CN110162072A - Quadrotor Three Degree Of Freedom gesture stability experimental provision - Google Patents
Quadrotor Three Degree Of Freedom gesture stability experimental provision Download PDFInfo
- Publication number
- CN110162072A CN110162072A CN201910451125.9A CN201910451125A CN110162072A CN 110162072 A CN110162072 A CN 110162072A CN 201910451125 A CN201910451125 A CN 201910451125A CN 110162072 A CN110162072 A CN 110162072A
- Authority
- CN
- China
- Prior art keywords
- pin
- suspension
- chip microcontroller
- yaw
- quadrotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Selective Calling Equipment (AREA)
Abstract
The invention discloses quadrotor Three Degree Of Freedom gesture stability experimental provisions, by pedestal, base plate connector, main suspension, main suspension connector, main suspension connector bearing, yaw-main suspension connector, yaw-main suspension connector bearing, yaw suspension shaft, yaw suspension, rolling-yaw suspension connector, rolling-yaw suspension connector bearing, rolling suspension shaft, rolling suspension, rolling strut bearing, pitching suspension, pitching strut bearing, pitching suspension shaft, pitching suspension limiter, quadrotor, four-in-one electricity tuned plate, remote control receiver, flight controller composition.The present invention replaces unmanned plane material object to carry out flight control system design and flight test using quadrotor Three Degree Of Freedom gesture stability experimental provision, reduces test danger coefficient and cost, convenient for quickly repeating to test.
Description
Technical field
The invention belongs to institution of higher education's experiment equipments, unmanned aerial vehicle (UAV) control field, certainly more particularly to quadrotor three
By degree gesture stability experimental provision.
Background technique
The gesture stability of quadrotor is related to Three Degree Of Freedom control, it usually needs arranges in mini-derivative linearization decoupling etc.
Control is overlapped to pitching, rolling, yaw axis after applying.The laboratory that institution of higher education automatically controls relevant speciality needs a kind of tool
Elephant, controllable experimental facilities uses the tool and programming object of Classroom theory knowledge as student.Quadrotor three is certainly
By degree gesture stability experimental provision be it is a kind of be related to the gedanken experiment device of Automatic Control Theory and flying vehicles control, can expire simultaneously
It is enough both sides demand.
By the flight control system of ground experiment device development quadrotor, can with save the cost, substantially reduce
Damage risk of the unmanned plane in test flight, while convenient for change design of control law, adjustment control parameter etc., it is that one kind four is revolved
The high effective way of rotor aircraft flight control system development.
The motor control signal of quadrotor Three Degree Of Freedom gesture stability experimental provision is the PWM of variable duty ratio
Wave modulates revolution speed of propeller with high pulse width, and effective pulsewidth is about between 1ms~2ms.It is brushless by real-time control 4
The revolving speed of motor, to adjust the current pose of aircraft.
Traditional colleges and universities automatically control Specialty Experiment device and are abstracted hard to understand, mostly build a circuit system with various elements
System is exported come the control effect of simulation system by simple signal, brings difficulty to the understanding of student.Quadrotor three
Freedom degree gesture stability experimental provision is a kind of specific control object in kind of image, studies and leads in combination with unmanned plane now
The hot spot in domain can motivate students' interest in learning, largely improve teaching efficiency.
Summary of the invention
The invention aims to solve the problems, such as the Three Degree Of Freedom gesture stability of quadrotor research and development and high
The automatic control Specialty Experiment device problem in school, provides quadrotor Three Degree Of Freedom gesture stability experimental provision.
The invention is realized by the following technical scheme: quadrotor Three Degree Of Freedom gesture stability experimental provision, including
Pedestal, base plate connector, main suspension, main suspension connector, main suspension connector bearing, yaw-main suspension connector, yaw-
Main suspension connector bearing, yaw suspension shaft, yaw suspension, rolling-yaw suspension connector, rolling-yaw suspension connection
Device bearing, rolling suspension shaft, rolling suspension, rolling strut bearing, pitching suspension, pitching strut bearing, pitching suspension shaft,
Quadrotor, four-in-one electricity tuned plate, remote control receiver and flight controller,
The main suspension connector bearing is installed in the main suspension connector, the yaw-main suspension connector shaft
It holds and is installed in the yaw-main suspension connector, it is inclined that the rolling-yaw suspension connector bearing is installed on the rolling-
It navigates in suspension connector, the rolling strut bearing is installed in the rolling suspension, and the pitching strut bearing is installed on institute
It states in pitching suspension,
The pedestal is connected to the lower end of the main suspension, the main suspension connector connection by the base plate connector
In the upper end of the main suspension, the yaw-main suspension connector bearing passes through the yaw suspension shaft and the main suspension
Connector bearing rotation connection,
The yaw-main suspension connector is connect with the upper end of the yaw suspension, the rolling-yaw suspension connector
It is connect with the lower end of the yaw suspension, the rolling-yaw suspension connector bearing passes through the rolling suspension shaft and institute
The rotation connection of rolling strut bearing is stated,
The rolling suspension is side opening setting, and the pitching suspension shaft is mounted on opening for the rolling suspension
Mouth side, the pitching suspension is by the pitching strut bearing and is rotationally connected in the pitching suspension shaft,
The quadrotor is installed on the lower end of the pitching suspension, and the four-in-one electricity tuned plate, remote controler receive
Machine and flight controller are mounted on the quadrotor, wherein the signal output end of the remote control receiver with
The signal input part of the flight controller connects, the signal output end of the flight controller and the four-in-one electricity tuned plate
Signal input part connection, the signal output end of the four-in-one electricity tuned plate and the signal input part of the quadrotor connect
It connects.
Further, in the contact position of the pitching suspension and pitching suspension shaft, it is additionally provided with pitching suspension limiter.
Further, the quadrotor includes four brushless motors, and four brushless motors locking has three leaves
Positive and negative carbon fiber paddle, and propeller protector is mounted on four brushless motors.
Further, the brushless motor of the quadrotor uses E-MAX RS2205 2600kv, the four-in-one
Electric tuned plate uses HAKRC 30A 4IN1, and the remote control receiver uses Futaba 6208SB.
