CN117970947A - Flight attitude control system of four-rotor unmanned aerial vehicle - Google Patents
Flight attitude control system of four-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a flight attitude control system of a four-rotor unmanned aerial vehicle, which belongs to the technical field of unmanned aerial vehicle flight attitudes and comprises the following components: the device comprises a sensor module, a control module and a motor driving module, wherein the control module is respectively connected with the sensor module and the motor driving module; the sensor module is used for acquiring flight data of the quadrotor unmanned aerial vehicle; the control module is used for generating control instructions according to the flight data, wherein the control instructions comprise: pitch motion commands, roll motion commands, and yaw motion commands; and the motor driving module is used for driving the motor through control instructions and controlling the flight attitude of the four-rotor unmanned aerial vehicle. The four-rotor unmanned aerial vehicle can achieve various flight attitudes of the four-rotor unmanned aerial vehicle, and can complete specific flight tasks through the various flight attitudes of the four-rotor unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight attitude control, and particularly relates to a flight attitude control system of a four-rotor unmanned aerial vehicle.
Background
The four-rotor unmanned aerial vehicle has been widely applied, and aerial photographing, inspection, law enforcement, environmental monitoring, mapping and the like are utilized. The four-rotor unmanned aerial vehicle has the characteristics of simple structure, convenient operation, good maneuverability, wide field of view and the like, can timely acquire low-altitude high-resolution images and other near-ground information, and reduces manpower and material resource consumption.
At present, a four-rotor unmanned aerial vehicle is provided with four propellers, each propeller is driven by a motor, when the motor drives the propellers to blow down, air can generate upward lifting force to the propellers due to the principle of acting force and reaction force, and the higher the rotating speed of the propellers, the larger the lifting force, and when the lifting force is greater than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle rises; otherwise, the rotating speed of the propeller is reduced, the lifting force is reduced, and when the lifting force is smaller than the gravity of the unmanned aerial vehicle, the unmanned aerial vehicle is lowered. However, various flight attitude control of the quadrotor unmanned aerial vehicle cannot be realized, so that the quadrotor unmanned aerial vehicle cannot complete a specific flight task.
Disclosure of Invention
The invention aims to provide a flight attitude control system of a four-rotor unmanned aerial vehicle, which aims to solve the problems in the prior art.
In order to achieve the above object, the present invention provides a flight attitude control system of a quadrotor unmanned aerial vehicle, comprising: the device comprises a sensor module, a control module and a motor driving module, wherein the control module is respectively connected with the sensor module and the motor driving module;
the sensor module is used for acquiring flight data of the quadrotor unmanned aerial vehicle;
The control module is used for generating control instructions according to the flight data, wherein the control instructions comprise: pitch motion commands, roll motion commands, and yaw motion commands;
And the motor driving module is used for driving the motor through the control instruction and controlling the flight attitude of the four-rotor unmanned aerial vehicle.
Preferably, the sensor module includes: the system comprises an inertial measurement unit, an air pressure altimeter and an electronic compass;
the inertial measurement unit is used for acquiring speed information of the quadrotor unmanned aerial vehicle;
The air pressure altimeter is used for acquiring the altitude information of the quadrotor unmanned aerial vehicle;
the electronic compass is used for calibrating the speed information and the altitude information.
Preferably, the control module includes: an automatic control unit and a manual control unit;
The automatic control unit is used for receiving the calibrated flight data through the main control chip, generating an automatic control instruction based on the set flight task, and obtaining the flight track of the four-rotor unmanned aerial vehicle based on the automatic control instruction;
The manual control unit is used for receiving the calibrated flight data through the ground terminal, generating a manual control instruction and manually operating the flight track based on the manual control instruction.
Preferably, the manual control unit further comprises a wireless communication unit, the four-rotor unmanned aerial vehicle performs data transmission with the ground terminal through the wireless communication unit, and the ground terminal receives the manual control instruction and then performs manual operation on the flight track of the unmanned aerial vehicle through the remote control device.
