control action that system produces；EkFor current system deviation；EjPast value for system deviation；Ek-ek-1Difference for current system deviation with system deviation last time；Kp is proportional control factor, can accelerate the response speed of system, improves the degree of regulation of system, overcomes interference performance relatively strong, controls in time, and transit time is short, but at the end there is remaining difference in transient process；Ki is integral adjustment coefficient, and the power of reflection integral action, integral action can make system stability reduce, but nothing left is poor when transient process terminates；Kd is differential adjustment factor, the power of the reflection differential action, can improve the dynamic property of system, and the differential action can produce advanced control action, it is possible to reduce overshoot, reduces regulating time, but noise jamming is had amplification；
(2) main control module 1 exports 4 road pwm signals by four motors work of four metal-oxide-semiconductors drivings to adjust quadrotor attitude according to pid algorithm, simultaneously gyro module 3 continues detection current flight angle feed-back to main control module 1 to realize the Real-time and Dynamic adjustment of quadrotor attitude, and wireless module 2 receives the data of the remote controller being independently arranged from outside and sends into and carry out in main control module 1 processing to perform corresponding action；Such as make the pwm signal that main control module 1 exports change the adjustment with human intervention attitude, if quadrotor does not receive remote controller signal for a long time, lost-control protection stable landing can be triggered。
Embodiment 3:
The flight panel upper computer software of current quadrotor, it is primarily directed to the STM32 single-chip microcomputer design of the AVR single chip of 16 and 32, the flight panel upper computer software of homemade chip IAP15W4K58S4 single-chip microcomputer and main control module 1 not quadrotor；Therefore the present embodiment devises the upper computer software for main control module 1 homemade chip IAP15W4K58S4 single-chip microcomputer；The modular control panel of described quadrotor can connect upper computer software by USB interface, it is achieved regulates or revise the function of quadrotor pid parameter and display flight attitude；The upper computer software of described connection main control module 1 include flight attitude show and flight attitude control two parts:
(1) flight attitude shows (idiographic flow is as shown in Figure 7)
Implement process as follows:
Step one: start, open upper computer software (Main form is as shown in Figure 8)。
Step 2: initializers, including:
Load host computer interface；
Load 3D model control (3D model control is as shown in Figure 9)
Step 3: serial ports of computers is set and controls parameter, including:
Serial port number is set
Baud rate is set
Serial port is set
Step 4: judge whether serial ports is opened, if serial ports is opened, then performs step 5, otherwise continues executing with the judgement operation of step 4, until serial ports is opened；
Step 5: receive the real-time angular value (roll angle of aircraft, the angle of pitch and course angle) measured by the packet that transmits of modular control panel of quadrotor and gyro module 3, namely read the packet that slave computer is transmitted by serial ports；
Step 6: judge whether packet verification is qualified, namely judges that whether the data in packet are complete；If it is qualified to verify, then perform step 7, otherwise forward step 4 to and continue executing with judgement operation, until packet verification is qualified；
Step 7: decoded packet data, can obtain, by decoding, the flight attitude information that main control module 1 sends；
Step 8: judge that these real-time angular values measured by gyro module 3 change either with or without the data that relative last time reads, if not changing, then forwards step 4 to, otherwise enters step 9；
Step 9: attitude shows, the real-time angular information of reading is passed to 3D model control by upper computer software, and 3D model control shows attitude according to the value of the roll angle passed over, the angle of pitch and course angle, completes the function of display flight attitude；
Step 10: terminate。
(2) flight attitude controls
Upper computer software is by adjusting the pid parameter (specifically as shown in Figure 10) of the modular control panel for quadrotor, it is achieved the gesture stability of quadrotor；It is as follows that described pid parameter regulates process:
Step one: start, open upper computer software；
Step 2: initializers, loads host computer interface；
Step 3: serial ports controls parameter and arranges, including:
Serial port number is set
Baud rate is set
Serial port is set
Step 4: judge whether serial ports is opened, if serial ports is opened, then performs step 5, otherwise continues executing with the judgement operation of step 4, until serial ports is opened；
Step 5: judge whether user inputs instruction code, if user has inputted instruction code, then performs step 6, otherwise continues executing with the judgement operation of step 5, until user input instruction code (instruction code is as shown in figure 11)；
Described instruction code implication is:
Instruction 1 shows the value of current Kp parameter
The value of Kp parameter is revised in instruction 2
Instruction 3 shows the value of current Kd parameter
The value of Kd parameter is revised in instruction 4
Instruction 5 starts angles of display waveform
Instruction 6 terminates