It further, include single-chip microcontroller, attitude transducer, magnetometer, output port, input terminal in the flight controller
Mouth, programmable device port, TF card slot, LED state indicator light, voltage stabilizing chip one and voltage stabilizing chip two,
The single-chip microcontroller respectively with attitude transducer, magnetometer, output port, input port, programmable device port, TF card
Slot, LED state indicator light, voltage stabilizing chip one and voltage stabilizing chip two connect, in which:
The single-chip microcontroller, for executing the winged control program of the quadrotor；
The attitude transducer, for measuring the athletic posture of the quadrotor, and it is real-time to the single-chip microcontroller
It exports 3 d pose data (three shaft angle degree/angular speed)；
The magnetometer, for assisting the attitude transducer to measure the yaw angle of the quadrotor, to monolithic
Machine exports the magnetic biasing data of experimental facilities locality in real time, for correcting the yaw angle drift error of attitude transducer output；
The output port, for flying for adjusting quadrotor in real time to four-in-one electricity tuned plate output motor driving signal
Four motor speeds of row device；
The input port, for receiving the remote signal of the remote control receiver output；
The programmable device port, for connecting J-Link programmable device, for refreshing the control of experimental facilities to flight controller
Processing procedure sequence；
The TF card slot, for being inserted into TF card, the TF card is for recording 3 d pose data and control data；
The LED state indicator light, for being controlled the state of display current experiment equipment by the single-chip microcontroller；Experimental provision
After powering on, LED light is shown in red, is then transferred to red and flashes at a slow speed, waits remote controler booting；After remote controler booting, LED light
It is shown in green, indicate entry into normal operating conditions；During the experiment, if having changed experiment by remote controler throttle rocking bar
The reference rotation speed of device, LED light are shown as purple during throttle rocking bar is stirred, and restore green display after stirring；?
In experimentation, if closing remote controler, LED is transferred to red and flashes at a slow speed；
The voltage stabilizing chip one and voltage stabilizing chip two are used to stablize the single-chip microcontroller, attitude transducer, magnetometer, volume
Journey device port, TF card slot and LED state indicator light input voltage.
Further, the PA4 pin of the single-chip microcontroller is connected with the CS pin of attitude transducer, and passes through a 47K electricity
Resistance is drawn high；
The PC5 pin of the single-chip microcontroller is connected with the CSB pin of magnetometer；
The PA5 pin of the single-chip microcontroller is connected with the SCL pin of attitude transducer and the magnetometer, and passes through one
47K resistance is drawn high；
The PA6 pin of the single-chip microcontroller is connected with the SDO pin of attitude transducer and magnetometer, and passes through a 47K electricity
Resistance is drawn high；
The PA7 pin of the single-chip microcontroller is connected with attitude transducer with the SDI pin of magnetometer, and passes through a 47K electricity
Resistance is drawn high；
The PB0 pin of the single-chip microcontroller is connected with the INT pin of attitude transducer；
The PC13 pin of the single-chip microcontroller is connected with the DRDY pin of magnetometer；
The PB6 pin of the single-chip microcontroller is connected with the OUT1 pin of output port；
The PB7 pin of the single-chip microcontroller is connected with the OUT2 pin of output port；
The PB8 pin of the single-chip microcontroller is connected with the OUT3 pin of output port；
The PB9 pin of the single-chip microcontroller is connected with the OUT4 pin of output port；
The S.BUS pin of the input port concatenates base stage of the 1K resistance to triode, the PC11 pin of single-chip microcontroller
It is connected to the collector of triode, while a 10K resistance of connecting is drawn high, the transmitter ground connection of triode；
The PA13 pin of the single-chip microcontroller is connected with the SWDIO pin of programmable device port；
The PA14 pin of the single-chip microcontroller is connected with the SWDCLK pin of programmable device port；
The PA1 pin of the single-chip microcontroller is connected with the CS pin of TF card slot, and is drawn high by a 47K resistance；
The PB13 pin of the single-chip microcontroller is connected with the SCK pin of TF card slot, and is drawn high by a 47K resistance；
The PB14 pin of the single-chip microcontroller is connected with the SDO pin of TF card slot, and is drawn high by a 47K resistance；
The PB15 pin of the single-chip microcontroller is connected with the SDI pin of TF card slot, and is drawn high by a 47K resistance；
The PC9 pin of the single-chip microcontroller is connected with the Din pin of LED state indicator light；
The VDD pin of the single-chip microcontroller is connected with the OUT pin of voltage stabilizing chip one；
The VDD pin of the single-chip microcontroller is connected with the OUT pin of voltage stabilizing chip two；
5VBEC output one diode of series connection of the four-in-one electricity tuned plate and a fuse, are connected to the pressure stabilizing
The VIN pin of chip one and the IN pin of voltage stabilizing chip two, and 104 capacity earths of connecting；
The attitude transducer, magnetometer, programmable device port, TF card slot and LED state indicator light 3V3 pin with list
The VDD pin of piece machine is connected；
The attitude transducer, magnetometer, output port, input port, programmable device port, TF card slot, LED state instruction
The GND pin of lamp, voltage stabilizing chip one and voltage stabilizing chip two is connected with the GND pin of single-chip microcontroller；
It is grounded after the PD0 pin and PD1 pin parallel connection 1M resistance, 8MHz crystal oscillator, two 20pf capacitors of the single-chip microcontroller；
VDD pin one 104 capacity earth of series connection of the single-chip microcontroller.
Further, the input port is connected to the port S.BUS of the remote control receiver by S.BUS single line；
The programmable device port is connect by tetrad Du Pont line with J-Link programmable device, and wherein 3.3V pin corresponds to the VCC of J-Link,
GND pin corresponds to the GND of J-Link, and SCK pin corresponds to the SWCLK of J-Link, and SDA pin corresponds to the SWDIO of J-Link.
