CN108664036A - A kind of unmanned aerial vehicle control system and unmanned aerial vehicle (UAV) control method - Google Patents
A kind of unmanned aerial vehicle control system and unmanned aerial vehicle (UAV) control method Download PDFInfo
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- CN108664036A CN108664036A CN201810716353.XA CN201810716353A CN108664036A CN 108664036 A CN108664036 A CN 108664036A CN 201810716353 A CN201810716353 A CN 201810716353A CN 108664036 A CN108664036 A CN 108664036A
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- 238000005259 measurement Methods 0.000 claims description 37
- 238000009826 distribution Methods 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 8
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- 230000004927 fusion Effects 0.000 claims description 4
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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
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned aerial vehicle control systems, are applied to multi-rotor unmanned aerial vehicle, the system comprises：Controlling bus, at least two distributed winged controls and data exchange unit, wherein the controlling bus is connect with described at least two distributed winged controls and the data exchange unit；Described at least two distributed winged controls are adjusted with the electricity in the rotor of the multi-rotor unmanned aerial vehicle respectively to be connected；The data exchange unit is connect with peripheral hardwares such as multiple sensors, remote controlers.The embodiment of the present invention additionally provides a kind of unmanned aerial vehicle (UAV) control method.The advantage of the invention is that：Using the embodiment of the present invention, mobility, battery compatibility, modularization and the produceability of unmanned plane can be improved.
Description
Technical field
The present invention relates to a kind of unmanned aerial vehicle control system, it is more particularly to a kind of unmanned aerial vehicle control system and unmanned aerial vehicle (UAV) control
Method.
Background technology
Multi-rotor unmanned aerial vehicle be a kind of tool there are three and its special unmanned hang of the above rotor shaft be unmanned plane, it can
To be remotely controlled flight or program-controlled autonomous flight, take photo by plane, agricultural, the fields such as military affairs are widely used.
Currently, common multi-rotor unmanned aerial vehicle is mainly by the mechanical, electrical tune of electricity, battery, blade, rack, winged control, remote controler structure
At there are one electricity reconciliation motors for each rotor shaft tool.Fly the core component that control is multi-rotor unmanned aerial vehicle, mainly by MCU
(Microcontroller Unit, micro-control unit), accelerometer, gyroscope, magnetometer, barometer, wireless receiving module
Equal components composition.Fly control by the data of each road sensor of acquisition, the current pose of unmanned plane is resolved, nobody is calculated
The current pose of machine；Then PID (proportion integral derivative, proportional integral differential distribution fly control) root
The control data and current pose data sent according to remote controler, calculate controlled quentity controlled variable；Controlled quentity controlled variable is converted to PWM (Pulse by MCU
Width Modulation, pulse width modulation) electric tune is sent to after signal.Electricity adjusts the pwm signal for receiving and flying control output, in turn
Corresponding motor is controlled according to the signal, motor drives rotor, to be adjusted to flight attitude, flying speed.
But existing multi-rotor unmanned aerial vehicle flies control progress centralized control using center carries out each rotor
Control, when rotor quantity is larger, the complexity for control of flying increases sharply, and the calculated load of MCU also accordingly increases, and then leads
It causes the calculating process of MCU long, so that the refresh rate for being sent to the control instruction that rotor powers on tune is reduced, eventually lead to unmanned plane
Mobility is deteriorated
In addition, the remote transmission of multi-channel PWM control signal will reduce the Electro Magnetic Compatibility and manufacture complexity of complete machine.
Invention content
Technical problem to be solved by the present invention lies in providing a kind of unmanned aerial vehicle control system and unmanned aerial vehicle (UAV) control method,
To solve the poor equal technical problem of above-mentioned UAV Maneuver in the prior art.
The present invention is to solve above-mentioned technical problem by the following technical programs：
An embodiment of the present invention provides a kind of unmanned aerial vehicle control systems, are applied to multi-rotor unmanned aerial vehicle, the system comprises：
Controlling bus, at least two distributed winged controls, at least one data exchange unit, wherein
The controlling bus is connect with described at least two distributed winged controls and the data exchange unit；
Described at least two distributed winged controls are adjusted with the electricity in the rotor of the multi-rotor unmanned aerial vehicle respectively to be connected；
The data exchange unit is connect with each sensor.
