WO2018086087A1 - 无人飞行控制*** - Google Patents

无人飞行控制*** Download PDF

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Publication number
WO2018086087A1
WO2018086087A1 PCT/CN2016/105582 CN2016105582W WO2018086087A1 WO 2018086087 A1 WO2018086087 A1 WO 2018086087A1 CN 2016105582 W CN2016105582 W CN 2016105582W WO 2018086087 A1 WO2018086087 A1 WO 2018086087A1
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detector
control system
unmanned flight
flight control
gyro
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PCT/CN2016/105582
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English (en)
French (fr)
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钟玲珑
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钟玲珑
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Priority to PCT/CN2016/105582 priority Critical patent/WO2018086087A1/zh
Publication of WO2018086087A1 publication Critical patent/WO2018086087A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw

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  • the invention relates to an unmanned flight control system and belongs to the field of unmanned flight control.
  • the micro-miniature unmanned flight control system is an electric, vertical landing and landing (VTOL) aircraft that is controlled by radio ground-controlled or/and autonomously controlled. It is a form of rotorcraft and is functionally a vertical take-off and landing aircraft. . It uses aerodynamics to overcome its own weight, has a simple structure and flexible control, and has gained more and more attention.
  • VTOL electric, vertical landing and landing
  • Rotorcraft UAVs are much slower to develop than fixed-wing UAVs.
  • Fixed-wing UAVs are already very mature in technology, and have demonstrated their superior combat performance in local wars over the past two decades, and have made great contributions to the victory of the US, Israel and other countries in the war [2].
  • the rotary-type vertical take-off and landing aircraft has more advantages than the fixed-wing unmanned aerial vehicles: vertical take-off and landing, air hovering, flying in any direction, small take-off and landing site, strong environmental adaptability, and high intelligence.
  • unmanned helicopters can perform a variety of non-lethal tasks as well as perform various hard and soft killing tasks, including reconnaissance, surveillance, target interception, decoy, attack, and communication relay.
  • unmanned helicopters In civil terms, unmanned helicopters have broad application prospects in atmospheric monitoring, traffic monitoring, resource exploration, power line monitoring, and forest fire prevention.
  • Unmanned Flight Control Systems Compared to conventional helicopters, tail rotor control and rotor tilt problems can be ignored because the two pairs of motors on the diagonal rotate in opposite directions, exactly offsetting the torque they produce. That is to say, the unmanned flight control system does not require a tail rotor to counteract the counter-torque torque and avoid complex rotor tilt control to achieve various flight attitudes. Due to its unique symmetry and multi-rotor, the attitude of the flight is achieved by adjusting the speed of the four rotors.
  • unmanned flight control systems have highly coupled dynamics, and a change in rotor speed will affect at least three degrees of freedom. For example, reducing the speed of the right rotor, the left and right lifts are unbalanced, which will cause the helicopter to roll to the right; The moment of birth and the moment generated by a group of rotors are unbalanced, which will cause the helicopter to yaw to the right; in addition, the rolling motion will cause the helicopter to translate to the right, thus changing the direction of advancement.
  • the object of the present invention is to overcome the deficiencies of the conventional unmanned aerial vehicle and provide an intelligent and lightweight unmanned flight control system.
  • the present invention adopts the following technical solutions:
  • the invention provides an unmanned flight control system, which is composed of a rotorcraft, a motor rotor, a control decision maker, a plurality of detectors, a low-pass filter, a Kalman filter and a plurality of AD conversion interfaces, wherein a plurality of detectors A height detector, a tilt detector and a gyro detector are respectively connected to the height detector, the tilt detector and the gyro detector, and the rotor aircraft is also connected to the motor rotor, and the motor rotor passes the PWM module and controls the decision
  • the height detector is connected to a low pass filter, and the tilt detector and the gyro detector are connected to the Kalman filter.
  • the unmanned flight control system further includes a flight command controller coupled to the control decision maker, the low pass filter, and the Kalman filter, respectively.
  • the height detector is connected to the low pass filter through an SPI interface.
  • the tilt detector and the gyro detector are connected to the Kalman filter through an AD conversion interface.
  • the PWM module includes four PWM channels, namely channel 0 and channel 1, 2 and 3 respectively; using the attitude detection information and the remote control signal to obtain a control strategy, adjusting the duty ratio of the four PWM signals, thereby controlling four The speed of the rotor.