Further, single-chip microcontroller uses STM32F103RET6, and attitude transducer uses ICM20602, and magnetometer uses
AK8975, input port are connected using S.BUS single line, and voltage stabilizing chip one uses XC6204B332MR, and voltage stabilizing chip two uses
AMS1117-3.3。
Further, the effective control range of the yaw angle of the experimental provision is 0 °~360 °, and roll angle effectively controls model
Enclosing is -90 °~+90 °, -90 °~+90 ° of the effective control range of pitch angle.
The beneficial effects of the present invention are: nobody is replaced using quadrotor Three Degree Of Freedom gesture stability experimental provision
Machine material object carries out flight control system design and flight test, reduces test danger coefficient and cost, convenient for quickly repeating to test.This hair
The bright experimental teaching that profession can be automatically controlled towards institution of higher learning is a kind of real experiment equipment for having elephant, and with unmanned plane heat
Point research is object, can make the understanding Automatic Control Theory and application of student image, motivate students' interest in learning simultaneously.
Detailed description of the invention
Fig. 1 is the functional block diagram of quadrotor Three Degree Of Freedom gesture stability experimental provision of the present invention；
Fig. 2 is the structural schematic diagram of quadrotor Three Degree Of Freedom gesture stability experimental provision of the present invention；
Fig. 3 is the flight controller pin of quadrotor Three Degree Of Freedom gesture stability experimental provision of the present invention
Figure.
Wherein, 1 is pedestal, and 2 be base plate connector, and 3 be main suspension, and 4 be main suspension connector, and 5 be main suspension connector
Bearing, 6 be yaw-main suspension connector, and 7 be yaw-main suspension connector bearing, and 8 is outstanding for yaw for yaw suspension shaft, 9
Frame, 10 be rolling-yaw suspension connector, and 11 be rolling-yaw suspension connector bearing, and 12 be rolling suspension shaft, and 13 are
Rolling suspension, 14 be rolling strut bearing, and 15 be pitching suspension, and 16 be pitching strut bearing, and 17 be pitching suspension shaft, and 19 are
Quadrotor, 20 be four-in-one electricity tuned plate, and 21 be remote control receiver, and 22 be flight controller, and 22-1 is single-chip microcontroller,
22-2 is attitude transducer, and 22-3 is magnetometer 22-3, and 22-4 is output port, and 22-5 is input port, and 22-6 is programmable device
Port, 22-7 are TF card slot, and 22-8 is LED state indicator light, and 22-9 is voltage stabilizing chip one, and 22-10 is voltage stabilizing chip two.
Specific embodiment
Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Referring to shown in Fig. 2, the present invention provides quadrotor Three Degree Of Freedom gesture stability experimental provisions, including pedestal
1, base plate connector 2, main suspension 3, main suspension connector 4, main suspension connector bearing 5, yaw-main suspension connector 6, partially
Boat-main suspension connector bearing 7, yaw suspension shaft 8, yaw suspension 9, rolling-yaw suspension connector 10, rolling-yaw
Suspension connector bearing 11, rolling suspension shaft 12, rolling suspension 13, rolling strut bearing 14, pitching suspension 15, pitching suspension
Bearing 16, pitching suspension shaft 17, quadrotor 19, four-in-one electricity tuned plate 20, remote control receiver 21 and flight control
Device 22,
The main suspension connector bearing 5 is installed in the main suspension connector 4, the yaw-main suspension connector
Bearing 7 is installed in the yaw-main suspension connector 6, and the rolling-yaw suspension connector bearing 11 is installed on the rolling
Turn-yaw in suspension connector 10, the rolling strut bearing 14 is installed in the rolling suspension 13, the pitching suspension shaft
16 are held to be installed in the pitching suspension 15,
The pedestal 1 is connected to the lower end of the main suspension 3, the main suspension connector 4 by the base plate connector 2
Be connected to the upper end of the main suspension 3, the yaw-main suspension connector bearing 7 by the yaw suspension shaft 8 with it is described
Main suspension connector bearing 5 is rotatablely connected,
The yaw-main suspension connector 6 is connect with the upper end of the yaw suspension 9, the rolling-yaw suspension connection
Device 10 is connect with the lower end of the yaw suspension 9, and the rolling-yaw suspension connector bearing 11 is turned by the rolling suspension
Axis 12 and the rolling strut bearing 14 are rotatablely connected,
The rolling suspension 13 is side opening setting, and the pitching suspension shaft 17 is mounted on the rolling suspension
13 open side, the pitching suspension 15 is by the pitching strut bearing 16 and is rotationally connected with the pitching suspension shaft 17
On,
The quadrotor 19 is installed on the lower end of the pitching suspension 15, the four-in-one electricity tuned plate 20, remote control
Device receiver 21 and flight controller 22 are mounted on the quadrotor 19, wherein described distant shown in referring to Fig.1
The signal output end of control device receiver 21 is connect with the signal input part of the flight controller 22, the flight controller 22
Signal output end is connect with the signal input part of the four-in-one electricity tuned plate 20, the signal output end of the four-in-one electricity tuned plate 20
It is connect with the signal input part of the quadrotor.
Specifically, being plugged to quadrotor after the present apparatus is assembled using 4 Du Pont's lines of J-Link programmable device and flying
The programmable device port 22-6 of the flight controller (as shown in Figure 3) of device Three Degree Of Freedom gesture stability experimental provision, J-Link programming
The USB joint of device is plugged to the PC machine for programming；
Using Futaba brand or its compatibility remote controler, by quadrotor Three Degree Of Freedom gesture stability experimental provision
The S.BUS channel interface of remote control receiver 21 is connected to the input terminal of flight controller (as shown in Figure 3) with a steering engine line
Mouth 22-5, and the transmitter of remote controler is opened, having selected "current" model is quadrotor of the carry on experimental provision；
Quadrotor Three Degree Of Freedom gesture stability is inserted into using the XT60 terminal of external 12V 30A D.C. regulated power supply
The 3-phase plug insertion power supply of the power input plug of experimental provision (as shown in Figure 2) four-in-one electricity tuned plate 20, regulated power supply is inserted
Seat；Or one group of 3S 1500mah lithium polymer battery group is used, it is plugged to the power input plug of four-in-one electricity tuned plate 20；
The rudder of remote controller transmitter and accelerator rod are pulled down to the right to the end, quadrotor unlock and idling
Operation；Throttle lever is pushed up, aircraft motor speed increases, and pulls down throttle lever, and motor speed reduces；No matter it is applied why
The interference of sample, aircraft remain horizontal on experimental provision；Aileron, lifting and the direction of manipulation remote controller transmitter are shaken
Bar can make quadrotor navigate to specified posture；
When terminating experiment, the power input plug of four-in-one electricity tuned plate is first pulled up, then pulls up the USB of J-Link programmable device and connects
Head finally closes remote controller transmitter.
