CN204178240U - UAV flight control system - Google Patents
UAV flight control system Download PDFInfo
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- CN204178240U CN204178240U CN201420687441.9U CN201420687441U CN204178240U CN 204178240 U CN204178240 U CN 204178240U CN 201420687441 U CN201420687441 U CN 201420687441U CN 204178240 U CN204178240 U CN 204178240U
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- unmanned plane
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Abstract
A kind of UAV Flight Control System, receiver input media receives given trace order and transfers to flight control assemblies, locating device obtains the geographical location information of unmanned plane and is sent to flight control assemblies, and sensor device gathers the flight parameter of unmanned plane and is sent to flight control assemblies.Flight control assemblies output motor controls signal to electricity and adjusts electric machine, controls the flight parameter that electricity adjusts electric machine adjustment unmanned plane, realizes the control of position to unmanned plane and attitude.Operating personnel only need send fixed track order to receiver input media, without the need to Real Time Observation unmanned plane current location, flight control assemblies controls according to the information obtained the flight parameter that electricity adjusts electric machine adjustment unmanned plane, can adjust the position of unmanned plane and attitude in real time, improve control accuracy.
Description
Technical field
The utility model relates to unmanned air vehicle technique field, particularly relates to a kind of UAV Flight Control System.
Background technology
Unmanned spacecraft is called for short " unmanned plane ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Because it is driven without the need to personnel, so can perform more dangerous task, unmanned air vehicle technique is applied in investigation search field widely.
Traditional UAV Flight Control System comprises Digiplex, control device and drive unit.Operating personnel are according to the current location of unmanned plane, and send controling parameters to the control device be arranged on unmanned plane by Digiplex, control device regulates the flight parameter of unmanned plane according to controling parameters accessory drive, thus realizes unmanned plane controlled in wireless.Because needs operating personnel observe unmanned plane current location adjustment controling parameters, there is the low shortcoming of control accuracy in traditional UAV Flight Control System.
Utility model content
Based on this, be necessary for the problems referred to above, the UAV Flight Control System that a kind of control accuracy is high is provided.
A kind of UAV Flight Control System, comprise receiver input media, locating device, sensor device, flight control assemblies and electricity and adjust electric machine, described receiver input media, locating device, sensor device and electricity adjust electric machine to be all connected with described flight control assemblies.
Above-mentioned UAV Flight Control System, receiver input media receives given trace order and transfers to flight control assemblies, locating device obtains the geographical location information of unmanned plane and is sent to flight control assemblies, and sensor device gathers the flight parameter of unmanned plane and is sent to flight control assemblies.Flight control assemblies output motor controls signal to electricity and adjusts electric machine, controls the flight parameter that electricity adjusts electric machine adjustment unmanned plane, realizes the control of position to unmanned plane and attitude.Operating personnel only need send fixed track order to receiver input media, without the need to Real Time Observation unmanned plane current location, flight control assemblies controls according to the information obtained the flight parameter that electricity adjusts electric machine adjustment unmanned plane, can adjust the position of unmanned plane and attitude in real time, compared with traditional UAV Flight Control System, improve control accuracy.
Accompanying drawing explanation
Fig. 1 is the structural drawing of UAV Flight Control System in an embodiment;
Fig. 2 is the structural drawing of UAV Flight Control System in another embodiment;
Fig. 3 is the control principle drawing of UAV Flight Control System in an embodiment;
Fig. 4 is the schematic diagram of attitude fuzzy controller in Fig. 3;
Fig. 5 is the structural drawing of UAV Flight Control System in another embodiment.
Embodiment
For enabling above-mentioned purpose of the present utility model, feature and advantage become apparent more, are described in detail embodiment of the present utility model below in conjunction with accompanying drawing.Set forth a lot of detail in the following description so that fully understand the utility model.But the utility model can be much different from alternate manner described here to implement, those skilled in the art can when doing similar improvement without prejudice to when the utility model intension, and therefore the utility model is by the restriction of following public specific embodiment.
Unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present utility model understand usually.The object of the term used in instructions of the present utility model herein just in order to describe specific embodiment, is not intended to be restriction the utility model.
