CN114610075A - Many rotor crafts of verting flight control system and many rotor unmanned aerial vehicle - Google Patents
Many rotor crafts of verting flight control system and many rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a tilting multi-rotor aircraft flight control system and a multi-rotor unmanned aerial vehicle, which comprise a flight control computer, wherein the flight control computer is connected with a remote control receiver, a data transmission radio station and a GPS module through different serial ports, and is connected with a steering engine control plate and a motor control plate through the same serial port; and the flight control computer obtains a motor control instruction and a steering engine control instruction according to the instruction of the remote controller, the instruction and the task issued by the ground station and the position, speed information and flight attitude information of the tilting multi-rotor aircraft, and sends the motor control instruction and the steering engine control instruction to the motor control panel and the steering engine control panel respectively. According to the invention, the redundancy of the inertial sensor, the magnetic sensor, the height sensor and the power module is utilized to increase the disaster tolerance and fault tolerance performance and the safety performance of the system. The problem that the number of signal output channels of the flight control computer is limited is solved by the motor control panel and the steering engine control panel, control of the flight control system on multiple paths of motors, the steering engine and other external devices is achieved, and expandability and universality of the system are improved.
Description
Technical Field
The invention relates to the field of aircrafts, in particular to a flight control system of a tilting multi-rotor aircraft and a multi-rotor unmanned aerial vehicle.
Background
At present, the application scenes of the unmanned aerial vehicle are more and more extensive. Such as urban air traffic, electric power inspection, aerial survey, fire rescue and the like. For the unmanned aerial vehicle, a flight control system is of great importance, and directly determines the safety and stability performance of the unmanned aerial vehicle. When the aircraft carries out a flight task, the position and the attitude of the aircraft need to be obtained through a sensor. Once a sensor in the flight control system fails, the result is not imaginable. In addition to flight control, the powertrain is also very important, so there are many aircraft that have a large number of motors to achieve the redundancy of the powertrain. And at present, due to the multifunctional requirement, some peripheral equipment can be added on the unmanned aerial vehicle. A large number of actuators and peripheral devices require a flight control system to have a large number of signal output terminals, and it is difficult for the flight control system on the market to meet the specific functional requirements.
Disclosure of Invention
The invention aims to provide a tilting multi-rotor aircraft flight control system and a multi-rotor unmanned aerial vehicle aiming at the defects of the prior art.
The invention is realized by adopting the following technical scheme: the first aspect of the embodiment of the invention provides a flight control system of a tilting multi-rotor aircraft, which comprises a flight control computer, a remote control receiver, a data transmission radio station, a GPS module, a steering engine control panel and a motor control panel; the flight control computer is connected with the remote control receiver, the data transmission radio station and the GPS module through different serial ports, and is connected with the steering engine control plate and the motor control plate in parallel through the same serial port; the remote control receiving machine receives an instruction of the remote controller, the data transmission radio station receives an instruction and a task issued by the ground station, and the GPS module obtains position and speed information of the tilting multi-rotor aircraft; the flight control computer comprises a processor, and an accelerometer, a gyroscope, a magnetic compass and a barometer which are connected with the processor; the system comprises an accelerometer, a gyroscope, a magnetic compass and a barometer, wherein the accelerometer, the gyroscope, the magnetic compass and the barometer respectively obtain acceleration information, angular velocity information, magnetic field information and altitude information of the tilting multi-rotor aircraft; the processor fuses the acceleration information, the angular velocity information and the magnetic field information through a complementary filtering algorithm to obtain flight attitude information of the tilting multi-rotor aircraft; the flight control computer obtains a motor control instruction and a steering engine control instruction according to an instruction of the remote controller, an instruction and a task issued by the ground station and position, speed information and flight attitude information of the tilting multi-rotor aircraft, and respectively sends the motor control instruction and the steering engine control instruction to the motor control panel and the steering engine control panel; when the aircraft flies in a multi-rotor mode, after receiving a tilt rotor flight mode instruction sent by a remote controller or a ground station, the flight control system controls the designated motor to tilt and is in a state parallel to the horizontal plane, and the designated motor is switched to the tilt rotor mode to fly.
Furthermore, the flight control computer also comprises a power supply interface, and the power supply interface supplies electric energy to the flight control system through an external lithium battery.
Further, the flight control computer further comprises a standby power supply interface.
Furthermore, the flight control computer also comprises a standby accelerometer, a standby gyroscope, a standby magnetic compass and a standby barometer which are connected with the processor.
Furthermore, the motor control board is connected with a plurality of motors on the aircraft through a plurality of output terminals, and the rotating speed of each motor is controlled according to a control instruction; the steering engine control panel is connected with a plurality of steering engines on the aircraft through a plurality of output terminals, and the output shaft of the steering engine is controlled to steer according to the control command, so that power is provided for the aircraft, and the flight attitude of the aircraft is controlled.