Wherein, main suspension connector bearing 5, yaw-main suspension connector bearing 7, rolling-yaw suspension connector bearing
11, rolling strut bearing 14, pitching strut bearing 16 use 6900z, and the brushless motor of quadrotor 19 uses E-MAX
RS2205 2600kv, four-in-one electricity tuned plate use HAKRC 30A 4IN1.
Referring to shown in Fig. 2, in the preferred embodiment of this part, in connecing for the pitching suspension 15 and pitching suspension shaft 17
Synapsis is additionally provided with pitching suspension limiter 18.
Specifically, pitching suspension limiter 18 can limit quadrotor 19 in the fixation position of pitching suspension shaft 17
On, prevent 19 vibration of quadrotor.
In the preferred embodiment of this part, the quadrotor 19 includes four brushless motors, and described four brushless
Motor locking has the positive and negative carbon fiber paddle of three leaves, and is mounted on propeller protector on four brushless motors, in order to keep Fig. 2 simple
Clean, the positive and negative carbon fiber paddle of three leaves and propeller protector are not shown.
In the preferred embodiment of this part, the brushless motor of the quadrotor 19 uses E-MAX RS2205
2600kv, the four-in-one electricity tuned plate 20 use HAKRC 30A 4IN1, and the remote control receiver 21 uses Futaba
6208SB。
It include single-chip microcontroller 22-1, appearance in the flight controller 22 in the preferred embodiment of this part referring to shown in Fig. 3
State sensor 22-2, magnetometer 22-3, output port 22-4, input port 22-5, programmable device port 22-6, TF card slot 22-7,
Two 22-10 of LED state indicator light 22-8, one 22-9 of voltage stabilizing chip and voltage stabilizing chip,
The single-chip microcontroller 22-1 respectively with attitude transducer 22-2, magnetometer 22-3, output port 22-4, input port
22-5, programmable device port 22-6, TF card slot 22-7, LED state indicator light 22-8, one 22-9 of voltage stabilizing chip and voltage stabilizing chip two
22-10 connection, in which:
The single-chip microcontroller 22-1, for executing the winged control program of the quadrotor 19；
The attitude transducer 22-2, for measuring the athletic posture of the quadrotor 19, and to the monolithic
Machine 22-1 exports 3 d pose data (three shaft angle degree/angular speed) in real time；
The magnetometer 22-3, for assisting the attitude transducer 22-2 to measure the yaw of the quadrotor 19
Angle exports the magnetic biasing data of experimental facilities locality to single-chip microcontroller in real time, for correcting the yaw angle drift of attitude transducer output
Error；
The output port 22-4, for adjusting four for real-time to 20 output motor driving signal of four-in-one electricity tuned plate
Four motor speeds of rotor craft 19；
The input port 22-5, the remote signal exported for receiving the remote control receiver 21；
The programmable device port 22-6 is set for connecting J-Link programmable device for refreshing experiment to flight controller 22
Standby control program；
The TF card slot 22-7, for being inserted into TF card, the TF card is for recording 3 d pose data and control data；
The LED state indicator light 22-8, for being controlled the state of display current experiment equipment by the single-chip microcontroller 22-1；
After experimental provision powers on, LED light is shown in red, is then transferred to red and flashes at a slow speed, waits remote controler booting；Remote controler booting
Afterwards, LED light is shown in green, indicates entry into normal operating conditions；During the experiment, if more by remote controler throttle rocking bar
The reference rotation speed of experimental provision is changed, LED light is shown as purple during throttle rocking bar is stirred, and restores green after stirring
Display；During the experiment, if closing remote controler, LED is transferred to red and flashes at a slow speed；
One 22-9 of voltage stabilizing chip and two 22-10 of voltage stabilizing chip is used to stablize the single-chip microcontroller 22-1, posture sensing
The input voltage of device 22-2, magnetometer 22-3, programmable device port 22-6, TF card slot 22-7 and LED state indicator light 22-8.