Preferably, the wireless communication unit includes: a signal amplifying circuit and a filter circuit;
the signal amplifying circuit is used for amplifying the wireless signal power of the flight data;
The filtering circuit is used for filtering noise and clutter signals in the wireless signals.
Preferably, the motor driving module includes: a motor working unit and a motor driving unit,
The motor working unit is used for outputting PWM signals through a cascade PID controller based on the control instruction, and the motor works normally based on the PWM signals;
and the motor driving unit is used for respectively driving the four rotors to rotate by adjusting the rotating speeds of different motors, and controlling the flight attitude of the four-rotor unmanned aerial vehicle based on the rotation of the rotors.
Preferably, the system further comprises a navigation module, wherein the navigation module is used for acquiring the positioning coordinates of the quadrotor unmanned aerial vehicle and simultaneously providing navigation for the flight track of the quadrotor unmanned aerial vehicle based on the set flight task.
Preferably, the unmanned aerial vehicle further comprises an alarm module, wherein the alarm module is used for judging the height information according to the flight task, setting a height threshold value based on the flight task, automatically alarming and generating an alarm signal if the height information exceeds the height threshold value, and transmitting the alarm signal to the ground terminal through the wireless communication module, and controlling the flight height of the unmanned aerial vehicle through the ground terminal.
The invention has the technical effects that:
The invention provides a flight attitude control system of a quadrotor unmanned aerial vehicle, which is used for acquiring flight data of the quadrotor unmanned aerial vehicle through a sensor module; generating control instructions by a control module, wherein the control instructions comprise: pitch motion commands, roll motion commands, and yaw motion commands; through motor drive module, based on control instruction driving motor and four rotor unmanned aerial vehicle's of control flight gesture. The four-rotor unmanned aerial vehicle can achieve various flight attitudes of the four-rotor unmanned aerial vehicle, and can complete specific flight tasks through the various flight attitudes of the four-rotor unmanned aerial vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
Fig. 1 is a schematic diagram of a system according to an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
As shown in fig. 1, in this embodiment, a flight attitude control system of a quadrotor unmanned aerial vehicle is provided, including:
the device comprises a sensor module, a control module and a motor driving module, wherein the control module is respectively connected with the sensor module and the motor driving module;
The sensor module is used for acquiring flight data of the quadrotor unmanned aerial vehicle;
The control module is used for generating control instructions according to the flight data, wherein the control instructions comprise: pitch motion commands, roll motion commands, and yaw motion commands;
And the motor driving module is used for driving the motor through control instructions and controlling the flight attitude of the four-rotor unmanned aerial vehicle.
In some embodiments, the sensor module comprises: the system comprises an inertial measurement unit, an air pressure altimeter and an electronic compass; the inertial measurement unit is used for acquiring the speed information of the quadrotor unmanned aerial vehicle; the barometer altimeter is used for acquiring altitude information of the quadrotor unmanned aerial vehicle; and the electronic compass is used for calibrating the speed information and the altitude information.
In this embodiment, the sensor pattern should follow the following principle: resolution and range are suitable; the sensitivity is high; the stability is high, and the impact resistance is strong; the linearity is good; the weight and the volume are small; the power consumption is low; the peripheral circuit is simple; the cost is low; good environmental adaptability, etc.
In this embodiment, the inertial measurement unit employs an MPU-6000 chip, which is a 6-axis motion processing sensor that integrates a 3-axis MEMS accelerometer, a 3-axis MEMS gyroscope, and an extensible digital motion processor DMP (Digital Motion Processor). The MPU-6000 chip can be connected with a third party inertial digital sensor such as a magnetometer through an I2C interface, and after expansion, a 9-axis signal can be output through the I2C or SPI interface. The MPU-6000 chip can analyze the gesture of the four-rotor unmanned helicopter. The working principle is that data measured by a gyroscope and an accelerometer are converted by an internal ADC, processed by a DMP and then communicated with a main chip through an SPI/I2C interface.