Further, the specific steps of obtaining the flight attitude by the complementary filtering algorithm are as follows: solving a quaternion of an initial moment according to an initial attitude angle of a known aircraft, and acquiring the angular velocity, the acceleration and the magnetic force value of the magnetic compass; calculating according to the quaternion to obtain a gravity vector and a magnetic field vector of a computer system; and finally, calculating a compensation error according to the gravity vector, the magnetic field vector, the angular velocity, the acceleration and the magnetic force value of the magnetic compass of the aircraft system, updating the quaternion by using the compensation error to correct gyroscope data, normalizing the updated quaternion and converting the normalized quaternion into an Euler angle, wherein the Euler angle is the attitude information of the aircraft.
Further, the command of the remote controller comprises a flight mode command, a speed command and a course angular speed command;
when the aircraft receives a flight mode instruction and the flight mode is in a multi-rotor mode, a flight control computer sends control instructions of all steering engine output shafts rotating by 90 degrees to a steering engine control panel, wherein a motor is connected with a steering engine through a mechanical device, when the steering engine output shafts rotate by 90 degrees, the motor is in a state perpendicular to a horizontal plane, when the steering engine output shafts rotate by 0 degree, the motor is in a state parallel to the horizontal plane, and the flight control computer calculates to obtain motor control quantity according to a speed instruction and a course angular speed instruction; controlling the aircraft according to the motor control quantity through a motor controller;
after the aircraft receives a flight mode instruction, the flight mode is in a tilt rotor mode, and a control instruction of 0-degree rotation of an output shaft of a designated steering engine and an instruction of 90-degree rotation of the output shaft of the designated steering engine are sent to a steering engine control panel by a flight control computer; and the flight control computer calculates according to the speed instruction and the course angular speed instruction to obtain the motor control quantity, and controls the aircraft according to the motor control quantity through the motor controller.
Furthermore, the commands issued by the ground station comprise a flight mode command, a position command, an altitude command and a course angle command; the position command comprises a position command in an X direction and a position command in a Y direction;
when a flight mode command issued by a ground station is a multi-rotor mode, a computer sends control commands of all steering engine output shafts rotating by 90 degrees to a steering engine control board, and the computer calculates the process of obtaining the control quantity of the motor, wherein the X direction is the advancing direction of an aircraft nose, the Y direction points to the right side of the aircraft and is vertical to the X direction, the Z direction is vertical to an XY plane, and the center of mass of the aircraft points to the belly of the aircraft; the process of obtaining the motor control quantity through computer calculation specifically comprises the following steps:
(1) carrying out PID control operation on the altitude instruction and the current altitude of the aircraft to obtain an expected speed in the Z direction, and carrying out PID control operation on the expected speed in the Z direction and the current speed of the aircraft in the Z direction to obtain an accelerator control quantity of the aircraft;
(2) carrying out PID control operation on the position instruction in the X direction and the current position of the aircraft in the X direction to obtain the expected speed in the X direction, then carrying out PID control on the expected speed in the X direction and the current speed in the X direction of the aircraft to obtain the expected pitch angle in the X direction, carrying out PID control operation on the expected pitch angle and the current pitch angle of the aircraft to obtain the expected pitch angle speed, and carrying out PID control operation on the expected pitch angle speed and the current pitch angle speed of the aircraft to obtain the control quantity of a pitch channel;
(3) carrying out PID control operation on the position instruction in the Y direction and the current Y direction position of the aircraft to obtain the expected speed in the Y direction, then carrying out PID control operation on the expected speed in the Y direction and the current Y direction speed of the aircraft to obtain the expected rolling angle in the Y direction, carrying out PID control operation on the expected rolling angle and the current rolling angle of the aircraft to obtain the expected rolling angle speed, and carrying out PID control operation on the expected rolling angle speed and the current rolling angle speed of the aircraft to obtain the control quantity of a rolling channel;
(4) carrying out PID control operation on the course angle instruction and the current course angle of the aircraft to obtain an expected course angular velocity, and then carrying out PID control operation on the expected course angular velocity and the current course angular velocity of the aircraft to obtain a control quantity of a course channel;
(5) the flight control computer controls and distributes the pitching channel control quantity, the rolling channel control quantity, the accelerator control quantity and the course channel control quantity to obtain the control quantity of each motor, and then packs the control quantity data and sends the control quantity data to the motor control board;