  • the unmanned flight control system uses Kalman filter to optimize the current attitude and the gyro zero drift for the effects of mechanical vibration and zero drift caused by the temperature drift of the gyroscope. It is estimated that the simplified aircraft dynamics model, the system works well and the independent control performance is good.
  • FIG. 1 is a schematic structural view of an unmanned flight control system of the present invention
  • FIG. 2 is a schematic flow chart of a main program of an unmanned flight control system according to the present invention.
  • FIG. 3 is a schematic flow chart of an Ims interrupt program of the unmanned flight control system of the present invention.
  • FIG. 4 is a schematic flow chart of a PWM interrupt routine of the unmanned flight control system of the present invention.
  • the present invention provides an unmanned flight control system.
  • the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
  • the present invention is composed of a rotorcraft 1, a motor rotor 2, a control decision maker 4, a plurality of detectors, a low-pass filter 9, a Kalman filter 11, and a plurality of AD conversion interfaces 10.
  • the plurality of detectors comprises a height detector 5, a tilt detector 6 and a gyro detector 7, which are respectively connected to the height detector 5, the tilt detector 6, and the gyro detector 7, and the rotorcraft 1 further Connected to a motor rotor 2, which is connected to a control decision maker 4 via a PWM module 3, said height detector 5 being connected to a low pass filter 9, a tilt detector 6 and a gyro detector 7 and a Kalman filter 11 connections.
  • the unmanned flight control system further includes a flight command controller 12 coupled to the control decision maker 4, the low pass filter 9, and the Kalman filter 11, respectively.
  • the height detector 5 is connected to the low pass filter 9 via the SPI interface 8.
  • the tilt detector 6 and the gyro detector 7 are connected to the Kalman filter 11 through the AD conversion interface 10.
  • the SPI interface is used to read the height information and the tilt information respectively.
  • the PWM module uses four PWM channels, which are channel 0 and channel 1, 2 and 3.
  • the attitude detection information and the remote control signal are used to derive the control strategy, and the duty ratio of the four PWM signals is adjusted to control the rotation speed of the four rotors.
  • the software program design in this embodiment mainly includes three parts, the module initializes the main program, and the Ims timing Interrupt program, PWM interrupt service subroutine.
  • the main program is the execution entry of the entire program. After the program runs, it first initializes the CPU and its basic modules, then initializes the parameters of the designed aircraft controller and enables each interrupt, and finally enters an infinite loop. Wait for the interrupt event to be generated. When the interrupt event occurs, immediately go to the interrupt program execution interrupt event. After the execution is completed, re-enter the wait state and wait for the next interrupt event.
  • the timer enters the timer interrupt service subroutine every time it counts 1ms. After entering the program, it first reads the AD conversion result of the tilt sensor and the gyroscope, and then performs window width on the sampled value. It is a sliding average filtering of 10; if it is the initial state, it performs zero calibration and gives the initial parameters of Kalman filtering. Otherwise, Kalman filtering is integrated on the inclination information and angular velocity information to obtain attitude angle information and gyro zero drift estimation. information.
  • the PWM interrupt service subroutine is the control decision part of the program.
  • the interrupt frequency is 100Hz, which mainly takes into account the response speed of the brushless ESC.
  • Both the remote control and the ESC signals are standard 1-2ms pulse width signals, and the actual command size is determined by reading the pulse width.
  • the position, attitude and remote control information of the integrated aircraft are calculated by the designed control algorithm, and the current motor speed and the duty ratio of the required output are calculated, and then the duty cycle is reloaded as a PWM hardware module to control the rotor speed. Adjust the attitude of the aircraft.
  • the unmanned flight control system uses the Kalman filter to optimally estimate the current attitude and the gyro zero drift for the problem of mechanical vibration and the zero drift caused by the temperature drift of the gyroscope.
  • the aircraft dynamics model the system works well and the independent control performance is good.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种无人飞行控制***，由旋翼飞行器（1）、电机旋翼（2）、控制决策器（4）、多个检测器、低通滤波器（9）、卡尔曼滤波器（11）以及多个AD转换接口（10）构成，其中多个检测器包括高度检测器（5）、倾角检测器（6）和陀螺检测器（7），旋翼飞行器（1）分别与高度检测器（5）、倾角检测器（6）和陀螺检测器（7）连接，旋翼飞行器（1）还与电机旋翼（2）连接，电机旋翼（2）通过PWM模块（3）与控制决策器（4）连接，高度检测器（5）与低通滤波器（9）连接，倾角检测器（6）和陀螺检测器（7）与卡尔曼滤波器（11）连接。本无人飞行控制***，***运行良好，独立控制性能好。