Step 6: judge that whether the order that user inputs is effective, namely judges that whether the form of the order that user inputs is correct；If the form of order is incorrect, then prompting user re-enters order and forwards step 5 to, if the form of order is correctly, performs step 7；
Step 7: according to order amendment parameter, namely the order of the amendment pid parameter of user's input is received, it is to revise which parameter according to command determination user, and parameter modification is become the value that user inputs, information judgement drawn by serial ports is sent to main control module 1 by upper computer software, main control module 1 is according to judging that the information drawn revises pid parameter, it is achieved regulate or revise the purpose of quadrotor pid parameter；Revisable parameter includes Kp and Kd:
Kp is proportional control factor, can accelerate the response speed of system, improves the degree of regulation of system, overcomes interference performance relatively strong, controls in time, and transit time is short, but at the end there is remaining difference in transient process；
Kd is differential adjustment factor, the power of the reflection differential action, can improve the dynamic property of system。The differential action can produce advanced control action, it is possible to reduce overshoot, reduces regulating time；But noise jamming there is is amplification；
Step 8: terminate。
The above, be only the specific embodiment of the present invention, but protection scope of the present invention be not limited thereto；Any those skilled in the art of belonging in the technical scope that the invention discloses, the change that can readily occur in or replacement, all should be encompassed within protection scope of the present invention。
Claims (7)
1. the modular control panel for quadrotor, it is characterized in that agent structure includes main control module, wireless module, gyro module, power supply and mu balanced circuit, motor and driving module, power supply and mu balanced circuit respectively with main control module, wireless module, gyro module and motor and driving module electrically connect to provide power supply, main control module respectively with wireless module, gyro module and motor and driving module electrically connect, for accepting and processing the data message from wireless module and gyro module, wireless module is responsible for transmission control information, gyro module is used for detecting flight attitude, motor and driving module provide power for aircraft under the pwm signal that main control module produces controls；Carry out data transmission communication by I2C agreement between main control module and gyro module, between main control module and wireless module, carry out data transmission communication by SPI protocol, to realize the modular of quadrotor is controlled。
2. the modular control panel for quadrotor according to claim 1, it is characterised in that described main control module is 8 single-chip microcomputers of model IAP15W4K58S4；Major function is that reception from the angle information of gyro module and solves quaternary number to draw current pose, and produces four road pwm signals control motor speeds to reach to regulate the purpose of quadrotor attitude according to control algolithm。
3. the modular control panel for quadrotor according to claim 1, it is characterized in that described wireless module is NRF24L01 chip, this chip is the monolithic wireless transceiver chip being operated in 2.4GHz-2.5GHzISM frequency range, and function is to receive the instruction of the remote controller from outside separate configurations and be sent to main control module；Wireless module connects with P6.1, P6.2, P6.3, P1.0, P1.1, P4.7 pin of main control module single-chip microcomputer。
4. the modular control panel for quadrotor according to claim 1, it is characterized in that described gyro module is MPU6050, MPU6050 is six axle motion process sensors, it is integrated with three axis MEMS gyro, 3 axis MEMS accelerometer, gyroscope and accelerometer have been used respectively the ADC of three 16, function is that the analog quantity of its measurement is converted into exportable digital quantity, and carries out communication by I2C interface and main control module；Gyro module connects with P0.0 and the P4.6 pin of main control module single-chip microcomputer。
5. the modular control panel for quadrotor according to claim 1, it is characterised in that described power supply and mu balanced circuit are 3.7V high magnification model airplane battery and voltage raising and reducing circuit；The supply voltage of 3.7V is first boosted to after then 5V is depressured to 3.3V again to obtain the standard operating voltage of supply modules by it。
6. the modular control panel for quadrotor according to claim 1, it is characterised in that described motor and driving module are high speed hollow-cup motor and metal-oxide-semiconductor, and adopting high speed hollow-cup motor is power set, and employing metal-oxide-semiconductor is power tube；Motor and driving module connect with P2.1, P2.2, P2.3, P3.7 pin of main control module single-chip microcomputer。
7. the modular control panel for quadrotor according to claim 1, it is characterized in that modular control panel can connect upper computer software by USB interface, described upper computer software include flight attitude show and flight attitude control two parts, with realize respectively regulate or amendment quadrotor pid parameter with display flight attitude function。
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