CN110134133A - A kind of more rotor automatic control UAV system - Google Patents
A kind of more rotor automatic control UAV system Download PDFInfo
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- CN110134133A CN110134133A CN201910442087.0A CN201910442087A CN110134133A CN 110134133 A CN110134133 A CN 110134133A CN 201910442087 A CN201910442087 A CN 201910442087A CN 110134133 A CN110134133 A CN 110134133A
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- 230000010354 integration Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000008054 signal transmission Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000000465 moulding Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is a kind of more rotor automatic control UAV system, including multi-rotor unmanned aerial vehicle and ground base station system, it is characterized in that, the inside of the multi-rotor unmanned aerial vehicle includes flight attitude control module, signal transmission module, task scheduling modules, power supply module, photographing module and navigation integration module.The present invention is by using the output controller based on dynamic surface internal mold method, position control is carried out to multi-rotor unmanned aerial vehicle, it improves and resists asymptotic interference performance, using the Attitude Controller of high_order sliding mode control method, flight attitude sensor is used in photographing module, tie surface base station system, solve the problems, such as that flight stability is undesirable, in the case where there is wind, reduce and occurs the case where serious drift in multi-rotor unmanned aerial vehicle flight course, it realizes quickly arrival observation place and is observed task, improve the working efficiency of rotor wing unmanned aerial vehicle, and then meet the work requirements of current multi-rotor unmanned aerial vehicle.
Description
Technical field
The present invention relates to UAV system technical fields more particularly to a kind of more rotors to automatically control UAV system.
Background technique
With constantly improve for China's science and technology, unmanned vehicle also receives extensive attention and application, nobody
It drives an airplane referred to as " unmanned plane ", at present to be applied to aeroplane photography, the condition of a disaster monitoring, traffic patrolling, security monitoring, monitoring infection
The fields such as disease, express transportation, observation wild animal, electric inspection process, movies-making, news report, not with market application trend
Disconnected development, the performance of unmanned plane constantly enhances, type is increasing.
Unmanned plane is to utilize the not manned aircraft of radio robot and the presetting apparatus provided for oneself manipulation, Huo Zheyou
Car-mounted computer fully or intermittently automatically operates, wherein multi-rotor unmanned aerial vehicle, can phase indoors because of its mobility strong
To narrow space fly, it is high-efficient the advantages that and be widely used.
Multi-rotor unmanned aerial vehicle is a kind of tool there are three and the above rotor shaft special pilotless helicopter.It passes through
Motor rotation on each axis drives rotor, to generate a liter thrust.Rotor always away from fixation, rather than general helicopter
It is variable like that.Multi-rotor unmanned aerial vehicle is by changing the relative rotation speed between different rotors, thus it is possible to vary the size of uniaxial propulsive force,
To control the running track of aircraft.
In the prior art, the path planning of multi-rotor unmanned aerial vehicle is the core technology for realizing multi-rotor unmanned aerial vehicle autonomous flight
One of, it needs to consider that navigation accuracy, mobility, environmental constraints, energy consumption, flight time and barrier threat etc. are various
Factor cooks up a collisionless from starting point to target point for multi-rotor unmanned aerial vehicle and optimizes air route.
Resist asymptotic interference performance low however, current most of multi-rotor unmanned aerial vehicle systems exist, flight stability is undesirable
The problem of, in the case where there is wind, it will appear serious drift phenomenon in multi-rotor unmanned aerial vehicle flight course, it is not competent quick
Reach observation place and be observed task, seriously affect the working efficiency of multi-rotor unmanned aerial vehicle, be unable to satisfy current more rotors without
Man-machine work requirements.
Summary of the invention
Present invention seek to address that the deficiencies in the prior art, and a kind of more rotor automatic control UAV system are provided.