Description

无人飞行控制*** 技术领域
本发明涉及一种无人飞行控制***，属于无人飞行控制领域。
背景技术
微小型无人飞行控制***是一种电动的，由无线电地面遥控飞行或/和自主控制飞行的可垂直起降(VTOL)飞行器，在构造形式上属于旋翼飞行器，在功能上属于垂直起降飞行器。它利用空气动力来克服自身重量，结构简单、控制灵活，获得了越来越多的关注。
相对固定翼无人机而言，旋翼无人飞行器发展要缓慢得多。固定翼无人机在技术上已经非常成熟，而且在过去二十多年的局部战争中展现其优越的作战性能，为美国、以色列等国军队取得战争的胜利立下了功勋[2]。然而旋翼式垂直起降飞行器与固定翼无人机相比具有更大的优点：垂直起降、空中悬停、朝任意方向飞行，起飞着陆场地小、环境适应性强、高度智能化等。在军用方面，无人直升机既能执行各种非杀伤性任务，又能执行各种软硬杀伤性任务，包括侦察、监视、目标截获、诱饵、攻击、通信中继等。民用方面，无人直升机在大气监测、交通监控、资源勘探、电力线路监测、森林防火等方面具有广泛的应用前景。
技术问题
无人飞行控制***与传统直升机相比，尾桨控制和旋翼倾斜问题可以被忽略，这是因为对角线上的两对电机的旋转方向相反，正好抵消了它们产生的扭力矩。也就是说，无人飞行控制***无需尾桨来抵消反扭力矩以及避免复杂的旋翼倾斜控制来实现各种飞行姿态。由于其独特的对称性和多旋翼性，飞行姿态是靠调整四个旋翼转速来实现的。
从另一方面来说，无人飞行控制***具有高度耦合的动态特性，一个旋翼速度的改变将至少影响三个自由度方向上的运动。例如，减小右面旋翼的转速，左右升力出现了不平衡，这将会导致直升机向右滚动；同时左右为一组的旋翼产 生的力矩和前后为一组的旋翼产生的力矩出现了不平衡，这将会导致直升机向右偏航；此外，滚转运动将导致直升机向右平移，从而改变了前进的方向。
迄今为止，微小型无人飞行控制***基础理论与实验研究已取得较大进展，但要真正走向成熟与实用，还需面临诸多关键技术挑战。
问题的解决方案
技术解决方案
鉴于上述现有技术的不足之处，本发明的目的在于提供一种无人飞行控制***。
本发明的目的是为了克服传统无人飞行器的不足，提供了一种智能化轻型化的无人飞行控制***。为了达到上述目的，本发明采取了以下技术方案：
本发明提供了一种无人飞行控制***，由旋翼飞行器、电机旋翼、控制决策器、多个检测器、低通滤波器、卡尔曼滤波器以及多个AD转换接口构成，其中多个检测器包括高度检测器、倾角检测器和陀螺检测器，所述旋翼飞行器分别与高度检测器、倾角检测器和陀螺检测器连接，旋翼飞行器还与电机旋翼连接，所述电机旋翼通过PWM模块与控制决策器连接，所述高度检测器与低通滤波器连接，倾角检测器和陀螺检测器与卡尔曼滤波器连接。
优选的，上述无人飞行控制***还包括一飞行指令控制器，分别与控制决策器、低通滤波器以及卡尔曼滤波器连接。
优选的，上述高度检测器通过SPI接口与低通滤波器连接。
优选的，上述倾角检测器和陀螺检测器通过AD转换接口与卡尔曼滤波器连接。
优选的，上述PWM模块包括四路PWM通道，分别为通道0和1、通道2和3；利用姿态检测信息和遥控信号得出控制策略，调节四路PWM信号的占空比，从而控制四个旋翼的转速。
发明的有益效果
有益效果
相比现有技术，本发明提供的无人飞行控制***，针对机械震动影响和陀螺仪温度漂移引起的零漂问题，使用卡尔曼滤波对当前姿态和陀螺仪零漂进行最优 估计，简化的飞行器动力学模型，***运行良好，独立控制性能好。
对附图的简要说明
附图说明
图1为本发明无人飞行控制***结构示意图；
图2为本发明无人飞行控制***主程序流程示意图；
图3为本发明无人飞行控制***Ims中断程序流程示意图；
图4为本发明无人飞行控制***PWM中断程序流程示意图。
附图标记：1-旋翼飞行器；2-电机旋翼；3-PWM模块；4-控制决策器；5-高度检测器；6-倾角检测器；7-陀螺检测器；8-SPI接口；9-低通滤波器；10-AD转换接口；11-卡尔曼滤波器；12-飞行指令控制器。
发明实施例
本发明的实施方式
本发明提供一种无人飞行控制***，为使本发明的目的、技术方案及效果更加清楚、明确，以下参照附图并举实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
如图1所示，在实施例中，本发明由旋翼飞行器1、电机旋翼2、控制决策器4、多个检测器、低通滤波器9、卡尔曼滤波器11以及多个AD转换接口10，其中多个检测器包括高度检测器5、倾角检测器6和陀螺检测器7构成，所述旋翼飞行器1分别与高度检测器5、倾角检测器6和陀螺检测器7连接，旋翼飞行器1还与电机旋翼2连接，所述电机旋翼2通过PWM模块3与控制决策器4连接，所述高度检测器5与低通滤波器9连接，倾角检测器6和陀螺检测器7与卡尔曼滤波器11连接。
此外，无人飞行控制***还包括一飞行指令控制器12，分别与控制决策器4、低通滤波器9以及卡尔曼滤波器11连接。高度检测器5通过SPI接口8与低通滤波器9连接。倾角检测器6和陀螺检测器7通过AD转换接口10与卡尔曼滤波器11连接。
其中，SPI接口两路分别用于对高度信息和倾角信息的读取。PWM模块，用到其中四路PWM通道，分别为通道0和1、通道2和3。利用姿态检测信息和遥控信号得出控制策略，调节四路PWM信号的占空比，从而控制四个旋翼的转速。
本实施例中的软件程序设计主要包括三个部分，模块初始化主程序，Ims定时 中断程序，PWM中断服务子程序。
如图2所示，主程序是整个程序的执行入口，程序运行后，首先要进行CPU及其基本模块的初始化，然后进行所设计飞行器控制器参数初始化并且使能各个中断，最后进入死循环，等待中断事件的产生，当中断事件产生后，立即转到中断程序执行中断事件，执行完毕后重新进入等待状态，等待下一次中断事件的产生。
如图3所示，Ims定时中断服务子程序，定时器每计满1ms则进入定时中断服务子程序，进入程序后首先读取倾角传感器和陀螺仪的AD转换结果，然后对采样值进行窗口宽度为10的滑动平均滤波；若为起始状态则进行零位校准并进行卡尔曼滤波初始参数给定，否则对倾角信息和角速度信息进行卡尔曼滤波综合得出姿态角信息及陀螺仪零漂估计信息。
如图4所示，PWM中断服务子程序，为程序的控制决策部分，中断频率为100Hz，主要是考虑到了无刷电调的响应速度。遥控和电调信号均为标准的1-2ms脉宽信号，通过读取脉宽确定实际指令大小。该部分综合飞行器的位置、姿态以及遥控信息，通过设计好的控制算法，计算得出当前电机转速及所需输出的占空比，然后将占空比重载如PWM硬件模块，控制旋翼转速，从而调节飞行器姿态。
相比现有技术，本发明提供的无人飞行控制***，针对机械震动影响和陀螺仪温度漂移引起的零漂问题，使用卡尔曼滤波对当前姿态和陀螺仪零漂进行最优估计，简化的飞行器动力学模型，***运行良好，独立控制性能好。
可以理解的是，对本领域普通技术人员来说，可以根据本发明的技术方案及其发明构思加以等同替换或改变，而所有这些改变或替换都应属于本发明所附的权利要求的保护范围。