A kind of UAV Flight Control System, be used as the position and the attitude that control unmanned plane during flying, unmanned plane can be four rotor wing unmanned aerial vehicles etc.As shown in Figure 1, comprise receiver input media 110, locating device 120, sensor device 130, flight control assemblies 140 and electricity and adjust electric machine 150, receiver input media 110, locating device 120, sensor device 130 and electricity adjust electric machine 150 to be all connected with flight control assemblies 140.
Receiver input media 110 is for receiving given trace order and transferring to flight control assemblies 140.Namely given trace order refers to the flight path of adjustment unmanned plane and the steering order on air objective ground, can be sent by operating personnel by remote control equipment.The given trace order that in the present embodiment, receiver input media 110 receives is PPM (pulse position modulation, pulse position modulation (PPM)) signal, comprise the controlled quentity controlled variable of unmanned plane at aileron, roll, pitching, driftage and accessory channel, thus realize Non-follow control unmanned plane.
Locating device 120 is for obtaining the geographical location information of unmanned plane and being sent to flight control assemblies 140.In the present embodiment, locating device 120 is GPS (Global Positioning System, GPS) locating device, can in time, the current geographical location information of Obtaining Accurate unmanned plane.Be appreciated that in other embodiments, locating device 120 also can be other geographical location information acquisition device.
Sensor device 130 is for gathering the flight parameter of unmanned plane and being sent to flight control assemblies 140.In the present embodiment, sensor device 130 specifically can comprise the gyroscope, acceleration transducer, compass, tachogenerator and the attitude sensors that are all connected with flight control assemblies 140, and flight parameter comprises the flying height of fuselage tri-axis angular rate, fuselage three axis accelerometer, fuselage course and attitude information, motor speed and unmanned plane.Wherein, gyroscope is for measuring fuselage tri-axis angular rate, and acceleration transducer is for measuring fuselage three axis accelerometer, and compass is for measuring fuselage course and attitude information, tachogenerator is for detecting motor speed, and attitude sensors is for detecting the flying height of unmanned plane.Be appreciated that the kind of the flight parameter that the kind of the concrete device included by sensor device 130 and position can gather as required adjusts.
Flight control assemblies 140 is for generating attitude angle adjustment data according to given trace order and geographical location information, and generate motor control signal to electricity tune electric machine 150 according to attitude angle adjustment data and flight parameter, controlling electricity adjusts electric machine 150 to adjust the flight parameter of unmanned plane, realize position and the gesture stability of unmanned plane, thus realize and accurate control more stable to unmanned plane, there is good anti-interference.
Wherein in an embodiment, as shown in Figure 2, electricity adjusts electric machine 150 to comprise machine governor 152 and drive motor 154, and drive motor 154 is connected with flight control assemblies 140 by machine governor 152.Machine governor 152 exports corresponding drive singal to drive motor 154 according to the motor control signal that flight control assemblies 140 sends, drive motor 154 is arrived and specifies rotating speed, tachogenerator correspondence in sensor device 130 detects the rotating speed of drive motor 154 and feeds back to flight control assemblies 140, realizes position and the gesture stability of unmanned plane.In the present embodiment, drive motor 154 is brshless DC motor, and volume I saves space, and has low speed high torque characteristic, can be directly used in driving unmanned plane during flying, reduces production cost.
The quantity of machine governor 152 and drive motor 154 can adjust according to the type of unmanned plane.Be four rotor wing unmanned aerial vehicles for unmanned plane, in the present embodiment, machine governor 152 and drive motor 154 are 4, and each drive motor 154 is connected with flight control assemblies 140 respectively by a machine governor 152.The motor control signal that flight control assemblies 140 is carried comprises four road pwm control signals, is respectively used to control machine governor 152 and drives four drive motor 154 to work, keep four rotor wing unmanned aerial vehicle stabilized flights.
Flight control assemblies 140 is as the core of UAV Flight Control System, the flight parameter that real-time processes sensor device 130 gathers in each control cycle and the unmanned plane positional information that locating device 120 obtains, complete Double Fuzzy PID (proportion-integration-differentiation, proportional-integral-differential) Self tuning control algorithm, obtain the posture position information of unmanned plane, in conjunction with the given trace order that receiver input media 110 receives, calculate controlled quentity controlled variable, generate motor control signal.