The MPU-6000 chip is provided with three 16-bit analog-to-digital converters for the accelerometer and the gyroscope respectively, and converts the analog quantity measured by the MPU-6000 chip into a digital quantity which can be output. The measuring ranges of the 3-axis MEMS gyroscope and the 3-axis MEMS accelerometer are controllable by a user, and the method is beneficial to accurately tracking the slow and fast real-time movement of the unmanned aerial vehicle.
In this embodiment, the barometer selects an MS5611 barometric sensor from MEAS corporation for measuring the flying height of the quad-rotor unmanned helicopter. Because of the limitations of technology and other reasons, the general error of the altitude of the GPS calculation can be about ten meters, and if the unmanned aerial vehicle enters a very thick building or runs from Lin Fei, the built-in sensor can not even receive GPS satellite signals sometimes, the vertical altitude can not be perceived, and the danger of being unable to identify the geographic position of the unmanned aerial vehicle is faced. Therefore, the function of the air pressure sensor is added on the basis of the GPS, so that the three-dimensional positioning of the four-rotor unmanned helicopter can be more accurate.
The MS5611 air pressure sensor is a high resolution air pressure sensor, adopts SPI and I2C digital interfaces, has resolution accuracy of 10cm, has a measurement range of 10-1200 mbar, has a temperature compensation range of 40-85 ℃ and has a working voltage of 1.8-3.6V. The sensor module is internally provided with a piezoresistive sensor, so that the conversion speed can be improved, the current consumption can be optimized, the main function is that the measured analog air pressure value is converted into a 24-bit digital value through an ADC (analog-to-digital converter) and output, and meanwhile, a 24-bit digital temperature value can be output. Each module has its own factory calibration values stored in an internal 128bit memory (PROM) which are read in software and programmed to convert D1 and D2 to standard air pressure, temperature values. The sensor has high stability, low pressure signal lag, simple communication protocol and no need of programming registers in the device.
In this embodiment, in the inertial navigation algorithm, the navigation parameters diverge as the measurement error of the sensor accumulates during long-term autonomous flight, so that the actual requirements cannot be satisfied. To solve this problem, the inertial navigation system is attitude-calibrated by an electronic compass, and a three-axis digital compass HMC5883L is selected in the present embodiment. HMC5883L employs the technique of the holmivir Anisotropic Magnetoresistance (AMR), which has the characteristics of high accuracy in linearity and high sensitivity in the axial direction, with a solid phase structure with low sensitivity to the orthogonal axis that can be used to measure the magnitude and direction of the earth's magnetic field, ranging from milligauss to 8 gauss (gauss). The weak magnetic sensor chip in HMC5883L has a digital interface and can be applied to the field of magnetic field detection and low-cost compass. The HMC5883L also contains the most advanced high resolution HMC118X series magnetoresistive sensor, with the integrated circuit of the holmivir patent, including an amplifier, bias calibration, an automatic degaussing driver, and a 12 bit analog to digital converter that enables compass accuracy control at 1-2 °.
In this embodiment, the HMC5883L does not require an external set/reset loop to be added to the problem of temperature drift of the attitude parameters of the quad-rotor unmanned helicopter. The ASIC will automatically complete the set/reset at each measurement. The measurement is performed after the generation of a set pulse, and then after the generation of a reset pulse, half of the difference between the two measurements will be placed on the data output registers of each of the three axes. In this way, the internal deviations and temperature drift differences of the sensor can be removed/counteracted in all measurements.
In some embodiments, the control module includes: an automatic control unit and a manual control unit;
The automatic control unit is used for receiving the calibrated flight data through the main control chip, generating an automatic control instruction based on the set flight task, and obtaining the flight track of the quadrotor unmanned aerial vehicle based on the automatic control instruction;
And the manual control unit is used for receiving the calibrated flight data through the ground terminal, generating a manual control instruction, and manually operating the flight track based on the manual control instruction.
In this embodiment, the core of the four-rotor unmanned helicopter flight control system is a control module. The control chip is used as a core control part of the whole system and is mainly responsible for collecting triaxial angular velocity, triaxial linear acceleration and heading information detected by each attitude sensor and carrying out real-time calculation; according to the set flight track and task, 4 quantities such as the rotating speed of each motor are calculated and output by combining a set control scheme;
In this embodiment, the communication module may also receive a ground station control command, perform interactive data transmission with the ground station, download flight status data, and change the flight status. Comprehensively considering the aspects of performance, interfaces, cost, development difficulty and the like. In this embodiment, ATMEGA2560-16AU is selected as the main control chip, ATMEGA2560-16AU is an 8-bit programmable micro-controller, and an AVR core processor is embedded.
In this embodiment, the control module adopts the solar cell panel to supply power, can increase unmanned aerial vehicle's duration.
In some embodiments, the manual control unit further comprises a wireless communication unit, the quad-rotor unmanned helicopter performs data transmission with the ground terminal through the wireless communication unit, and the ground terminal receives the manual control instruction and then performs manual operation on the flight track of the unmanned helicopter through the remote control device.
In some embodiments, a wireless communication unit includes: a signal amplifying circuit and a filter circuit;
The signal amplifying circuit is used for amplifying the wireless signal power of the flight data;
And the filter circuit is used for filtering noise and clutter signals in the wireless signals.
In some embodiments, the motor drive module includes: a motor working unit and a motor driving unit,
The motor working unit is used for outputting PWM signals through the cascade PID controller based on the control instruction, and the motor works normally based on the PWM signals;
and the motor driving unit is used for respectively driving the four rotors to rotate by adjusting the rotating speeds of different motors, and controlling the flight attitude of the four-rotor unmanned aerial vehicle based on the rotation of the rotors.
In the embodiment, the plurality of rotors can be controlled through one motor, and when the posture of the unmanned aerial vehicle needs to be adjusted, only part of the rotors are required to be subjected to variable pitch control, so that the flight control of the unmanned aerial vehicle can be realized, the energy consumption of the unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is improved;
in some embodiments, the system further comprises a navigation module for acquiring positioning coordinates of the quadrotor unmanned aerial vehicle and providing navigation for a flight trajectory of the quadrotor unmanned aerial vehicle based on the set flight mission.
In this embodiment, the navigation module provides the current accurate track direction, longitude and latitude information and ground speed information for the unmanned aerial vehicle, and selects and adopts the NEO-5Q chip of the company ublox in Switzerland. The chip can be positioned for 1s in a hot start state, and the baud rate and the refresh rate are supported to be modified and cured; an internal memory, which can store settings; and has small volume, low cost and a plurality of excellent characteristics. The GPS system is used for obtaining high-precision, real-time and continuous three-dimensional speed, three-dimensional position and time information, and the GPS is used for positioning and navigation.
In some embodiments, the unmanned aerial vehicle further comprises an alarm module, wherein the alarm module is used for judging the height information according to the flight task, setting a height threshold value based on the flight task, automatically alarming and generating an alarm signal when the height information exceeds the height threshold value, transmitting the alarm signal to the ground terminal through the wireless communication module, and controlling the flight height of the unmanned aerial vehicle through the ground terminal.