Optionally, the distributed quantity for flying control is identical as the rotor quantity of the multi-rotor unmanned aerial vehicle, and each
Distribution flies control and each rotor of the unmanned plane is arranged in a one-to-one correspondence.
Optionally, the rotor quantity of the multi-rotor unmanned aerial vehicle is at least four.
Optionally, each described data exchange unit is connected at least one sensor；
Optionally, the sensor includes at least one of accelerometer, gyroscope, magnetometer, barometer.
Optionally, the data exchange unit is also connect with the peripheral apparatus of the unmanned plane, wherein the peripheral apparatus packet
Include remote control peripheral apparatus.
The embodiment of the present invention additionally provides a kind of unmanned aerial vehicle (UAV) control based on unmanned aerial vehicle control system described in any of the above-described
Method, the method includes：
The data exchange unit acquires the measurement data of the sensor, and the measurement data is issued in data/address bus
On；
The distributed unmanned plane operating mode and the measurement data meter for flying to control that basis is obtained from controlling bus
The controlled quentity controlled variable of itself corresponding rotor is calculated, and corresponding motor is controlled according to the control amount；
The data exchange unit obtains unmanned plane real time status information from data/address bus, and by the real time status information
Equipment can be shown by being sent to.
Optionally, the data exchange unit is additionally operable to obtain telecommand, and by the telecommand and the measurement number
On the data bus according to publication.
Optionally, data exchange unit by the measurement data of acquisition, control data publication on the data bus, wherein measure
Data include：At least one of barometric information, gyro data, accelerometer data；
Distribution flies control and carries out data fusion to gyro data, accelerometer data, obtains angular velocity measurement value；
Angle ring PID controller calculates angular velocity desired value according to calculated expected angle and angular velocity measurement value；
Angular speed ring PID controller calculates attitude control quantity；
If unmanned plane is in the manual mode in control model, motor is according to attitude control quantity and manual mode setting value
It is acted；
If the unmanned plane is after the barometric information and removal gravity when determining height mode, measured according to baroceptor
Z axis acceleration carries out height estimation, exports Height Estimation value；
Z axis height PID controller exports practical throttle value, and then motor is carried out according to practical throttle value and attitude control quantity
Action.
Optionally, described to issue the telecommand and the measurement data on the data bus, including：
According to predetermined period, on the data bus by measurement data publication.
Optionally, the calculation expression of the predetermined period is：
Wherein,
T is predetermined period；K is the quantity of rotor possessed by the multi-rotor unmanned aerial vehicle, and k is whole more than or equal to 2
Number；E is natural Exponents.
Optionally, the rotating speed of motor on the rotor, on the rotor motor rotation angle, the mark of the rotor letter
At least one of breath.
The present invention has the following advantages compared with prior art：
Using the embodiment of the present invention, at least two distributed winged controls, each distribution are provided in multi-rotor unmanned aerial vehicle
Fly the data that control obtains the sensor of unmanned plane by data/address bus, the winged control of distribution controls each from corresponding rotor, phase respectively
For only flying the control that control carries out unmanned plane with a distribution in the prior art, calculation amount is shared into multiple distributed winged controls
In, the single distributed calculation amount for flying control is reduced, improving the refresh rate of control instruction reduces, and then improves unmanned plane
Mobility；Pwm signal circuit is shortened, Electro Magnetic Compatibility is improved, the winged control connected by bus, connection is simple, easily extends,
To further improve produceability.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of unmanned aerial vehicle control system provided in an embodiment of the present invention；
Fig. 2 is a kind of principle schematic of unmanned aerial vehicle control system provided in an embodiment of the present invention.
Specific implementation mode
It elaborates below to the embodiment of the present invention, the present embodiment is carried out lower based on the technical solution of the present invention
Implement, gives detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
An embodiment of the present invention provides a kind of unmanned aerial vehicle control system and unmanned aerial vehicle (UAV) control methods.It is just of the invention first below
A kind of unmanned aerial vehicle control system that embodiment provides is introduced.
It is emphasized that the embodiment of the present invention is preferably applied to a kind of unmanned aerial vehicle control system, be applied to more rotors without
It is man-machine.