The translation motion of UAS can not cause the change of attitude angle, but the change of attitude angle can cause the translation of unmanned plane.When controlling unmanned plane during flying device, first consider the rotary motion of unmanned plane during flying device, because rotary motion is independently, then by the translational motion of unmanned plane during flying device.Whole system is divided into two parts, i.e. inner ring angular motion and Section of Outer Ring Line motion.As shown in Figure 3, loop 1 is the gesture stability loop of UAV Flight Control System inner ring, loop 2 is the position control loop of UAV Flight Control System outer shroud, after system receives given trace order, position control loop calculates according to the unmanned plane parameter collected the attitude angle that system will change, then be input in loop 1, loop 1 calculates the corresponding controlled quentity controlled variable of drive motor 154 again, and such whole system just can realize the control of unmanned plane position and attitude.
Fuzzy control is mainly imitated expertise and is not relied on the model of control object, main research qualitatively, the control problem of infosystem that is fuzzy, non-precision, the fuzzy self-tuning control system that flight control assemblies 140 adopts is made up of PID control system and fuzzy control link.For the attitude control system of inner ring, as shown in Figure 4, the expectation value θ of attitude angle is obtained according to position control loop
c, using the input of the deviation of itself and actual measured value θ as PID control system and Fuzzy control system.In Fuzzy control system, using the rate of change of its deviation and deviation as input variable, after obfuscation, be converted to fuzzy subset, recycling experts database carries out the fuzzy subset that fuzzy reasoning obtains output quantity, then is exported controlled quentity controlled variable △ K accurately after defuzzification
p, △ K
i, △ K
d, the pid parameter K that automatic calibration is initial
p, K
i, K
d, then obtain controlled quentity controlled variable by the parameters input PID control system after correction and act on controlled device.The position control system of outer shroud is similar.
Above-mentioned UAV Flight Control System, receiver input media 110 receives given trace order and transfers to flight control assemblies 140, locating device 120 obtains the geographical location information of unmanned plane and is sent to flight control assemblies 140, and sensor device 130 gathers the flight parameter of unmanned plane and is sent to flight control assemblies 140.Flight control assemblies 140 output motor controls signal to electricity and adjusts electric machine 150, controls electricity and adjusts electric machine 150 to adjust the flight parameter of unmanned plane, realizes the control of position to unmanned plane and attitude.Operating personnel only need send fixed track order to receiver input media, without the need to Real Time Observation unmanned plane current location, flight control assemblies controls according to the information obtained the flight parameter that electricity adjusts electric machine adjustment unmanned plane, can adjust the position of unmanned plane and attitude in real time, compared with traditional UAV Flight Control System, improve control accuracy.
Wherein in an embodiment, UAV Flight Control System also comprises the remote control equipment carrying out radio communication with receiver input media 110, and user sends to fixed track order to receiver input media 110 by telechiric device.In the present embodiment, remote control equipment is 2.4G telepilot, and receiver input media 110 is 2.4G receiving trap, and antijamming capability is strong, long distance of signal transmission.
Wherein in an embodiment, as shown in Figure 5, UAV Flight Control System also comprises the radio transmitting device 160 be connected with flight control assemblies 140.Flight control assemblies 140 is sent by radio transmitting device 160 after receiving the flight parameter of sensor device 130 collection, can be specifically be sent to terminal presentation facility to carry out monitoring display, or be sent to database server to store, improve the data transmission convenience of UAV Flight Control System.
Further, UAV Flight Control System also can comprise the supervising device carrying out radio communication with radio transmitting device 160, for showing the flying quality that radio transmitting device 160 sends in real time, be convenient to monitor unmanned plane, carry out parameter adjustment and flight control etc. in time, improve operation ease.
Wherein in an embodiment, continue with reference to Fig. 5, UAV Flight Control System also comprises electric supply installation 170, and electric supply installation 170 adjusts electric machine 150 to be connected with flight control assemblies 140 and electricity, for adjusting electric machine 150 to provide operating voltage for flight control assemblies 140 and electricity.
The above embodiment only have expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (10)
1. a UAV Flight Control System, it is characterized in that, comprise receiver input media, locating device, sensor device, flight control assemblies and electricity and adjust electric machine, described receiver input media, locating device, sensor device and electricity adjust electric machine to be all connected with described flight control assemblies.
2. UAV Flight Control System according to claim 1, is characterized in that, described sensor device comprises the gyroscope, acceleration transducer, compass, tachogenerator and the attitude sensors that are all connected with described flight control assemblies.