In the preferred embodiment of this part, the PA4 pin of the single-chip microcontroller 22-1 and the CS pin of attitude transducer 22-2
It is connected, and is drawn high by a 47K resistance；
The PC5 pin of the single-chip microcontroller 22-1 is connected with the CSB pin of magnetometer 22-3；
The PA5 pin of the single-chip microcontroller 22-1 is connected with the SCL pin of attitude transducer 22-2 and the magnetometer 22-3,
And it is drawn high by a 47K resistance；
The PA6 pin of the single-chip microcontroller 22-1 is connected with the SDO pin of attitude transducer 22-2 and magnetometer 22-3, and leads to
A 47K resistance is crossed to draw high；
The PA7 pin of the single-chip microcontroller 22-1 is connected with attitude transducer 22-2 with the SDI pin of magnetometer 22-3, and leads to
A 47K resistance is crossed to draw high；
The PB0 pin of the single-chip microcontroller 22-1 is connected with the INT pin of attitude transducer 22-2；
The PC13 pin of the single-chip microcontroller 22-1 is connected with the DRDY pin of magnetometer 22-3；
The PB6 pin of the single-chip microcontroller 22-1 is connected with the OUT1 pin of output port 22-4；
The PB7 pin of the single-chip microcontroller 22-1 is connected with the OUT2 pin of output port 22-4；
The PB8 pin of the single-chip microcontroller 22-1 is connected with the OUT3 pin of output port 22-4；
The PB9 pin of the single-chip microcontroller 22-1 is connected with the OUT4 pin of output port 22-4；
The S.BUS pin of the input port 22-5 concatenates a 1K resistance to the base stage of triode, single-chip microcontroller 22-1's
PC11 pin is connected to the collector of triode, while a 10K resistance of connecting is drawn high, the transmitter ground connection of triode；
The PA13 pin of the single-chip microcontroller 22-1 is connected with the SWDIO pin of programmable device port 22-6；
The PA14 pin of the single-chip microcontroller 22-1 is connected with the SWDCLK pin of programmable device port 22-6；
The PA1 pin of the single-chip microcontroller 22-1 is connected with the CS pin of TF card slot 22-7, and is drawn by a 47K resistance
It is high；
The PB13 pin of the single-chip microcontroller 22-1 is connected with the SCK pin of TF card slot 22-7, and is drawn by a 47K resistance
It is high；
The PB14 pin of the single-chip microcontroller 22-1 is connected with the SDO pin of TF card slot 22-7, and is drawn by a 47K resistance
It is high；
The PB15 pin of the single-chip microcontroller 22-1 is connected with the SDI pin of TF card slot 22-7, and is drawn by a 47K resistance
It is high；
The PC9 pin of the single-chip microcontroller 22-1 is connected with the Din pin of LED state indicator light 22-8；
The VDD pin of the single-chip microcontroller 22-1 is connected with the OUT pin of one 22-9 of voltage stabilizing chip；
The VDD pin of the single-chip microcontroller 22-1 is connected with the OUT pin of two 22-10 of voltage stabilizing chip；
5VBEC output one diode of series connection of the four-in-one electricity tuned plate and a fuse, are connected to the pressure stabilizing
The VIN pin of one 22-9 of chip and the IN pin of two 22-10 of voltage stabilizing chip, and 104 capacity earths of connecting；
The attitude transducer 22-2, magnetometer 22-3, programmable device port 22-6, TF card slot 22-7 and LED state instruction
The 3V3 pin of lamp 22-8 is connected with the VDD pin of single-chip microcontroller 22-1；
The attitude transducer 22-2, magnetometer 22-3, output port 22-4, input port 22-5, programmable device port 22-
6, TF card slot 22-7, two 22-10 of LED state indicator light 22-8, one 22-9 of voltage stabilizing chip and voltage stabilizing chip GND pin with list
The GND pin of piece machine 22-1 is connected；
The PD0 pin and PD1 pin parallel connection 1M resistance, 8MHz crystal oscillator, two 20pf capacitors of the single-chip microcontroller 22-1 is followed by
Ground；
VDD pin one 104 capacity earth of series connection of the single-chip microcontroller 22-1.
Specifically, illustrating present embodiment below with reference to Fig. 3, the mcu programmings environment such as Keil 5 are used in PC machine,
Experimental actual demand, the winged control program carried to quadrotor Three Degree Of Freedom gesture stability experimental provision are repaired
Change, after compiling passes through in compiler, is plugged to experimental provision flight controller using 4 Du Pont's lines of J-Link programmable device
The USB joint of programmable device port 22-6, J-Link programmable device is plugged to the PC machine for programming, and the single-chip microcontroller that compiling is passed through
Program is burned onto flight controller using the LOAD button of Keil 5, pays attention to the good former winged control program of backup；
Continue to test according to abovementioned steps, and modified according to the stable case of aircraft to winged control program, is burnt
Record to flight controller re-starts experiment, in cycles, until the control effect of aircraft reaches requirement.
In the preferred embodiment of this part, the input port 22-5 is connected to the remote controler by S.BUS single line and connects
The port S.BUS of receipts machine；The programmable device port 22-6 is connect by tetrad Du Pont line with J-Link programmable device, and wherein 3.3V is managed
Foot corresponds to the VCC of J-Link, and GND pin corresponds to the GND of J-Link, and SCK pin corresponds to the SWCLK of J-Link, and SDA pin is corresponding
The SWDIO of J-Link.
In the preferred embodiment of this part, single-chip microcontroller 22-1 uses STM32F103RET6, attitude transducer 22-2 to use
ICM20602, magnetometer 22-3 use AK8975, input port 22-5 to connect using S.BUS single line, and one 22-9 of voltage stabilizing chip is adopted
AMS1117-3.3 is used with XC6204B332MR, two 22-10 of voltage stabilizing chip.
In the preferred embodiment of this part, the effective control range of the yaw angle of the experimental provision is 0 °~360 °, rolling
The effective control range in angle is -90 °~+90 °, -90 °~+90 ° of the effective control range of pitch angle.
A specific implementation process is given below:
1, equipment connects:
Quadrotor Three Degree Of Freedom gesture stability experimental provision assembling of the invention is finished, by J-Link programmable device
4 line programming ports be connected to the programmable device port of flight controller, other end USB port is connected to PC machine；Remote controler is connect
The S.BUS channel interface of receipts machine is connected to the input port 22-5 of flight controller with a steering engine line, and opens remote controler
Transmitter, having selected "current" model is quadrotor of the carry on experimental provision；By external D.C. regulated power supply (or one
Group 3S 1500mah lithium polymer battery group) XT60 connector insertion four-in-one electricity tuned plate power input plug, regulated power supply
3-phase plug be inserted into power outlet.
2, burning program:
Using 5 SCM program translation and compiling environment of Keil, the quadrotor of oneself is flown control program, and (or experimental provision is included
Fly control program) burning into quadrotor Three Degree Of Freedom gesture stability experimental provision flight controller.In the burning program phase
Between, the aircraft of carry can issue the alarm sound of " drop-drop-drop-drop " on experimental provision, this is that brushless electricity tune loses driving signal
Into the normal phenomenon of protection.After the completion of burning, alarm sound stops.
3, running experiment:
The rudder of remote controller transmitter and accelerator rod are pulled down to the right to the end, quadrotor unlock and idling
Rotation, experimental arrangement bring into operation；Using remote controler throttle lever be adjusted aircraft motor revolving speed, using aileron, lifting and
Direction rocking bar can set the Attitude Tracking angle of aircraft；No matter apply which kind of interference, aircraft can autonomous stabilisation pre-
If posture on (be defaulted as level)；When needing to exit experiment, remote controler throttle lever need to be only drawn down to bottom, aircraft motor
Shut down.