In a first aspect, Fig. 1 is a kind of structural schematic diagram of unmanned aerial vehicle control system provided in an embodiment of the present invention；Fig. 2 is
A kind of principle schematic of unmanned aerial vehicle control system provided in an embodiment of the present invention；As depicted in figs. 1 and 2, the system comprises：
Controlling bus, at least two distributed winged controls, at least one data exchange unit, wherein
The controlling bus is connect with described at least two distributed winged controls and the data exchange unit；
Described at least two distributed winged controls are adjusted with the electricity in the rotor of the multi-rotor unmanned aerial vehicle respectively to be connected；
The data exchange unit is connect with each sensor.
Specifically, multi-rotor unmanned aerial vehicle includes N number of rotor, and each, two or more rotors are corresponding with
One control subsystem, for example, control subsystem 1 is to adjust 1, distributed winged control 1 by the propeller 1, motor 1, electricity being sequentially connected in series
Composition；And 1 it is distributed fly control and be connected on data/address bus, data exchange unit is also associated on data/address bus, data exchange unit can
To be connected with sensor and other peripheral hardwares, such as telecontrol antenna.
Data exchange unit 1 obtains detection data from sensor, control data is obtained from telecontrol antenna, then by these
On the data bus, distribution flies the data that control 1 obtains oneself needs from data/address bus to data publication, such as the detection of sensor
Data control data, then according to control data, the current state of the rotor itself controlled and rotor relative to unmanned plane
The data such as position, calculate and be sent to the control data that corresponding electricity is adjusted, electricity adjusts 1 to control propeller 1 according to control data are received.
In addition, data exchange unit 1 also by itself calculate control data publication on the data bus, as other distributions
Fly the calculation basis of control.
In addition, in the prior art, existing each electricity is adjusted flies control connection by data line and center, and center is caused to fly control
Input and output connecting line it is more, interference is easy tod produce between each data line, so cause fly control electronics poor compatibility, especially
It is more in the quantity of rotor, and when reaching 8 or more, this phenomenon is especially prominent, and using the embodiment of the present invention, each winged control is only
It adjusts and connects with data/address bus and corresponding electricity, simplify the wire structures of unmanned plane, and then improve the distributed electronics for flying control
Compatibility.
Using the embodiment of the present invention, the winged control connected by bus, connection is simple, easily extends, to further improve
Produceability., battery compatibility, modularization and produceability.
In a kind of specific implementation mode of the embodiment of the present invention, the distributed quantity for flying control and more rotors without
Man-machine rotor quantity is identical, and each distribution flies control and each rotor of the unmanned plane is arranged in a one-to-one correspondence.
As shown in Figure 1, each rotor is corresponding, there are one control subsystems, can reduce the distributed calculating for flying control
Amount improves the refresh rate of control data, and then improves the mobility of unmanned plane.
In a kind of specific implementation mode of the embodiment of the present invention, the rotor quantity of the multi-rotor unmanned aerial vehicle is at least 4
It is a.
In a kind of specific implementation mode of the embodiment of the present invention, the quantity of the data exchange unit is at least two；And
Sensor is only connect with a data exchange unit.In practical applications, sensor -1, sensor -2 can be connected to data exchange
On device -1；Sensor -3 can be connected on data exchange unit -2；Sensor -4 can be connected on data exchange unit -3；Sensing
Device -5, sensor -6, sensor -7 can be connected on data exchange unit -4.
In a kind of specific implementation mode of the embodiment of the present invention, the sensor includes accelerometer, gyroscope, magnetic
At least one of power meter, barometer.
In a kind of specific implementation mode of the embodiment of the present invention, peripheral hardware of the data exchange unit also with the unmanned plane
Equipment connects, wherein the peripheral apparatus includes remote control peripheral apparatus.In practical applications, remote controler antenna can with it is independent
Data exchange unit connection, can also be connected on the data exchange unit for being connected with sensor.
Second aspect, the embodiment of the present invention additionally provide a kind of unmanned aerial vehicle (UAV) control system based on first aspect present invention embodiment
The unmanned aerial vehicle (UAV) control method of system, the method includes：
The data exchange unit acquires the measurement data of the sensor, and the measurement data is issued in data/address bus
On；
The distributed unmanned plane operating mode and the measurement data meter for flying to control that basis is obtained from controlling bus
The controlled quentity controlled variable of itself corresponding rotor is calculated, and corresponding motor is controlled according to the control amount；
The data exchange unit obtains unmanned plane real time status information from data/address bus, and by the real time status information
Equipment can be shown by being sent to.