The present invention to achieve the above object, using following technical scheme:
A kind of more rotor automatic control UAV system, including multi-rotor unmanned aerial vehicle and ground base station system, feature exist
In the inside of the multi-rotor unmanned aerial vehicle includes flight attitude control module, signal transmission module, task scheduling modules, power supply
Module, photographing module and navigation integration module, the power supply module are passed with the flight attitude control module, the signal respectively
Defeated module, the task scheduling modules, the photographing module, the navigation integration module are connected by conducting wire,
The power supply module is used as system power supply, the flight appearance by the way of built-in rechargeable battery and external power supply
State control module is connect with the ground base station system by wireless signal, and the flight attitude control module includes flight attitude
Controller and output controller, the output controller, which uses, is based on dynamic surface internal mold method, and the Attitude Controller uses
High_order sliding mode control method,
The signal transmission module includes video transmission module and audio transmission module, the video transmission module and described
Audio transmission module is connect with the photographing module,
The task scheduling modules include task creation unit, Task Progress unit and task feedback unit, the task
Scheduler module passes through wireless signal with the Attitude Controller, the ground base station system respectively and connect,
The photographing module includes flight attitude sensor and camera, the camera and the flight attitude sensor
Electrical connection, the flight attitude sensor and the Attitude Controller are by being wirelessly connected, the flight attitude sensor
When detecting that the flight angle of the multi-rotor unmanned aerial vehicle is more than preset value, the Attitude Controller regulates and controls more rotors
The flight path of unmanned plane,
For the navigation integration module by wirelessly connecting with the ground base station system, the navigation integration module includes thunder
Pass through wireless signal and the ground base station system respectively up to navigation and satellite navigation, the radar navigation and the satellite navigation
Connection.
Preferably, the ground base station system is that computer or smart phone control.
Preferably, the signal transmission module is transmitted using WIFI signal.
Preferably, the flight attitude sensor using Euler's horn cupping or Quaternion Method to the multi-rotor unmanned aerial vehicle into
Row Posture acquisition.
Preferably, the satellite navigation is in Beidou satellite navigation system, GPS navigation system or Galileo navigation system
Any one.
The beneficial effects of the present invention are: the present invention provides a kind of more rotor automatic control UAV system, by using base
In the output controller of dynamic surface internal mold method, position control is carried out to multi-rotor unmanned aerial vehicle, realizes position tracking response speed
Fastly, it improves and resists asymptotic interference performance, ensure that the purpose of multi-rotor unmanned aerial vehicle asymptotic tracking desired guiding trajectory, using High-Order Sliding Mode
The Attitude Controller of control method uses flight attitude sensor in photographing module, and tie surface base station system effectively disappears
Except system chatter, each state variable finite time convergence control is realized, solves the problems, such as that flight stability is undesirable, is there is wind
In the case of, reduce and occur the case where serious drift in multi-rotor unmanned aerial vehicle flight course, realizes and quickly reach observation place
It is observed task, improves the working efficiency of rotor wing unmanned aerial vehicle, and then meets the work requirements of current multi-rotor unmanned aerial vehicle.
Detailed description of the invention
Fig. 1 is system block diagram of the invention；
It is described in detail below with reference to the embodiment of the present invention referring to attached drawing.
Specific embodiment
Below with reference to embodiment, the invention will be further described:
A kind of more rotor automatic control UAV system, including multi-rotor unmanned aerial vehicle and ground base station system, feature exist
In the inside of the multi-rotor unmanned aerial vehicle includes flight attitude control module, signal transmission module, task scheduling modules, power supply
Module, photographing module and navigation integration module, the power supply module are passed with the flight attitude control module, the signal respectively
Defeated module, the task scheduling modules, the photographing module, the navigation integration module are connected by conducting wire,
The power supply module is used as system power supply, the flight appearance by the way of built-in rechargeable battery and external power supply
State control module is connect with the ground base station system by wireless signal, and the flight attitude control module includes flight attitude
Controller and output controller, the output controller, which uses, is based on dynamic surface internal mold method, and the Attitude Controller uses
High_order sliding mode control method,
The signal transmission module includes video transmission module and audio transmission module, the video transmission module and described
Audio transmission module is connect with the photographing module,
The task scheduling modules include task creation unit, Task Progress unit and task feedback unit, the task
Scheduler module passes through wireless signal with the Attitude Controller, the ground base station system respectively and connect,
The photographing module includes flight attitude sensor and camera, the camera and the flight attitude sensor
Electrical connection, the flight attitude sensor and the Attitude Controller are by being wirelessly connected, the flight attitude sensor
When detecting that the flight angle of the multi-rotor unmanned aerial vehicle is more than preset value, the Attitude Controller regulates and controls more rotors
The flight path of unmanned plane,
For the navigation integration module by wirelessly connecting with the ground base station system, the navigation integration module includes thunder
Pass through wireless signal and the ground base station system respectively up to navigation and satellite navigation, the radar navigation and the satellite navigation
Connection.
Preferably, the ground base station system is that computer or smart phone control.
Preferably, the signal transmission module is transmitted using WIFI signal.