3. UAV Flight Control System according to claim 1, is characterized in that, described electricity adjusts electric machine to comprise machine governor and drive motor, and described drive motor is connected with described flight control assemblies by described machine governor.
4. UAV Flight Control System according to claim 3, is characterized in that, described drive motor is brshless DC motor.
5. UAV Flight Control System according to claim 1, is characterized in that, also comprises the remote control equipment carrying out radio communication with described receiver input media.
6. UAV Flight Control System according to claim 5, is characterized in that, described remote control equipment is 2.4G telepilot, and described receiver input media is 2.4G receiving trap.
7. UAV Flight Control System according to claim 1, is characterized in that, also comprises the radio transmitting device be connected with described flight control assemblies.
8. UAV Flight Control System according to claim 7, is characterized in that, also comprises the supervising device carrying out radio communication with described radio transmitting device.
9. UAV Flight Control System according to claim 1, is characterized in that, described locating device is GPS locating device.
10. the UAV Flight Control System according to claim 1 to 9 any one, is characterized in that, also comprises electric supply installation, and described electric supply installation adjusts electric machine to be connected with described flight control assemblies and electricity.
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| CN201420687441.9U CN204178240U (en) | 2014-11-17 | 2014-11-17 | UAV flight control system |
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| CN201420687441.9U CN204178240U (en) | 2014-11-17 | 2014-11-17 | UAV flight control system |
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| CN104865856A (en) * | 2015-03-30 | 2015-08-26 | 成都好飞机器人科技有限公司 | Voice control method for unmanned aerial vehicle |
| CN105703858A (en) * | 2016-01-05 | 2016-06-22 | 中国航空无线电电子研究所 | Photoelectric communication module performance evaluation device and evaluation method thereof |
| CN105957327A (en) * | 2016-06-30 | 2016-09-21 | 庄景阳 | Control module of unmanned aerial vehicle |
| WO2016154939A1 (en) * | 2015-03-31 | 2016-10-06 | SZ DJI Technology Co., Ltd. | Geo-fencing devices with dynamic characteristics |
| CN106200666A (en) * | 2016-08-31 | 2016-12-07 | 佛山市安尔康姆航空科技有限公司 | Unmanned vehicle flight control method |
| CN106292686A (en) * | 2015-05-22 | 2017-01-04 | 上海俏动智能化科技有限公司 | Method by touch screen operation unmanned plane |
| CN106406334A (en) * | 2016-12-09 | 2017-02-15 | 北京韦加无人机科技股份有限公司 | Multi-rotor unmanned aerial vehicle based on pulling force measurement and flight control method thereof |
| CN106647780A (en) * | 2016-10-19 | 2017-05-10 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle (UAV) flight control method, UAV flight control device and UAV |
| CN106950977A (en) * | 2017-03-09 | 2017-07-14 | 长沙开雅电子科技有限公司 | A kind of unmanned aerial vehicle control system design |
| US9792613B2 (en) | 2015-03-31 | 2017-10-17 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| CN107846173A (en) * | 2017-10-28 | 2018-03-27 | 珠海磐磊智能科技有限公司 | Motor control method, electric machine control system and mobile devices |
| CN107992071A (en) * | 2017-12-05 | 2018-05-04 | 中国人民解放军陆军工程大学 | Tailstock formula unmanned plane longitudinal attitude bi-fuzzy control system and method |
| CN108469804A (en) * | 2018-02-28 | 2018-08-31 | 佛山市神风航空科技有限公司 | A kind of intelligent automobile control system based on Internet of Things |
| CN108780325A (en) * | 2016-02-26 | 2018-11-09 | 深圳市大疆创新科技有限公司 | System and method for adjusting unmanned vehicle track |
| CN110612252A (en) * | 2018-01-05 | 2019-12-24 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle fault detection method and device and movable platform |
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| CN115079113A (en) * | 2022-08-22 | 2022-09-20 | 国家海洋技术中心 | Ground wave radar directional diagram measuring method and system based on unmanned ship |