Claims (5)

  1. 一种无人飞行控制***，其特征在于：所述无人飞行控制***由旋翼飞行器(1)、电机旋翼(2)、控制决策器(4)、多个检测器、低通滤波器(9)、卡尔曼滤波器(11)以及多个AD转换接口(10)构成，其中多个检测器包括高度检测器(5)、倾角检测器(6)和陀螺检测器(7)，所述旋翼飞行器(1)分别与高度检测器(5)、倾角检测器(6)和陀螺检测器(7)连接，旋翼飞行器(1)还与电机旋翼(2)连接，所述电机旋翼(2)通过PWM模块(3)与控制决策器(4)连接，所述高度检测器(5)与低通滤波器(9)连接，倾角检测器(6)和陀螺检测器(7)与卡尔曼滤波器(11)连接。
  2. 如权利要求1所述的无人飞行控制***，其特征在于：所述无人飞行控制***还包括飞行指令控制器(12)，分别与控制决策器(4)、低通滤波器(9)以及卡尔曼滤波器(11)连接。
  3. 如权利要求1所述的无人飞行控制***，其特征在于：所述高度检测器(5)通过SPI接口(8)与低通滤波器(9)连接。
  4. 如权利要求1所述的无人飞行控制***，其特征在于：所述倾角检测器(6)和陀螺检测器(7)通过AD转换接口(10)与卡尔曼滤波器(11)连接。
  5. 如权利要求1所述的无人飞行控制***，其特征在于：所述PWM模块(3)包括四路PWM通道，分别为通道0和1、通道2和3；利用姿态检测信息和遥控信号得出控制策略，调节四路PWM信号的占空比，从而控制四个旋翼的转速。
PCT/CN2016/105582 2016-11-14 2016-11-14 无人飞行控制*** WO2018086087A1 (zh)

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