when the flight mode command issued by the ground station is a tilt rotor mode, the flight control computer sends a control command for specifying that the output shaft of the steering engine rotates by 0 degree and a command for specifying that the output shaft of the steering engine rotates by 90 degrees to the steering engine control panel; the process of obtaining the motor control quantity through calculation by the flight control computer specifically comprises the following steps:
(1) the flight control computer performs PID control operation on the altitude instruction and the current altitude of the aircraft to obtain an expected Z-direction speed, and performs PID control operation on the expected Z-direction speed and the current Z-direction speed of the aircraft to obtain an aircraft accelerator control quantity;
(2) carrying out PID control operation on the position instruction in the Y direction and the current Y direction position of the aircraft to obtain the expected speed in the Y direction, then carrying out PID control operation on the expected speed in the Y direction and the current Y direction speed of the aircraft to obtain the expected rolling angle in the Y direction, carrying out PID control operation on the expected rolling angle and the current rolling angle of the aircraft to obtain the expected rolling angle speed, and carrying out PID control operation on the expected rolling angle speed and the current rolling angle speed of the aircraft to obtain the control quantity of a rolling channel;
(3) carrying out PID control operation on the course angle instruction and the current course angle of the aircraft to obtain an expected course angular velocity, and then carrying out PID control operation on the expected course angular velocity and the current course angular velocity of the aircraft to obtain a control quantity of a course channel;
(4) obtaining the expected speed of the aircraft in the X direction by performing PID control operation on the position instruction in the X direction and the current position of the aircraft in the X direction, and then performing PID control operation on the expected speed of the X direction and the current speed of the aircraft to obtain the control quantity of each motor in the horizontal state;
(5) the method comprises the following steps that when an aircraft is in a tilting rotor mode, an expected pitch angle is 0 degree, the expected pitch angle and the current pitch angle of the aircraft are subjected to PID control operation to obtain a pitch angle speed, and the expected pitch angle speed and the current pitch angle speed of the aircraft are subjected to PID control operation to obtain a control quantity of a pitch channel;
(6) and the flight control computer controls and distributes the pitching channel control quantity, the rolling channel control quantity, the accelerator control quantity and the course channel control quantity to obtain the control quantity of each vertical motor, and then packs and sends the horizontal motor control quantity and the vertical motor control quantity to the motor control board.
A second aspect of the embodiments of the present invention provides a multi-rotor unmanned aerial vehicle, which includes a fuselage and the above-mentioned flight control system applicable to a tilt multi-rotor aircraft, where the flight control system of the tilt multi-rotor aircraft is mounted on the fuselage.
The invention has the following beneficial effects: the flight control system of the tilting multi-rotor aircraft can firstly realize multi-channel output, realize the control of a plurality of motors and a plurality of steering engines, realize power redundancy on one hand, and realize the switching of two flight modes on the other hand. In addition, some important sensors and power interfaces are redundant in the flight control system, and the stability of the flight control system is improved. The invention solves the problem that the number of motors or other actuating mechanisms is limited by the number of interfaces of the flight control computer, realizes the function of connecting a plurality of actuating mechanism control panels in parallel through the serial port output of the flight control computer, and thus better expands the use of other equipment; a new idea is provided for the flight control design of a super multi-rotor aircraft and a flight control design containing a super multi-peripheral aircraft.
Drawings
Fig. 1 is a schematic view of the overall architecture of a flight control system of a tilting multi-rotor aircraft;
FIG. 2 is a schematic view of a multi-rotor mode of a tiltrotor multi-rotor aircraft;
fig. 3 is a schematic view of a tiltrotor mode of a tiltrotor multi-rotor aircraft.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the invention provides a flight control system of a tilt rotor aircraft, which comprises a flight control computer, a remote control receiver, a data transmission radio station, a GPS module, a steering engine control panel and a motor control panel; the flight control computer is respectively connected with the remote control receiver, the data transmission radio station and the GPS module through different serial ports, and is connected with the steering engine control plate and the motor control plate in parallel through the same serial port; the remote control receiving machine receives an instruction of the remote controller, the data transmission radio station receives an instruction and a task issued by the ground station, and the GPS module obtains position and speed information of the tilting multi-rotor aircraft.