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- 2014-11-17 CN CN201420687441.9U patent/CN204178240U/en not_active Expired - Fee Related
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| CN104865856A (en) * | 2015-03-30 | 2015-08-26 | 成都好飞机器人科技有限公司 | Voice control method for unmanned aerial vehicle |
| US11961093B2 (en) | 2015-03-31 | 2024-04-16 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US11094202B2 (en) | 2015-03-31 | 2021-08-17 | SZ DJI Technology Co., Ltd. | Systems and methods for geo-fencing device communications |
| WO2016154939A1 (en) * | 2015-03-31 | 2016-10-06 | SZ DJI Technology Co., Ltd. | Geo-fencing devices with dynamic characteristics |
| US11367081B2 (en) | 2015-03-31 | 2022-06-21 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US11120456B2 (en) | 2015-03-31 | 2021-09-14 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US9792613B2 (en) | 2015-03-31 | 2017-10-17 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US9805372B2 (en) | 2015-03-31 | 2017-10-31 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US9805607B2 (en) | 2015-03-31 | 2017-10-31 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US9870566B2 (en) | 2015-03-31 | 2018-01-16 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| CN106292686A (en) * | 2015-05-22 | 2017-01-04 | 上海俏动智能化科技有限公司 | Method by touch screen operation unmanned plane |
| CN113359806A (en) * | 2015-08-20 | 2021-09-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle automatic propeller stopping control system and control method and unmanned aerial vehicle |
| CN105703858A (en) * | 2016-01-05 | 2016-06-22 | 中国航空无线电电子研究所 | Photoelectric communication module performance evaluation device and evaluation method thereof |
| CN105703858B (en) * | 2016-01-05 | 2018-01-16 | 中国航空无线电电子研究所 | A kind of opto-electronic communication module capability evaluating device and its appraisal procedure |
| US11932392B2 (en) | 2016-02-26 | 2024-03-19 | SZ DJI Technology Co., Ltd. | Systems and methods for adjusting UAV trajectory |
| US11008098B2 (en) | 2016-02-26 | 2021-05-18 | SZ DJI Technology Co., Ltd. | Systems and methods for adjusting UAV trajectory |
| CN108780325A (en) * | 2016-02-26 | 2018-11-09 | 深圳市大疆创新科技有限公司 | System and method for adjusting unmanned vehicle track |
| CN105957327A (en) * | 2016-06-30 | 2016-09-21 | 庄景阳 | Control module of unmanned aerial vehicle |
| CN106200666A (en) * | 2016-08-31 | 2016-12-07 | 佛山市安尔康姆航空科技有限公司 | Unmanned vehicle flight control method |
| CN106647780A (en) * | 2016-10-19 | 2017-05-10 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle (UAV) flight control method, UAV flight control device and UAV |
| CN106647780B (en) * | 2016-10-19 | 2019-11-29 | 北京京东尚科信息技术有限公司 | UAV Flight Control method, apparatus and unmanned plane |
| CN106406334A (en) * | 2016-12-09 | 2017-02-15 | 北京韦加无人机科技股份有限公司 | Multi-rotor unmanned aerial vehicle based on pulling force measurement and flight control method thereof |
| CN106950977A (en) * | 2017-03-09 | 2017-07-14 | 长沙开雅电子科技有限公司 | A kind of unmanned aerial vehicle control system design |
| CN107846173B (en) * | 2017-10-28 | 2022-03-08 | 珠海磐磊智能科技有限公司 | Motor control method, motor control system and running device |
| CN107846173A (en) * | 2017-10-28 | 2018-03-27 | 珠海磐磊智能科技有限公司 | Motor control method, electric machine control system and mobile devices |
| CN107992071B (en) * | 2017-12-05 | 2018-10-26 | 中国人民解放军陆军工程大学 | Tailstock formula unmanned plane longitudinal attitude bi-fuzzy control system and method |
| CN107992071A (en) * | 2017-12-05 | 2018-05-04 | 中国人民解放军陆军工程大学 | Tailstock formula unmanned plane longitudinal attitude bi-fuzzy control system and method |
| CN110612252A (en) * | 2018-01-05 | 2019-12-24 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle fault detection method and device and movable platform |
| CN108469804A (en) * | 2018-02-28 | 2018-08-31 | 佛山市神风航空科技有限公司 | A kind of intelligent automobile control system based on Internet of Things |
| CN115079113A (en) * | 2022-08-22 | 2022-09-20 | 国家海洋技术中心 | Ground wave radar directional diagram measuring method and system based on unmanned ship |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150225 Termination date: 20191117 |