Preferably, the flight attitude sensor using Euler's horn cupping or Quaternion Method to the multi-rotor unmanned aerial vehicle into
Row Posture acquisition.
Preferably, the satellite navigation is in Beidou satellite navigation system, GPS navigation system or Galileo navigation system
Any one.
Embodiment 1
A kind of more rotor automatic control UAV system, including multi-rotor unmanned aerial vehicle and ground base station system, the ground
Base station system be computer control, the inside of the multi-rotor unmanned aerial vehicle include flight attitude control module, signal transmission module,
Task scheduling modules, power supply module, photographing module and navigation integration module, the power supply module respectively with the flight attitude control
Molding block, the signal transmission module, the task scheduling modules, the photographing module, the navigation integration module are by leading
Line connection, the power supply module are used as system power supply, the flight appearance by the way of built-in rechargeable battery and external power supply
State control module is connect with the ground base station system by wireless signal, and the flight attitude control module includes flight attitude
Controller and output controller, the output controller, which uses, is based on dynamic surface internal mold method, and the Attitude Controller uses
High_order sliding mode control method, the signal transmission module are transmitted using WIFI signal, and the signal transmission module includes that video passes
Defeated module and audio transmission module, the video transmission module and the audio transmission module are connect with the photographing module,
The task scheduling modules include task creation unit, Task Progress unit and task feedback unit, the task scheduling modules
Pass through wireless signal respectively with the Attitude Controller, the ground base station system to connect, the photographing module includes flying
Row attitude transducer and camera, the camera are electrically connected with the flight attitude sensor, the flight attitude sensor
With the Attitude Controller by be wirelessly connected, the flight attitude sensor using Euler's horn cupping to more rotors without
Man-machine carry out Posture acquisition, the flight attitude sensor detect that the flight angle of the multi-rotor unmanned aerial vehicle is more than preset value
When, the Attitude Controller regulates and controls the flight path of the multi-rotor unmanned aerial vehicle, and the navigation integration module passes through wireless
It is connect with the ground base station system, the satellite navigation is Beidou satellite navigation system, and the navigation integration module includes thunder
Pass through wireless signal and the ground base station system respectively up to navigation and satellite navigation, the radar navigation and the satellite navigation
Connection.
Embodiment 2
A kind of more rotor automatic control UAV system, including multi-rotor unmanned aerial vehicle and ground base station system, the ground
Base station system is smart phone control, and the inside of the multi-rotor unmanned aerial vehicle includes flight attitude control module, signal transmission mould
Block, task scheduling modules, power supply module, photographing module and navigation integration module, the power supply module respectively with the flight appearance
State control module, the signal transmission module, the task scheduling modules, the photographing module, the navigation integration module are logical
Conducting wire connection is crossed, the power supply module is used as system power supply by the way of built-in rechargeable battery and external power supply, described to fly
Row gesture stability module is connect with the ground base station system by wireless signal, and the flight attitude control module includes flight
Attitude controller and output controller, the output controller, which uses, is based on dynamic surface internal mold method, the Attitude Controller
Using high_order sliding mode control method, the signal transmission module is transmitted using WIFI signal, and the signal transmission module includes view
Frequency transmission module and audio transmission module, the video transmission module and the audio transmission module connect with the photographing module
It connects, the task scheduling modules include task creation unit, Task Progress unit and task feedback unit, the task schedule mould
Block passes through wireless signal with the Attitude Controller, the ground base station system respectively and connect, and the photographing module includes
Flight attitude sensor and camera, the camera are electrically connected with the flight attitude sensor, the flight attitude sensing
Device and the Attitude Controller are by being wirelessly connected, and the flight attitude sensor is using Quaternion Method to more rotors
Unmanned plane carries out Posture acquisition, and the flight attitude sensor detects that the flight angle of the multi-rotor unmanned aerial vehicle is more than default
When value, the Attitude Controller regulates and controls the flight path of the multi-rotor unmanned aerial vehicle, and the navigation integration module passes through nothing
Line is connect with the ground base station system, and the satellite navigation is GPS navigation system, and the navigation integration module includes that radar is led
Boat and satellite navigation, the radar navigation and the satellite navigation pass through wireless signal respectively and the ground base station system connects
It connects.
The present invention provides a kind of more rotor automatic control UAV system, by using the output based on dynamic surface internal mold method
Adjuster carries out position control to multi-rotor unmanned aerial vehicle, realizes position tracking fast response time, improve and resist asymptotic interference energy
Power ensure that the purpose of multi-rotor unmanned aerial vehicle asymptotic tracking desired guiding trajectory, using the flight attitude control of high_order sliding mode control method
Device processed uses flight attitude sensor in photographing module, and tie surface base station system effectively eliminates system chatter, realizes each
State variable finite time convergence control solves the problems, such as that flight stability is undesirable, in the case where there is wind, reduces more rotors
Occur the case where serious drift during unmanned plane during flying, realizes the quick observation place that reaches and be observed task, improve
The working efficiency of rotor wing unmanned aerial vehicle, and then meet the work requirements of current multi-rotor unmanned aerial vehicle.
The present invention is exemplarily described above, it is clear that present invention specific implementation is not subject to the restrictions described above,
As long as using the various improvement that the inventive concept and technical scheme of the present invention carry out, or not improved directly apply to other fields
It closes, it is within the scope of the present invention.
Claims (5)
1. a kind of more rotors automatically control UAV system, including multi-rotor unmanned aerial vehicle and ground base station system, which is characterized in that
The inside of the multi-rotor unmanned aerial vehicle includes flight attitude control module, signal transmission module, task scheduling modules, power supply mould
Block, photographing module and navigation integration module, the power supply module are transmitted with the flight attitude control module, the signal respectively
Module, the task scheduling modules, the photographing module, the navigation integration module are connected by conducting wire,
The power supply module is used as system power supply, the flight attitude control by the way of built-in rechargeable battery and external power supply
Molding block is connect with the ground base station system by wireless signal, and the flight attitude control module includes flight attitude control
Device and output controller, the output controller, which uses, is based on dynamic surface internal mold method, and the Attitude Controller uses high-order
Sliding-mode control,
The signal transmission module includes video transmission module and audio transmission module, the video transmission module and the audio
Transmission module is connect with the photographing module,
The task scheduling modules include task creation unit, Task Progress unit and task feedback unit, the task schedule
Module passes through wireless signal with the Attitude Controller, the ground base station system respectively and connect,
The photographing module includes flight attitude sensor and camera, and the camera is electrically connected with the flight attitude sensor
It connects, the flight attitude sensor and the Attitude Controller are by being wirelessly connected, the flight attitude sensor detection
When being more than preset value to the flight angle of the multi-rotor unmanned aerial vehicle, the Attitude Controller regulate and control more rotors nobody
The flight path of machine,
For the navigation integration module by wirelessly connecting with the ground base station system, the navigation integration module includes that radar is led
Boat and satellite navigation, the radar navigation and the satellite navigation pass through wireless signal respectively and the ground base station system connects
It connects.
2. a kind of more rotors according to claim 1 automatically control UAV system, which is characterized in that the ground base station
System is that computer or smart phone control.
3. a kind of more rotors according to claim 1 automatically control UAV system, which is characterized in that the signal transmission
Module is transmitted using WIFI signal.
4. a kind of more rotors according to claim 1 automatically control UAV system, which is characterized in that the flight attitude
Sensor carries out Posture acquisition to the multi-rotor unmanned aerial vehicle using Euler's horn cupping or Quaternion Method.
5. a kind of more rotors according to claim 1 automatically control UAV system, which is characterized in that the satellite navigation
For any one in Beidou satellite navigation system, GPS navigation system or Galileo navigation system.
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| CN201910442087.0A CN110134133A (en) | 2019-05-24 | 2019-05-24 | A kind of more rotor automatic control UAV system |
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| CN201910442087.0A CN110134133A (en) | 2019-05-24 | 2019-05-24 | A kind of more rotor automatic control UAV system |
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Family
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111463570A (en) * | 2020-04-21 | 2020-07-28 | 上海京济通信技术有限公司 | Anti-multipath interference technology for unmanned system |
| CN112141327A (en) * | 2020-09-30 | 2020-12-29 | 北京卫通新科测控技术有限公司 | Remote transmission system of drooping fixed-wing unmanned aerial vehicle |
| CN113568433A (en) * | 2021-08-12 | 2021-10-29 | 广东新创华科环保股份有限公司 | Multi-rotor unmanned aerial vehicle cluster measurement and control system and method |
| CN113734432A (en) * | 2021-09-28 | 2021-12-03 | 淮南师范学院 | Four rotor crafts and control system independently cruise |
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| CN113568433A (en) * | 2021-08-12 | 2021-10-29 | 广东新创华科环保股份有限公司 | Multi-rotor unmanned aerial vehicle cluster measurement and control system and method |
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Application publication date: 20190816 |