As shown in Fig. 2, data exchange unit, sensor, remote controler form information exchange unit, information exchange unit will obtain
Measurement data publication on the data bus, wherein measurement data may include：Barometric information, gyro data, accelerometer
Data (angle measurement) etc..Then, data fusion is carried out to gyro data, accelerometer data, obtains angular velocity measurement
Value.And then calculate expected angle according to preset control data, angle ring PID controller according to calculated expected angle with
Angular velocity measurement value calculates angular velocity desired value, and then angular speed ring PID controller calculates attitude control quantity.If unmanned plane
The barometric information measured according to baroceptor when determining height mode in control model and the Z axis acceleration after removal gravity
Degree carries out height estimation, exports Height Estimation value, and then Z axis height PID controller exports practical throttle value, then motor according to
Practical throttle value and attitude control quantity are acted.It should be noted that the calculating process of each design parameter in Fig. 2 is existing
There is technology.
Using the above embodiment of the present invention, unmanned aerial vehicle (UAV) control can be carried out under the pattern of program-controlled flight.
In a kind of specific implementation mode of the embodiment of the present invention, the data exchange unit is additionally operable to obtain telecommand,
And on the data bus by the telecommand and measurement data publication.
As shown in Fig. 2, data exchange unit, sensor, remote controler form information exchange unit, information exchange unit will obtain
Measurement data, control data publication on the data bus, wherein measurement data may include：Barometric information, gyroscope number
According to, accelerometer data (angle measurement) etc..
Then, distributed to fly control to gyro data, accelerometer data progress data fusion, obtain angular velocity measurement
Value；And then calculate expected angle according to preset control data, angle ring PID controller according to calculated expected angle with
Angular velocity measurement value calculates angular velocity desired value, and then angular speed ring PID controller calculates attitude control quantity.If unmanned plane
When manual mode in control model, motor is acted according to attitude control quantity and manual mode set amount.If place
When determining height mode, the Z axis acceleration after the barometric information and removal gravity that are measured according to baroceptor carries out height estimation,
Height Estimation value is exported, then Z axis height PID controller exports practical throttle value, and then motor is according to practical throttle value and appearance
State controlled quentity controlled variable is acted.It should be noted that it is existing for the calculating process of each design parameter that the distribution in Fig. 2, which flies control,
There is technology.It is understood that aforementioned " manual mode " is remote control mode, i.e. unmanned plane receives remote-control data by antenna.
Using the above embodiment of the present invention, unmanned aerial vehicle (UAV) control can be carried out under the pattern of remote control distributor and program-controlled flight.
It is described to send out the telecommand and the measurement data in a kind of specific implementation mode of the embodiment of the present invention
Cloth on the data bus, including：
According to predetermined period, on the data bus by measurement data publication.
Specifically, data exchange unit 1 can be total in data by the data publication obtained from each sensor 1, telecontrol antenna
On line.Data exchange unit 2 can be by the data publication obtained from each sensor 2, each sensor 3 on the data bus.It answers
With the above embodiment of the present invention, the data on data/address bus can be updated.
In a kind of specific implementation mode of the embodiment of the present invention, the calculation expression of the predetermined period is：
Wherein,
T is predetermined period；K is the quantity of rotor possessed by the multi-rotor unmanned aerial vehicle, and k is whole more than or equal to 2
Number；E is natural Exponents.
Specifically, when the quantity of the rotor of unmanned plane is 10, T=e-2.5, then primary sensing is issued every 0.082s
The measurement data of device.
It using the above embodiment of the present invention, can be reduced the period of data publication, improved according to the increase of the quantity of rotor
The refresh rate of the data such as measurement data and/or telecommand, and then make the distributed data for flying the data that control obtains and being newer,
To improve the control accuracy of unmanned plane.
In a kind of specific implementation mode of the embodiment of the present invention, the data exchange unit will control the control data of rotor
Publication is on the data bus, wherein the control data bag includes：The rotating speed of motor on the rotor, motor on the rotor
At least one of the identification information of rotation angle, the rotor.
Specifically, data exchange unit 1 can also exist the distributed control data publication for motor 1 for flying 1 calculating of control
On data/address bus, data exchange unit 2 can also be by the distributed control data publication for motor 2 for flying 2 calculating of control in data
In bus, the calculation basis to fly control as other distributions.