4, more new procedures:
Using 5 SCM program translation and compiling environment of Keil, quadrotor Three Degree Of Freedom gesture stability experimental provision is loaded
The winged control program of included winged control program or oneself compiled version, modifies as needed, and goes back to step 2 reuse
Process；Pay attention to the backup that last revision is saved in flying control program renewal process.
5, terminate to use
The power input plug of quadrotor Three Degree Of Freedom gesture stability experimental provision four-in-one electricity tuned plate is first pulled up,
The USB joint of J-Link programmable device is pulled up again and is connected to the programming port of flight controller, finally closes remote controller transmitter；
Experimental provision is placed on dry lee keeping.
Claims (9)
1. quadrotor Three Degree Of Freedom gesture stability experimental provision, which is characterized in that including pedestal (1), base plate connector
(2), main suspension (3), main suspension connector (4), main suspension connector bearing (5), yaw-main suspension connector (6), yaw-
Main suspension connector bearing (7), yaw suspension shaft (8), yaw suspension (9), rolling-yaw suspension connector (10), rolling-
Yaw suspension connector bearing (11), rolling suspension shaft (12), rolling suspension (13), rolling strut bearing (14), pitching are outstanding
It is frame (15), pitching strut bearing (16), pitching suspension shaft (17), quadrotor (19), four-in-one electricity tuned plate (20), distant
Device receiver (21) and flight controller (22) are controlled,
The main suspension connector bearing (5) is installed in the main suspension connector (4), the yaw-main suspension connector
Bearing (7) is installed in the yaw-main suspension connector (6), and the rolling-yaw suspension connector bearing (11) is installed on
In the rolling-yaw suspension connector (10), the rolling strut bearing (14) is installed in the rolling suspension (13), institute
Pitching strut bearing (16) is stated to be installed in the pitching suspension (15),
The pedestal (1) is connected to the lower end of the main suspension (3), the main suspension connector by the base plate connector 2
(4) it is connected to the upper end of the main suspension (3), the yaw-main suspension connector bearing (7) passes through the yaw suspension shaft
(8) it is rotatablely connected with the main suspension connector bearing (5),
The yaw-main suspension connector (6) is connect with the upper end of yaw suspension (9), the rolling-yaw suspension connection
Device (10) is connect with the lower end of yaw suspension (9), and the rolling-yaw suspension connector bearing (11) passes through the rolling
Suspension shaft (12) and the rolling strut bearing (14) are rotatablely connected,
The rolling suspension (13) is side opening setting, and the pitching suspension shaft (17) is mounted on the rolling suspension
(13) open side, the pitching suspension (15) is by the pitching strut bearing (16) and is rotationally connected with the pitching suspension
In shaft (17),
The quadrotor (19) is installed on the lower end of the pitching suspension (15), the four-in-one electricity tuned plate (20), distant
Control device receiver (21) and flight controller (22) are mounted on the quadrotor (19), wherein the remote controler
The signal output end of receiver (21) is connect with the signal input part of the flight controller (22), the flight controller (22)
Signal output end connect with the signal input part of the four-in-one electricity tuned plate (20), the signal of the four-in-one electricity tuned plate (20)
Output end is connect with the signal input part of the quadrotor.
2. quadrotor Three Degree Of Freedom gesture stability experimental provision according to claim 1, which is characterized in that in institute
The contact position for stating pitching suspension (15) Yu pitching suspension shaft (17) is additionally provided with pitching suspension limiter (18).
3. quadrotor Three Degree Of Freedom gesture stability experimental provision according to claim 1, which is characterized in that described
Quadrotor (19) includes four brushless motors, and four brushless motors locking has the positive and negative carbon fiber paddle of three leaves, and described
Propeller protector is mounted on four brushless motors.
4. DCB Specimen balance experimental provision according to claim 3, which is characterized in that the nothing of the quadrotor (19)
Brush motor uses E-MAX RS2205 2600kv, and the four-in-one electricity tuned plate (20) uses HAKRC 30A 4IN1, the remote control
Device receiver (21) uses Futaba 6208SB.
5. quadrotor Three Degree Of Freedom gesture stability experimental provision according to claim 1, which is characterized in that described
It include single-chip microcontroller (22-1), attitude transducer (22-2), magnetometer (22-3), output port (22- in flight controller (22)
4), input port (22-5), programmable device port (22-6), TF card slot (22-7), LED state indicator light (22-8), voltage stabilizing chip
One (22-9) and voltage stabilizing chip two (22-10),
The single-chip microcontroller (22-1) respectively with attitude transducer (22-2), magnetometer (22-3), output port (22-4), input terminal
Mouthful (22-5), programmable device port (22-6), TF card slot (22-7), LED state indicator light (22-8), voltage stabilizing chip one (22-9) and
Voltage stabilizing chip two (22-10) connection, in which:
The single-chip microcontroller (22-1), for executing the winged control program of the quadrotor (19)；
The attitude transducer (22-2), for measuring the athletic posture of the quadrotor (19), and to the monolithic
Machine (22-1) exports 3 d pose data in real time；
The magnetometer (22-3), for assisting the attitude transducer (22-2) to measure the inclined of the quadrotor (19)
Boat angle, the magnetic biasing data of experimental facilities locality are exported to single-chip microcontroller in real time, for correcting the yaw angle zero of attitude transducer output
Float error；
The output port (22-4), for adjusting four for real-time to four-in-one electricity tuned plate (20) output motor driving signal
Four motor speeds of rotor craft (19)；
The input port (22-5), for receiving the remote signal of the remote control receiver (21) output；
The programmable device port (22-6) sets for connecting J-Link programmable device for refreshing experiment to flight controller (22)
Standby control program；
The TF card slot (22-7), for being inserted into TF card, the TF card is for recording 3 d pose data and control data；
The LED state indicator light (22-8), for being controlled the state of display current experiment equipment by the single-chip microcontroller (22-1)；
After experimental provision powers on, LED light is shown in red, is then transferred to red and flashes at a slow speed, waits remote controler booting；Remote controler booting
Afterwards, LED light is shown in green, indicates entry into normal operating conditions；During the experiment, if more by remote controler throttle rocking bar
The reference rotation speed of experimental provision is changed, LED light is shown as purple during throttle rocking bar is stirred, and restores green after stirring
Display；During the experiment, if closing remote controler, LED is transferred to red and flashes at a slow speed；
The voltage stabilizing chip one (22-9) and voltage stabilizing chip two (22-10) are used to stablize the single-chip microcontroller (22-1), posture biography
Sensor (22-2), magnetometer (22-3), programmable device port (22-6), TF card slot (22-7) and LED state indicator light (22-8)
Input voltage.