The flight control computer comprises a processor, and an accelerometer, a gyroscope, a magnetic compass and a barometer which are connected with the processor; the flight control computer comprises a power supply interface; the flight control computer is provided with a standby accelerometer, a standby gyroscope and a standby magnetic compass; the flight control computer comprises a standby power supply interface; the flight control computer comprises a data transmission radio station interface, a GPS module interface and a remote control receiver interface. The steering engine control panel contains multichannel steering engine control passageway. The motor control board contains a plurality of motor control channels. In the tilting multi-rotor flight control system, a flight control computer mainly manages and controls flight tasks of an aircraft. The accelerometer is responsible for measuring acceleration values of the aircraft. The gyroscope is responsible for measuring the angular velocity value of the aircraft. The magnetic compass is responsible for measuring the magnetic field value of the aircraft. The barometer is responsible for measuring the altitude of the aircraft. The gyroscope has good dynamic performance and is slightly influenced by external conditions, but errors are accumulated when the attitude angle is obtained through integration for a long time, and the error of the output attitude angle is larger. The acceleration sensor can obtain the attitude angle without accumulated errors, but the dynamic measurement performance is not good. The magnetic compass can obtain a heading angle, has no accumulated error, and is easily interfered by the outside. And the processor fuses the acceleration information, the angular velocity information and the magnetic field information through a complementary filtering algorithm to obtain the flight attitude information of the tilting multi-rotor aircraft. And performing reinforcement and shortening according to the characteristics of the sensor through a complementary filtering algorithm to perform attitude calculation, taking the angle obtained by the gyroscope as an optimal value in a short time, and correcting the angle obtained by the gyroscope through acceleration and magnetic compass data at regular time.
The method for obtaining the flight attitude through the complementary filtering algorithm comprises the following specific steps of:
(1) and initializing a quaternion, substituting the initial attitude angle of the known aircraft into the following formula, and solving the quaternion at the initial moment. Wherein
Is the real part of the quaternion q
Is the imaginary part of the quaternion q,
as the angle of the roll, the roll angle,
in order to be the pitch angle,
is a course angle;
(2) acquiring angular velocity, acceleration and magnetic force value of a magnetic compass, wherein the measured value of the acceleration is
，
，
The gyroscope measured value is
，
，
Magnetometer measurements of
，
，
。
(3) Obtaining a gravity vector and a magnetic field vector of a machine system according to the quaternion, and utilizing the following formulas:
wherein the content of the first and second substances,
，
，
and the gravity vector is a coordinate system of the machine body.
Wherein the content of the first and second substances,
，
，
is a geographic coordinate system magnetic force value.
，0，
Is the geographic coordinate system magnetic field vector.
，
，
And the magnetic field vector is a coordinate system of the machine body.
(4) Calculating the error using the following equation:
wherein the content of the first and second substances,
，
，
to compensate for the error.
(5) Using the error corrected gyroscope data according to the following equation:
wherein the content of the first and second substances,
is a coefficient of proportionality that is,
is an integral coefficient.
(6) Updating the quaternion by using the corrected gyroscope numerical value, wherein the calculation formula is as follows:
wherein T is the current time and T is the time period.
(7) Normalizing the updated quaternion by using the following formula:
(8) converting the updated quaternion into an Euler angle, wherein the obtained Euler angle is the attitude information of the aircraft, and utilizing the following formula:
the remote control receiver is responsible for receiving signals of the remote controller. The data transmission radio station is responsible for receiving instructions of the ground station. The GPS module is responsible for providing the speed and position of the aircraft. And the flight control computer obtains a motor and a steering engine control command according to the command of the remote controller or the command and task issued by the ground station and the position, speed information and flight attitude information of the tilting multi-rotor aircraft, and sends the motor and steering engine control command to the motor control panel and the steering engine control panel. The command of the remote controller comprises a flight mode command, a speed command and a heading angular speed command. The speed instruction comprises X, Y and a speed instruction in a Z direction, wherein the X direction is the advancing direction of the aircraft nose, the Y direction points to the right side of the aircraft and is vertical to the X direction, and the Z direction is vertical to the XY plane and points to the belly of the aircraft from the center of mass of the aircraft.
After the aircraft receives the flight mode instruction, if the flight mode is the multi-rotor mode, as shown in fig. 2, the flight control computer sends the control instruction that all the steering engine output shafts rotate by 90 degrees to the steering engine control panel. The motor is connected with the steering engine through a mechanical device, when an output shaft of the steering engine rotates by 90 degrees, the motor is in a state of being perpendicular to a horizontal plane, and when the output shaft of the steering engine rotates by 0 degree, the motor is in a state of being parallel to the horizontal plane. The process of obtaining the motor control quantity through calculation by the flight control computer specifically comprises the following steps:
(1) and the flight control computer obtains the expected pitch angle in the X direction by performing PID control operation on the speed instruction in the X direction and the current speed of the tilt rotor aircraft, performs PID control operation on the expected pitch angle and the current pitch angle of the aircraft to obtain the expected pitch angle speed, and performs PID control operation on the expected pitch angle speed and the current pitch angle speed of the aircraft to obtain the control quantity of a pitch channel. The PID control is a proportional integral derivative control, and the calculation formula is as follows:
(2) similarly, the flight control computer obtains the expected roll angle in the Y direction through PID control operation on the speed instruction in the Y direction and the current speed in the Y direction of the tilt rotor aircraft, the expected roll angle and the current roll angle of the aircraft are subjected to PID control operation to obtain the expected roll angle speed, and the expected roll angle speed and the current roll angle speed of the aircraft are subjected to PID control operation to obtain the control quantity of a roll channel;
(3) the flight control computer obtains the accelerator control quantity of the aircraft by performing PID control operation on the speed instruction in the Z direction and the current speed of the tilt rotor aircraft in the Z direction;
(4) carrying out PID control operation on the course angular speed instruction and the current course angular speed of the tilt rotor aircraft by the flight control computer to obtain the control quantity of the aircraft course channel;
(5) and the flight control computer controls and distributes the pitching channel control quantity, the rolling channel control quantity, the accelerator control quantity and the course channel control quantity to obtain the control quantity of each motor, and then packs the control quantity data and sends the control quantity data to the motor control panel.
If the flight mode is a tilt rotor mode, as shown in fig. 3, the flight control computer sends a control instruction for specifying that the output shaft of the steering engine rotates by 0 degree and a command for specifying that the output shaft of the steering engine rotates by 90 degrees to the steering engine control panel. The process of obtaining the motor control quantity and place through calculation by the flight control computer specifically comprises the following steps:
(1) and the flight control computer obtains the control quantity of each motor in the horizontal state by performing PID control operation on the speed instruction in the X direction and the current speed of the tilt rotor aircraft in the X direction. The PID control is proportional integral derivative control, and the calculation formula is as follows:
where U (t) is the result of PID control operation, e (t) is the difference between the expected value and the current value, t is the time interval between two control operations,
is a coefficient of proportionality that is,
in order to be the coefficient of integration,
is a differential coefficient;
(2) similarly, the flight control computer obtains the expected roll angle in the Y direction through PID control operation on the speed instruction in the Y direction and the current speed in the Y direction of the tilt rotor aircraft, the expected roll angle and the current roll angle of the aircraft are subjected to PID control operation to obtain the expected roll angle speed, and the expected roll angle speed and the current roll angle speed of the aircraft are subjected to PID control operation to obtain the control quantity of a roll channel;
(3) the flight control computer obtains the accelerator control quantity of the aircraft through PID control operation on the speed instruction in the Z direction and the current speed in the Z direction of the tilt rotor aircraft;
(4) carrying out PID control operation on the course angular speed instruction and the current course angular speed of the tilt rotor aircraft by the flight control computer to obtain the control quantity of the aircraft course channel;
(5) the method comprises the following steps that an expected pitch angle of an aircraft is 0 degree in a tilt rotor mode, the expected pitch angle and the current pitch angle of the aircraft are subjected to PID control operation to obtain a pitch angle speed, and PID control operation is carried out on the expected pitch angle speed and the current pitch angle speed of the aircraft to obtain the control quantity of a pitch channel.
(6) And the flight control computer controls and distributes the pitching channel control quantity, the rolling channel control quantity, the accelerator control quantity and the course channel control quantity to obtain the control quantity of each vertical motor, and then packs and sends the horizontal motor control quantity and the vertical motor control quantity to the motor control board.
The commands issued by the ground station comprise flight mode commands, position commands, altitude commands and course angle commands. The position command comprises an X-direction position command and a Y-direction position command. When the flight mode command issued by the ground station is in a multi-rotor mode, as shown in fig. 2, the flight control computer sends the control command that all the steering engine output shafts rotate by 90 degrees to the steering engine control panel. The process of obtaining the motor control quantity through calculation by the flight control computer specifically comprises the following steps:
(1) carrying out PID control operation on the altitude instruction and the current altitude of the aircraft to obtain an expected Z-direction speed, and carrying out PID control operation on the expected Z-direction speed and the current Z-direction speed of the aircraft to obtain an aircraft accelerator control quantity;
(2) carrying out PID control operation on the position instruction in the X direction and the current X direction position of the aircraft to obtain the expected speed in the X direction, then carrying out PID control on the expected speed in the X direction and the current X direction speed of the aircraft to obtain the expected pitch angle in the X direction, carrying out PID control operation on the expected pitch angle and the current pitch angle of the aircraft to obtain the expected pitch angle speed, and carrying out PID control operation on the expected pitch angle speed and the current pitch angle speed of the aircraft to obtain the control quantity of a pitch channel;
(3) similarly, performing PID control operation on the position instruction in the Y direction and the current Y direction position of the aircraft to obtain the expected speed in the Y direction, then performing PID control on the expected speed in the Y direction and the current Y direction speed of the aircraft to obtain the expected rolling angle in the Y direction, performing PID control operation on the expected rolling angle and the current rolling angle of the aircraft to obtain the expected rolling angle speed, and performing PID control operation on the expected rolling angle speed and the current rolling angle speed of the aircraft to obtain the control quantity of a rolling channel;
(4) carrying out PID control operation on the course angle instruction and the current course angle of the aircraft to obtain an expected course angular velocity, and then carrying out PID control operation on the expected course angular velocity and the current course angular velocity of the aircraft to obtain a control quantity of a course channel;
(5) and the flight control computer controls and distributes the pitching channel control quantity, the rolling channel control quantity, the accelerator control quantity and the course channel control quantity to obtain the control quantity of each motor, and then packs the control quantity data and sends the control quantity data to the motor control panel.
When the flight mode command issued by the ground station is a tilt rotor mode, as shown in fig. 3, the flight control computer sends a control command for specifying that the steering engine output shaft rotates by 0 degree and a command for specifying that the steering engine output shaft rotates by 90 degrees to the steering engine control panel. The process of obtaining the motor control quantity through calculation by the flight control computer specifically comprises the following steps:
(1) the flight control computer performs PID control operation on the altitude instruction and the current altitude of the aircraft to obtain an expected Z-direction speed, and performs PID control operation on the expected Z-direction speed and the current Z-direction speed of the aircraft to obtain an aircraft accelerator control quantity;
(2) carrying out PID control operation on the position instruction in the Y direction and the current Y direction position of the aircraft to obtain the expected speed in the Y direction, then carrying out PID control operation on the expected speed in the Y direction and the current Y direction speed of the aircraft to obtain the expected rolling angle in the Y direction, carrying out PID control operation on the expected rolling angle and the current rolling angle of the aircraft to obtain the expected rolling angle speed, and carrying out PID control operation on the expected rolling angle speed and the current rolling angle speed of the aircraft to obtain the control quantity of a rolling channel;
(3) carrying out PID control operation on the course angle instruction and the current course angle of the aircraft to obtain an expected course angular velocity, and then carrying out PID control operation on the expected course angular velocity and the current course angular velocity of the aircraft to obtain a control quantity of a course channel;
(4) obtaining the expected speed of the aircraft in the X direction by performing PID control operation on the position instruction in the X direction and the current position of the aircraft in the X direction, and then performing PID control operation on the expected speed of the X direction and the current speed of the aircraft to obtain the control quantity of each motor in the horizontal state;
(5) the method comprises the following steps that an aircraft is in a tilting rotor mode, an expected pitch angle is 0 degree, the expected pitch angle and the current pitch angle of the aircraft are subjected to PID control operation to obtain a pitch angle speed, and PID control operation is carried out on the expected pitch angle speed and the current pitch angle speed of the aircraft to obtain a control quantity of a pitch channel.
(6) And the flight control computer controls and distributes the pitching channel control quantity, the rolling channel control quantity, the accelerator control quantity and the course channel control quantity to obtain the control quantity of each vertical motor, and then packs and sends the horizontal motor control quantity and the vertical motor control quantity to the motor control board.
In addition, the invention also provides a multi-rotor unmanned aerial vehicle which comprises a body and the redundancy flight control system suitable for the multi-rotor unmanned aerial vehicle, wherein the redundancy flight control system is carried on the body.
In this embodiment, the flight control computer is further equipped with a standby accelerometer, a standby gyroscope, and a standby magnetic compass. The standby accelerometer, the standby gyroscope and the standby magnetic compass realize the redundant design of the sensor of the flight control system, and the safety coefficient of the flight control system is improved.
In this embodiment, the flight control computer is further equipped with a standby power supply interface. The standby power supply realizes the redundancy design and improves the safety of a power supply system.
Based on the above, the flight control system of the tilting multi-rotor aircraft can firstly realize multi-channel output, realize control of a plurality of motors and a plurality of steering engines, realize power redundancy on one hand, and realize switching of two flight modes on the other hand. In addition, some important sensors and power interfaces are redundant in the flight control system, and the stability of the flight control system is improved. The invention solves the problem that the number of motors or other actuating mechanisms is limited by the number of interfaces of the flight control computer, realizes the function of connecting a plurality of actuating mechanism control panels in parallel through the serial port output of the flight control computer, and thus better expands the use of other equipment. A new idea is provided for the flight control design of a super multi-rotor aircraft and a flight control design containing a super multi-peripheral aircraft.
The above description is only a preferred example of the invention and is not intended to limit the invention. It will be apparent to any person skilled in the art that modifications may be made to the above-described embodiments or that equivalents may be substituted for elements thereof without departing from the scope of the invention. Modifications, equivalents and the like which do not depart from the technical spirit of the present invention should be construed as being included within the scope of the present invention.
Claims (9)
1. A flight control system of a tilting multi-rotor aircraft is characterized by comprising a flight control computer, a remote control receiver, a data transmission radio station, a GPS module, a steering engine control panel and a motor control panel; the flight control computer is connected with the remote control receiver, the data transmission radio station and the GPS module through different serial ports, and is connected with the steering engine control board and the motor control board in parallel through the same serial port; the remote control receiving machine receives an instruction of the remote controller, the data transmission radio station receives an instruction and a task issued by the ground station, and the GPS module obtains position and speed information of the tilting multi-rotor aircraft; the flight control computer comprises a processor, and an accelerometer, a gyroscope, a magnetic compass and a barometer which are connected with the processor; the system comprises an accelerometer, a gyroscope, a magnetic compass and a barometer, wherein the accelerometer, the gyroscope, the magnetic compass and the barometer respectively obtain acceleration information, angular velocity information, magnetic field information and altitude information of the tilting multi-rotor aircraft; the processor fuses the acceleration information, the angular velocity information and the magnetic field information through a complementary filtering algorithm to obtain flight attitude information of the tilting multi-rotor aircraft; the flight control computer obtains a motor control instruction and a steering engine control instruction according to an instruction of the remote controller, an instruction and a task issued by the ground station and position, speed information and flight attitude information of the tilting multi-rotor aircraft, and respectively sends the motor control instruction and the steering engine control instruction to the motor control panel and the steering engine control panel; when the aircraft flies in a multi-rotor mode, after receiving a tilt rotor flight mode instruction sent by a remote controller or a ground station, the flight control system controls the designated motor to tilt and is in a state parallel to the horizontal plane, and the designated motor is switched to the tilt rotor mode to fly.
2. The flight control system of a tiltrotor aircraft according to claim 1, wherein the flight control computer further comprises a power interface, and the power interface provides electrical power to the flight control system through an external lithium battery.
3. The flight control system of claim 1, wherein the flight control computer further comprises a backup power interface.
4. The flight control system of claim 1, wherein the flight control computer further comprises a backup accelerometer, a backup gyroscope, a backup magnetic compass, and a backup barometer coupled to the processor.
5. The flight control system of a tiltrotor multi-rotor aircraft according to claim 1, wherein the motor control board is connected to a plurality of motors on the aircraft via a plurality of output terminals, and controls the rotation speed of each motor according to a control command; the steering engine control panel is connected with a plurality of steering engines on the aircraft through a plurality of output terminals, and the output shaft of the steering engine is controlled to steer according to the control command, so that power is provided for the aircraft, and the flight attitude of the aircraft is controlled.
6. The flight control system of a tiltrotor aircraft according to claim 1, wherein the specific steps of obtaining the flight attitude by the complementary filtering algorithm are as follows:
solving a quaternion of an initial moment according to an initial attitude angle of a known aircraft, and acquiring the angular velocity, the acceleration and the magnetic force value of the magnetic compass; calculating according to the quaternion to obtain a gravity vector and a magnetic field vector of a computer system; and finally, calculating a compensation error according to the gravity vector, the magnetic field vector, the angular velocity, the acceleration and the magnetic force value of the magnetic compass of the aircraft system, updating the quaternion by using the compensation error to correct gyroscope data, normalizing the updated quaternion and converting the normalized quaternion into an Euler angle, wherein the Euler angle is the attitude information of the aircraft.
7. The tilt multi-rotor aircraft flight control system of claim 1, wherein the commands from the remote control unit include flight mode commands, speed commands, and heading angular velocity commands;
when the aircraft receives a flight mode instruction and the flight mode is in a multi-rotor mode, a flight control computer sends control instructions of all steering engine output shafts rotating by 90 degrees to a steering engine control panel, wherein a motor is connected with a steering engine through a mechanical device, when the steering engine output shafts rotate by 90 degrees, the motor is in a state perpendicular to a horizontal plane, when the steering engine output shafts rotate by 0 degree, the motor is in a state parallel to the horizontal plane, and the flight control computer calculates to obtain motor control quantity according to a speed instruction and a course angular speed instruction; controlling the aircraft according to the motor control quantity through a motor controller;
after the aircraft receives a flight mode instruction, the flight mode is in a tilt rotor mode, and a control instruction of 0-degree rotation of an output shaft of a designated steering engine and an instruction of 90-degree rotation of the output shaft of the designated steering engine are sent to a steering engine control panel by a flight control computer; and the flight control computer calculates according to the speed instruction and the course angular speed instruction to obtain a motor control quantity, and controls the aircraft according to the motor control quantity through the motor controller.
8. The flight control system of a tiltrotor aircraft according to claim 1, wherein the commands issued by the ground station include flight mode commands, position commands, altitude commands, and heading angle commands; the position command comprises a position command in an X direction and a position command in a Y direction;
when a flight mode command issued by a ground station is a multi-rotor mode, a computer sends control commands of all steering engine output shafts rotating by 90 degrees to a steering engine control board, and the computer calculates the process of obtaining the control quantity of the motor, wherein the X direction is the advancing direction of an aircraft nose, the Y direction points to the right side of the aircraft and is vertical to the X direction, the Z direction is vertical to an XY plane, and the center of mass of the aircraft points to the belly of the aircraft; the process of obtaining the motor control quantity through computer calculation specifically comprises the following steps:
(1) carrying out PID control operation on the altitude instruction and the current altitude of the aircraft to obtain an expected speed in the Z direction, and carrying out PID control operation on the expected speed in the Z direction and the current speed of the aircraft in the Z direction to obtain an accelerator control quantity of the aircraft;
(2) carrying out PID control operation on the position instruction in the X direction and the current position of the aircraft in the X direction to obtain the expected speed in the X direction, then carrying out PID control on the expected speed in the X direction and the current speed in the X direction of the aircraft to obtain the expected pitch angle in the X direction, carrying out PID control operation on the expected pitch angle and the current pitch angle of the aircraft to obtain the expected pitch angle speed, and carrying out PID control operation on the expected pitch angle speed and the current pitch angle speed of the aircraft to obtain the control quantity of a pitch channel;
(3) carrying out PID control operation on the position instruction in the Y direction and the current Y direction position of the aircraft to obtain the expected speed in the Y direction, then carrying out PID control operation on the expected speed in the Y direction and the current Y direction speed of the aircraft to obtain the expected rolling angle in the Y direction, carrying out PID control operation on the expected rolling angle and the current rolling angle of the aircraft to obtain the expected rolling angle speed, and carrying out PID control operation on the expected rolling angle speed and the current rolling angle speed of the aircraft to obtain the control quantity of a rolling channel;
(4) carrying out PID control operation on the course angle instruction and the current course angle of the aircraft to obtain an expected course angular velocity, and then carrying out PID control operation on the expected course angular velocity and the current course angular velocity of the aircraft to obtain a control quantity of a course channel;
(5) the flight control computer controls and distributes the pitching channel control quantity, the rolling channel control quantity, the accelerator control quantity and the course channel control quantity to obtain the control quantity of each motor, and then packs the control quantity data and sends the control quantity data to the motor control board;
when the flight mode command issued by the ground station is a tilt rotor mode, the flight control computer sends a control command for specifying that the output shaft of the steering engine rotates by 0 degree and a command for specifying that the output shaft of the steering engine rotates by 90 degrees to the steering engine control panel; the process of obtaining the motor control quantity through calculation by the flight control computer specifically comprises the following steps:
(1) the flight control computer performs PID control operation on the altitude instruction and the current altitude of the aircraft to obtain an expected Z-direction speed, and performs PID control operation on the expected Z-direction speed and the current Z-direction speed of the aircraft to obtain an aircraft accelerator control quantity;
(2) carrying out PID control operation on the position instruction in the Y direction and the current Y direction position of the aircraft to obtain the expected speed in the Y direction, then carrying out PID control operation on the expected speed in the Y direction and the current Y direction speed of the aircraft to obtain the expected rolling angle in the Y direction, carrying out PID control operation on the expected rolling angle and the current rolling angle of the aircraft to obtain the expected rolling angle speed, and carrying out PID control operation on the expected rolling angle speed and the current rolling angle speed of the aircraft to obtain the control quantity of a rolling channel;
(3) carrying out PID control operation on the course angle instruction and the current course angle of the aircraft to obtain an expected course angular velocity, and then carrying out PID control operation on the expected course angular velocity and the current course angular velocity of the aircraft to obtain a control quantity of a course channel;
(4) obtaining the expected speed of the aircraft in the X direction by performing PID control operation on the position instruction in the X direction and the current position of the aircraft in the X direction, and then performing PID control operation on the expected speed of the X direction and the current speed of the aircraft to obtain the control quantity of each motor in the horizontal state;
(5) the method comprises the following steps that when an aircraft is in a tilting rotor mode, an expected pitch angle is 0 degree, the expected pitch angle and the current pitch angle of the aircraft are subjected to PID control operation to obtain a pitch angle speed, and the expected pitch angle speed and the current pitch angle speed of the aircraft are subjected to PID control operation to obtain a control quantity of a pitch channel;
(6) and the flight control computer controls and distributes the pitching channel control quantity, the rolling channel control quantity, the accelerator control quantity and the course channel control quantity to obtain the control quantity of each vertical motor, and then packs and sends the horizontal motor control quantity and the vertical motor control quantity to the motor control board.
9. A multi-rotor drone, comprising a fuselage and the tilt multi-rotor craft flight control system of any of claims 1 to 7, wherein the tilt multi-rotor craft flight control system is carried on the fuselage.
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