Using the above embodiment of the present invention, can make each distributed foundation others for flying control fly the result of calculation of control into
Row calculates, and improves the control accuracy of unmanned plane.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (12)
1. a kind of unmanned aerial vehicle control system, which is characterized in that it is applied to multi-rotor unmanned aerial vehicle, the system comprises：Controlling bus,
At least two distributed winged controls and data exchange unit, wherein
The controlling bus is connect with described at least two distributed winged controls and the data exchange unit；
Described at least two distributed winged controls are adjusted with the electricity in the rotor of the multi-rotor unmanned aerial vehicle respectively to be connected；
The data exchange unit is connect with each sensor.
2. a kind of unmanned aerial vehicle control system according to claim 1, which is characterized in that the distributed quantity for flying control with
The rotor quantity of the multi-rotor unmanned aerial vehicle is identical, and each distribution flies to control with each rotor of the unmanned plane one by one
It is correspondingly arranged.
3. a kind of unmanned aerial vehicle control system according to claim 2, which is characterized in that the rotor of the multi-rotor unmanned aerial vehicle
Quantity is at least four.
4. a kind of unmanned aerial vehicle control system according to claim 1, which is characterized in that each described data exchange unit connects
It is connected at least one sensor.
5. a kind of unmanned aerial vehicle control system according to claim 1, which is characterized in that the sensor includes acceleration
At least one of meter, gyroscope, magnetometer, barometer.
6. a kind of unmanned aerial vehicle control system according to claim 1, which is characterized in that the data exchange unit also with it is described
The peripheral apparatus of unmanned plane connects, wherein the peripheral apparatus includes remote control peripheral apparatus.
7. a kind of unmanned aerial vehicle (UAV) control method based on any one of the claim 1-6 unmanned aerial vehicle control systems, which is characterized in that
The method includes：
The data exchange unit acquires the measurement data of the sensor, and on the data bus by measurement data publication；
The distribution flies control and is calculated certainly according to the unmanned plane operating mode and the measurement data that are obtained from controlling bus
The controlled quentity controlled variable of the corresponding rotor of body, and corresponding motor is controlled according to the control amount；
The data exchange unit obtains unmanned plane real time status information from data/address bus, and the real time status information is sent
It can extremely show equipment.
8. the unmanned aerial vehicle (UAV) control method of unmanned aerial vehicle control system according to claim 7, which is characterized in that the data are handed over
Parallel operation is additionally operable to obtain telecommand, and on the data bus by the telecommand and measurement data publication.
9. the unmanned aerial vehicle (UAV) control method of unmanned aerial vehicle control system according to claim 8, which is characterized in that
Data exchange unit by the measurement data of acquisition, control data publication on the data bus, wherein measurement data includes：Gas
Press at least one of data, gyro data, accelerometer data；
Distribution flies control and carries out data fusion to gyro data, accelerometer data, angular velocity measurement value is obtained, according to default
Control data calculate expected angle；
Angle ring PID controller calculates angular velocity desired value according to calculated expected angle and angular velocity measurement value；
Angular speed ring PID controller calculates attitude control quantity；
If unmanned plane is in the manual mode in control model, motor is worth according to attitude control quantity and manually setting into action
Make；
If Z axis of the unmanned plane after the barometric information and removal gravity when determining height mode, measured according to baroceptor
Acceleration carries out height estimation, exports Height Estimation value；
Z axis height PID controller exports practical throttle value, then motor according to practical throttle value and attitude control quantity into action
Make.
10. the unmanned aerial vehicle (UAV) control method of unmanned aerial vehicle control system according to claim 8, which is characterized in that described by institute
State telecommand and measurement data publication on the data bus, including：
According to predetermined period, on the data bus by measurement data publication.
11. the unmanned aerial vehicle (UAV) control method of unmanned aerial vehicle control system according to claim 10, which is characterized in that described default
The calculation expression in period is：
Wherein,
T is predetermined period；K is the quantity of rotor possessed by the multi-rotor unmanned aerial vehicle, and k is the integer more than or equal to 2；e
For natural Exponents.
12. the unmanned aerial vehicle (UAV) control method of unmanned aerial vehicle control system according to claim 7, which is characterized in that the control
Data include：The rotating speed of motor on the rotor, on the rotor in the rotation angle of motor, the identification information of the rotor
It is at least one.
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