6. quadrotor Three Degree Of Freedom gesture stability experimental provision according to claim 5, which is characterized in that
The PA4 pin of the single-chip microcontroller (22-1) is connected with the CS pin of attitude transducer (22-2), and passes through a 47K resistance
It draws high；
The PC5 pin of the single-chip microcontroller (22-1) is connected with the CSB pin of magnetometer (22-3)；
The SCL pin phase of the PA5 pin of the single-chip microcontroller (22-1) and attitude transducer (22-2) and the magnetometer (22-3)
Even, it and is drawn high by a 47K resistance；
The PA6 pin of the single-chip microcontroller (22-1) is connected with the SDO pin of attitude transducer (22-2) and magnetometer (22-3), and
It is drawn high by a 47K resistance；
The PA7 pin of the single-chip microcontroller (22-1) is connected with attitude transducer (22-2) with the SDI pin of magnetometer (22-3), and
It is drawn high by a 47K resistance；
The PB0 pin of the single-chip microcontroller (22-1) is connected with the INT pin of attitude transducer (22-2)；
The PC13 pin of the single-chip microcontroller (22-1) is connected with the DRDY pin of magnetometer (22-3)；
The PB6 pin of the single-chip microcontroller (22-1) is connected with the OUT1 pin of output port (22-4)；
The PB7 pin of the single-chip microcontroller (22-1) is connected with the OUT2 pin of output port (22-4)；
The PB8 pin of the single-chip microcontroller (22-1) is connected with the OUT3 pin of output port (22-4)；
The PB9 pin of the single-chip microcontroller (22-1) is connected with the OUT4 pin of output port (22-4)；
The S.BUS pin of the input port (22-5) concatenates a 1K resistance to the base stage of triode, single-chip microcontroller (22-1)
PC11 pin is connected to the collector of triode, while a 10K resistance of connecting is drawn high, the transmitter ground connection of triode；
The PA13 pin of the single-chip microcontroller (22-1) is connected with the SWDIO pin of programmable device port (22-6)；
The PA14 pin of the single-chip microcontroller (22-1) is connected with the SWDCLK pin of programmable device port (22-6)；
The PA1 pin of the single-chip microcontroller (22-1) is connected with the CS pin of TF card slot (22-7), and is drawn by a 47K resistance
It is high；
The PB13 pin of the single-chip microcontroller (22-1) is connected with the SCK pin of TF card slot (22-7), and is drawn by a 47K resistance
It is high；
The PB14 pin of the single-chip microcontroller (22-1) is connected with the SDO pin of TF card slot (22-7), and is drawn by a 47K resistance
It is high；
The PB15 pin of the single-chip microcontroller (22-1) is connected with the SDI pin of TF card slot (22-7), and is drawn by a 47K resistance
It is high；
The PC9 pin of the single-chip microcontroller (22-1) is connected with the Din pin of LED state indicator light (22-8)；
The VDD pin of the single-chip microcontroller (22-1) is connected with the OUT pin of voltage stabilizing chip one (22-9)；
The VDD pin of the single-chip microcontroller (22-1) is connected with the OUT pin of voltage stabilizing chip two (22-10)；
5V BEC output one diode of series connection of the four-in-one electricity tuned plate and a fuse, are connected to the voltage stabilizing chip
The VIN pin of one (22-9) and the IN pin of voltage stabilizing chip two (22-10), and 104 capacity earths of connecting；
The attitude transducer (22-2), magnetometer (22-3), programmable device port (22-6), TF card slot (22-7) and LED state
The 3V3 pin of indicator light (22-8) is connected with the VDD pin of single-chip microcontroller (22-1)；
The attitude transducer (22-2), magnetometer (22-3), output port (22-4), input port (22-5), programmable device end
Mouth (22-6), TF card slot (22-7), LED state indicator light (22-8), voltage stabilizing chip one (22-9) and voltage stabilizing chip two (22-10)
GND pin be connected with the GND pin of single-chip microcontroller (22-1)；
It is grounded after the PD0 pin and PD1 pin parallel connection 1M resistance, 8MHz crystal oscillator, two 20pf capacitors of the single-chip microcontroller (22-1)；
VDD pin one 104 capacity earth of series connection of the single-chip microcontroller (22-1).
7. quadrotor Three Degree Of Freedom gesture stability experimental provision according to claim 6, which is characterized in that described
Input port (22-5) is connected to the port S.BUS of the remote control receiver by S.BUS single line；The programmable device port
(22-6) is connect by tetrad Du Pont line with J-Link programmable device, and wherein 3.3V pin corresponds to the VCC of J-Link, GND pin pair
The GND of J-Link is answered, SCK pin corresponds to the SWCLK of J-Link, and SDA pin corresponds to the SWDIO of J-Link.
8. quadrotor Three Degree Of Freedom gesture stability experimental provision according to claim 6, which is characterized in that monolithic
Machine (22-1) uses STM32F103RET6, and attitude transducer (22-2) uses ICM20602, and magnetometer (22-3) uses
AK8975, input port (22-5) are connected using S.BUS single line, and voltage stabilizing chip one (22-9) uses XC6204B332MR, pressure stabilizing
Chip two (22-10) uses AMS1117-3.3.