The technical effects of this embodiment are:
The embodiment provides a flight attitude control system of a four-rotor unmanned aerial vehicle, which acquires flight data of the four-rotor unmanned aerial vehicle through a sensor module; generating control instructions by a control module, wherein the control instructions comprise: pitch motion commands, roll motion commands, and yaw motion commands; through motor drive module, based on control instruction driving motor and four rotor unmanned aerial vehicle's of control flight gesture. The four-rotor unmanned aerial vehicle can achieve various flight attitudes of the four-rotor unmanned aerial vehicle, and can complete specific flight tasks through the various flight attitudes of the four-rotor unmanned aerial vehicle.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (8)
1. A four rotor unmanned aerial vehicle's flight attitude control system, characterized by comprising: the device comprises a sensor module, a control module and a motor driving module, wherein the control module is respectively connected with the sensor module and the motor driving module;
the sensor module is used for acquiring flight data of the quadrotor unmanned aerial vehicle;
The control module is used for generating control instructions according to the flight data, wherein the control instructions comprise: pitch motion commands, roll motion commands, and yaw motion commands;
And the motor driving module is used for driving the motor through the control instruction and controlling the flight attitude of the four-rotor unmanned aerial vehicle.
2. The four-rotor unmanned aerial vehicle flight attitude control system of claim 1, wherein the sensor module comprises: the system comprises an inertial measurement unit, an air pressure altimeter and an electronic compass;
the inertial measurement unit is used for acquiring speed information of the quadrotor unmanned aerial vehicle;
The air pressure altimeter is used for acquiring the altitude information of the quadrotor unmanned aerial vehicle;
the electronic compass is used for calibrating the speed information and the altitude information.
3. The four-rotor unmanned aerial vehicle flight attitude control system of claim 1, wherein the control module comprises: an automatic control unit and a manual control unit;
The automatic control unit is used for receiving the calibrated flight data through the main control chip, generating an automatic control instruction based on the set flight task, and obtaining the flight track of the four-rotor unmanned aerial vehicle based on the automatic control instruction;
The manual control unit is used for receiving the calibrated flight data through the ground terminal, generating a manual control instruction and manually operating the flight track based on the manual control instruction.
4. The flying attitude control system of the quadrotor unmanned aerial vehicle according to claim 3, wherein the manual control unit further comprises a wireless communication unit, the quadrotor unmanned aerial vehicle performs data transmission with a ground terminal through the wireless communication unit, and the ground terminal receives the manual control instruction and then performs manual operation on the flying trace of the unmanned aerial vehicle through a remote control device.
5. The four-rotor unmanned aerial vehicle flight attitude control system of claim 4, wherein the wireless communication unit comprises: a signal amplifying circuit and a filter circuit;
the signal amplifying circuit is used for amplifying the wireless signal power of the flight data;
The filtering circuit is used for filtering noise and clutter signals in the wireless signals.
6. The four-rotor unmanned aerial vehicle flight attitude control system of claim 1, wherein the motor drive module comprises: a motor working unit and a motor driving unit,
The motor working unit is used for outputting PWM signals through a cascade PID controller based on the control instruction, and the motor works normally based on the PWM signals;
and the motor driving unit is used for respectively driving the four rotors to rotate by adjusting the rotating speeds of different motors, and controlling the flight attitude of the four-rotor unmanned aerial vehicle based on the rotation of the rotors.
7. The four-rotor unmanned aerial vehicle flight attitude control system of claim 1, further comprising a navigation module for obtaining positioning coordinates of the four-rotor unmanned aerial vehicle and providing navigation for a flight trajectory of the four-rotor unmanned aerial vehicle based on the set flight mission.
8. The four-rotor unmanned aerial vehicle flight attitude control system according to claim 1, further comprising an alarm module for judging the altitude information according to the flight task, setting an altitude threshold based on the flight task, automatically alarming and generating an alarm signal if the altitude information exceeds the altitude threshold, wherein the alarm signal is transmitted to a ground terminal through a wireless communication module, and the flight altitude of the unmanned aerial vehicle is controlled through the ground terminal.
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| CN202211302625.4A CN117970947A (en) | 2022-10-24 | 2022-10-24 | Flight attitude control system of four-rotor unmanned aerial vehicle |
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| CN202211302625.4A CN117970947A (en) | 2022-10-24 | 2022-10-24 | Flight attitude control system of four-rotor unmanned aerial vehicle |
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