9. quadrotor Three Degree Of Freedom gesture stability experimental provision according to claim 1-8, feature
Be, the effective control range of the yaw angle of the experimental provision be 0 °~360 °, the effective control range of roll angle be -90 °~+
90 °, -90 °~+90 ° of the effective control range of pitch angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910451125.9A CN110162072A (en) | 2019-05-28 | 2019-05-28 | Quadrotor Three Degree Of Freedom gesture stability experimental provision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910451125.9A CN110162072A (en) | 2019-05-28 | 2019-05-28 | Quadrotor Three Degree Of Freedom gesture stability experimental provision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110162072A true CN110162072A (en) | 2019-08-23 |
Family
ID=67629248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910451125.9A Pending CN110162072A (en) | 2019-05-28 | 2019-05-28 | Quadrotor Three Degree Of Freedom gesture stability experimental provision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110162072A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111977024A (en) * | 2020-07-28 | 2020-11-24 | 清华大学 | Flight control debugging system of rotor craft |
| CN113173259A (en) * | 2021-04-20 | 2021-07-27 | 余姚市浙江大学机器人研究中心 | Flight test platform for near space aircraft |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620033A (en) * | 2008-07-02 | 2010-01-06 | 中国科学院自动化研究所 | Micro air vehicle experimental device |
| EP2503510B1 (en) * | 2011-03-22 | 2013-07-24 | Honeywell International, Inc. | Wide baseline feature matching using collaborative navigation and digital terrain elevation data constraints |
| CN104949733A (en) * | 2015-06-15 | 2015-09-30 | 华南农业大学 | Device and method for pesticide box liquid level on-line monitoring of agricultural unmanned aerial vehicle |
| CN105158004A (en) * | 2015-09-29 | 2015-12-16 | 华东师范大学 | Rotor aircraft test platform |
| CN106325289A (en) * | 2016-09-26 | 2017-01-11 | 南京航空航天大学 | Renesas R5F100LEA master control-based four-rotor flight controller and control method thereof |
| CN107065915A (en) * | 2017-05-25 | 2017-08-18 | 大连理工大学 | A kind of six degree of freedom rotor craft on-line debugging platform |
| CN107664967A (en) * | 2016-07-29 | 2018-02-06 | 河南理工大学 | Flight parameter signal generating system |
| CN108645425A (en) * | 2018-03-14 | 2018-10-12 | 东南大学 | Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system |
-
2019
- 2019-05-28 CN CN201910451125.9A patent/CN110162072A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620033A (en) * | 2008-07-02 | 2010-01-06 | 中国科学院自动化研究所 | Micro air vehicle experimental device |
| EP2503510B1 (en) * | 2011-03-22 | 2013-07-24 | Honeywell International, Inc. | Wide baseline feature matching using collaborative navigation and digital terrain elevation data constraints |
| CN104949733A (en) * | 2015-06-15 | 2015-09-30 | 华南农业大学 | Device and method for pesticide box liquid level on-line monitoring of agricultural unmanned aerial vehicle |
| CN105158004A (en) * | 2015-09-29 | 2015-12-16 | 华东师范大学 | Rotor aircraft test platform |
| CN107664967A (en) * | 2016-07-29 | 2018-02-06 | 河南理工大学 | Flight parameter signal generating system |
| CN106325289A (en) * | 2016-09-26 | 2017-01-11 | 南京航空航天大学 | Renesas R5F100LEA master control-based four-rotor flight controller and control method thereof |
| CN107065915A (en) * | 2017-05-25 | 2017-08-18 | 大连理工大学 | A kind of six degree of freedom rotor craft on-line debugging platform |
| CN108645425A (en) * | 2018-03-14 | 2018-10-12 | 东南大学 | Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system |
Non-Patent Citations (2)
| Title |
|---|
| 方可，等: "多旋翼飞行器控制***实验平台的开发", 《实验技术与管理》 * |
| 方可，等: "无人机作业***实验平台开发", 《实验技术与管理》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111977024A (en) * | 2020-07-28 | 2020-11-24 | 清华大学 | Flight control debugging system of rotor craft |
| CN113173259A (en) * | 2021-04-20 | 2021-07-27 | 余姚市浙江大学机器人研究中心 | Flight test platform for near space aircraft |
| CN113173259B (en) * | 2021-04-20 | 2022-08-12 | 余姚市浙江大学机器人研究中心 | Flight test platform for near space aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110162072A (en) | Quadrotor Three Degree Of Freedom gesture stability experimental provision | |
| US20150298017A1 (en) | Hand-launched, solar-powered aircraft | |
| Usman | Quadcopter modelling and control with matlab/simulink implementation | |
| KR20180026280A (en) | Drone trainer | |
| CN204355273U (en) | A kind of SCM Based multifunction micro four-axle aircraft | |
| Rahman et al. | Implementation of quadcopter as a teaching tool to enhance engineering courses | |
| CN203930517U (en) | A kind of Single-Rotational Inverted Pendulum control experimental system | |
| US20060058023A1 (en) | Educational Satellite system and a method of use thereof | |
| CN104035450A (en) | Rotary inverted pendulum control experiment system and control method | |
| CN104700694B (en) | Gyroscopic effect demonstrator | |
| Miller et al. | The cbc: A linux-based low-cost mobile robot controller | |
| CN110097812B (en) | Double-rotor-wing balance experimental device | |
| CN210515898U (en) | Intelligent electronic sand table device for teaching training | |
| CN105185190B (en) | A kind of Portable piano accompaniment apparatus based on OMR technology | |
| CN208076962U (en) | A kind of modularization educational robot control device | |
| Timmons-Brown | Learn Robotics with Raspberry Pi: Build and Code Your Own Moving, Sensing, Thinking Robots | |
| CN206027088U (en) | Education unmanned aerial vehicle able to programme | |
| Huba et al. | Propeller-Pendulum for Nonlinear UAVs Control. | |
| Eikeland | Development of a miniaturized drone for indoor climate monitoring | |
| Haque et al. | Design & Developing of a Quadrotor Drone | |
| CN110189597B (en) | Brushless motor control experimental device based on J-Scope and experimental method thereof | |
| Blank et al. | Embedded Linux in engineering education | |
| Neeley | Design and Development of a High-Performance Quadrotor Control Architecture Based on Feedback Linearization | |
| Groenewald | Development of a rotary-wing test bed for autonomous flight | |
| Yu et al. | An Online Aircraft Control Platform for the Online Artificial Intelligence Education |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |