CN106896738A - A kind of various dimensions quadrotor gesture stability Simulation Experimental Platform - Google Patents

Abstract

The invention relates to a multi-dimensional four-rotor aircraft attitude control simulation experiment platform. The experimental platform includes an aircraft, a flight controller and a host device. The host computer, the flight controller and the aircraft are connected in sequence. The aircraft includes a three-free Rotating parts and a plurality of wings detachably connected to the rotating parts, brushless motors and propellers are installed on the end of the wings far away from the rotating parts, and electronic governors are also provided on the wings, so The brushless motor described above is respectively connected with the electronic governor and the propeller, and the flight controller is connected with the electronic governor. Compared with the prior art, the invention has the advantages of flexible and convenient detachable wing design, real-time update algorithm, good simulation effect, real-time monitoring of aircraft status, and reduced research and development costs.

Description

A multi-dimensional quadrotor aircraft attitude control simulation experiment platform

technical field

The invention relates to an aircraft real-time simulation platform, in particular to a multi-dimensional four-rotor aircraft attitude control simulation experiment platform.

Background technique

In the development process of quadrotor aircraft, it is impossible to test the aircraft with a real machine every time. One of the cost is too high. Any fully assembled quadrotor aircraft is expensive. If it is accidentally damaged during the test, it will Increase the cost of research and development; second, it is easy to cause safety accidents. Because the prototype is extremely unstable, it is very easy to cause crashes, so the role of the quadrotor aircraft simulation experiment platform is huge. Through the simulation experiment platform, it is possible to verify whether the control algorithm is correct, even if there is an error, the parameters can be adjusted quickly and conveniently, and the reliability of the control algorithm can be verified in real time, so that problems can be found and solved in the initial stage of research and development.

However, the quadrotor unmanned aerial vehicle has strong static instability, and has the characteristics of underactuation, strong coupling and nonlinearity in dynamics, which increase the difficulty of designing the flight controller, so the actual flight experiment is risky and The cost is high, and it is more restricted by the surrounding environment. Most universities and scientific research institutions use purely numerical simulation experiments to simulate the flight of aircraft. Although such an experimental method is efficient and convenient, it is difficult to truly show the complex and changeable actual situation, which greatly reduces the confidence of the simulation results.

Contents of the invention

The purpose of the present invention is to provide a multi-dimensional quadrotor aircraft attitude control simulation experiment platform in order to overcome the above-mentioned defects in the prior art. Aiming at the current lack of a quadrotor aircraft attitude control simulation experiment platform with complete testing functions, the present invention designs an experimental platform capable of online real-time simulation verification of the quadrotor aircraft control algorithm.

The purpose of the present invention can be achieved through the following technical solutions:

A multi-dimensional four-rotor aircraft attitude control simulation experiment platform, the experiment platform includes aircraft, flight controller and host device, the host computer, flight controller and aircraft are connected in sequence, and the aircraft includes three degrees of freedom rotating parts And a plurality of wings detachably connected to the rotating parts, the end of the wings away from the rotating parts is equipped with a brushless motor and a propeller, and an electronic governor is also provided on the wings, and the electronic governor The governor is connected to the propeller through a brushless motor, and the flight controller is connected to the electronic governor;

Determine the number of detachable wings installed according to the requirements. When the experiment only needs to verify the flight attitude control of one degree of freedom, install only one pair of wings. When the experiment needs to verify the flight attitude control of three degrees of freedom, install two pairs of wings; The flight controller described above receives aircraft data, and the flight controller adjusts the speed of the brushless motor by controlling the electronic governor to adjust the state of the aircraft.

The detachable wings include two pairs of wings.

The flight controller includes an MCU measuring unit and a microprocessor. The MCU measuring unit measures the attitude angle data of the aircraft in real time and feeds it back to the microprocessor. The microprocessor adjusts the speed of the brushless motor by controlling the electronic governor to adjust the attitude of the aircraft.

The MCU measurement unit includes a gyroscope and an acceleration sensor, and the output terminals of the gyroscope and the acceleration sensor are respectively connected to the microprocessor.

The attitude angle data includes pitch angle, roll angle and yaw angle data.

The experimental platform also includes a base, and the three-degree-of-freedom rotating part is installed on the base.

The experimental platform also includes a support frame, and the flight controller is installed on the three-degree-of-freedom rotating part through the support frame.

The detachable wings are fixed on the three-degree-of-freedom rotating parts by fastening screws.

Compared with the prior art, the present invention has the following advantages:

1. The detachable wing design is flexible and convenient: it is especially used in the simulation experiment of the initial stage of quadrotor aircraft development, and is suitable for college teaching. When the experiment only needs to verify the flight attitude control of one degree of freedom, only a pair of wings is installed. When it is necessary to verify the three-degree-of-freedom flight attitude control, install two pairs of wings; students expand from one degree of freedom to three degrees of freedom to learn, from easy to difficult, and learn the complete system to verify the entire aircraft control principle, which is easier for students to understand;

2. The algorithm is updated in real time, and the simulation effect is good: the host computer updates and writes the control algorithm of the entire aircraft in real time, and downloads the flight control algorithm to the flight controller. When the aircraft control algorithm is defective, the algorithm can be modified in real time and downloaded to the flight controller again. Repeated verification in the controller;

3. Real-time monitoring of the status of the aircraft: the host computer can also monitor the various attitude angle information and motor speed of the drone in real time, and adjust it according to the situation;

4. Reduce R&D costs: Avoid accidents with real machine testing algorithms, causing huge economic losses, thereby reducing R&D costs.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is a three-dimensional structure schematic diagram of a three-degree-of-freedom rotating part of the present invention;

Fig. 3 is a schematic diagram of the working principle of the present invention;

1. Brushless motor, 2. Detachable wing, 3. Support frame, 4. Flight controller, 5. Propeller, 6. Fastening screw, 7. Electronic governor, 8. Three-degree-of-freedom rotating part, 9 , base, 10, data cable, 11, upper computer.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

Example

The present invention is a multi-dimensional four-rotor aircraft attitude control simulation experiment platform. Through the setting of detachable wings, the demonstration of the control principle of aircraft single degree of freedom and three degrees of freedom is realized, which is more convenient for college students to learn from easy to difficult. The learning process is convenient for students to systematically understand the principles of aircraft.

The experimental platform includes a host computer, a flight controller and an aircraft, and the host computer 11, the flight controller 4 and the aircraft are connected in sequence. The aircraft consists of a three-degree-of-freedom rotating component 8 and a plurality of wings detachably connected to the rotating component.

The specific structure is:

As shown in Figure 1, the four-rotor aircraft attitude control simulation experiment platform of the present invention comprises a brushless motor 1, a detachable wing 2, a support frame 3, a flight controller 4, a propeller 5, a fastening screw 6, an electronic governor 7. Three-degree-of-freedom rotating part 8, base 9, data line 10, host computer 11. The aircraft includes a three-degree-of-freedom rotating part 8 and a plurality of wings detachably connected to the rotating part. The end of the wing away from the rotating part is equipped with a brushless motor 1 and a propeller 5, and an electronic governor 7 is also provided on the wing. , the brushless motor 1 is connected with the electronic governor 7 and the propeller 5 respectively, the flight controller 4 is installed above the three-degree-of-freedom rotating part 8 through the support frame 3, and the flight controller is connected with the electronic governor 7. The upper computer and the flight controller are connected through a data line 10 . The three-degree-of-freedom rotating part is installed on the base 9, as shown in FIG. 2 .

The platform includes two pairs of detachable wings. The detachable wing is connected with the three-degree-of-freedom rotating part through fastening screws 6 .

The three-degree-of-freedom rotating parts can simulate the pitching motion, rolling motion, and yaw motion of the quadrotor aircraft, and can be installed with detachable wings, which is convenient for students to learn from one position to high position. When the experiment only needs to verify the flight attitude control of one degree of freedom, only one pair of wings can be installed; when the experiment needs to verify the flight attitude control of three degrees of freedom, two pairs of wings can be installed. This method has more complete test functions, which is convenient for the complete system to verify the control principle of the entire quadrotor aircraft.

The flight controller is the measurement and control unit of the aircraft. The flight controller is installed on the support frame, which contains an MCU unit, a microprocessor (which can be a single-chip microcomputer, DSP or an embedded system), and the MCU unit includes a gyroscope and an acceleration sensor. It is used to measure the attitude data of the aircraft in real time and send these data to the microprocessor for processing. The microprocessor adjusts the speed of the brushless motor in real time according to these data to achieve the purpose of controlling the attitude of the aircraft.

The electronic governor is the main component to adjust the speed of the motor. Since the driving of the brushless motor requires a huge current, it is not possible to directly control the brushless motor with the flight controller. The electronic governor must be used as an intermediate bridge. The controller sends the motor speed control signal to the electronic governor, and the electronic governor regulates the speed of the brushless motor.

The brushless motor is fixed at one end of the detachable wing, and an electronic governor is installed on each detachable wing. The electronic governor is used to control the speed of the brushless motor, thereby controlling the lift of each propeller to control the UAV gesture purpose. The other end of the detachable wing is fixed on the three-degree-of-freedom rotating part by fastening screws. When the experiment needs to verify the flight attitude control of one degree of freedom, only one pair of wings can be installed; when the experiment needs to verify the flight attitude control of three degrees of freedom, two pairs of wings can be installed.

The upper computer is a PC, and through the experimental results of the aircraft simulation platform, various parameters and control algorithms of the aircraft can be adjusted online in real time, and finally the control system of the entire aircraft can be improved. The host computer writes the control algorithm of the entire aircraft, and downloads the flight control algorithm to the flight controller. When there are defects in the aircraft control algorithm, the algorithm can be modified in real time and re-downloaded to the flight controller for repeated verification. At the same time, various attitude angle information and motor speed of the aircraft can be monitored on the PC.

As shown in Figure 3, it is a schematic diagram of the working principle of the present invention. The installation quantity of detachable wings is determined according to actual needs. When the experiment only needs to verify the flight attitude control of one degree of freedom, only a pair of wings is installed. When the experiment needs to verify three When the degree of freedom flight attitude is controlled, two pairs of wings are installed; the host computer revises the algorithm in the flight controller in real time, and the flight controller receives aircraft data in real time through the gyroscope and acceleration sensor, and the flight controller receives the aircraft data through the control electronics. The governor adjusts the speed of the brushless motor and forms a closed-loop feedback to adjust the status of the aircraft in real time.

The present invention can be easily expanded from one degree of freedom to three degrees of freedom, which is convenient for the complete system to verify the control principle of the whole aircraft. At the same time, when teaching in colleges and universities, it can be used for students to simply and clearly understand the mathematical model of quadrotor aircraft. The correctness of the control algorithm can be verified in real time. When there are defects in the algorithm, it is possible to avoid accidents caused by using the real machine to test the algorithm, causing huge economic losses, thereby reducing the cost of research and development. The algorithm can be improved in real time, so that the defects of the algorithm can be found conveniently and quickly and corrected in time.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed in the present invention. Modifications or replacements shall all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (8)

1. a kind of various dimensions quadrotor gesture stability Simulation Experimental Platform, the experiment porch includes aircraft, flight control Device processed and upper device, described host computer, flight controller and aircraft are sequentially connected, it is characterised in that described aircraft The multiple wings being detachably connected including Three Degree Of Freedom rotatable parts and with rotatable parts, described wing is away from rotatable parts One end brushless electric machine and propeller are installed, be additionally provided with electron speed regulator on described wing, described electron speed regulator leads to Cross brushless electric machine connection propeller, described flight controller connection electron speed regulator；

The installation number of detachable wing is determined according to demand, when experiment only needs to checking single-degree-of-freedom flight attitude to be controlled, A pair of wings are only installed, when experiment needs checking Three Degree Of Freedom flight attitude to control, two pairs of wings are installed；Described flight control Device processed receives aircraft data, and flight controller adjusts brushless motor speed, adjusts aircraft shape by controlling electron speed regulator State.

2. a kind of various dimensions quadrotor gesture stability Simulation Experimental Platform according to claim 1, its feature exists In described detachable wing includes two pairs of wings.

3. a kind of various dimensions quadrotor gesture stability Simulation Experimental Platform according to claim 1, its feature exists In described flight controller includes MCU measuring units and microprocessor, and MCU measuring units measure the attitude of aircraft in real time Angular data feeds back to microprocessor, and microprocessor adjusts brushless motor speed, adjusts aircraft appearance by controlling electron speed regulator State.

4. a kind of various dimensions quadrotor gesture stability Simulation Experimental Platform according to claim 3, its feature exists In described MCU measuring units include gyroscope and acceleration transducer, described gyroscope and acceleration transducer output end Respectively it is connected with microprocessor.

5. a kind of various dimensions quadrotor gesture stability Simulation Experimental Platform according to claim 3, its feature exists In described attitude angle data includes the angle of pitch, roll angle and driftage angular data.

6. a kind of various dimensions quadrotor gesture stability Simulation Experimental Platform according to claim 1, its feature exists In described experiment porch also includes base, and described Three Degree Of Freedom rotatable parts are arranged on base.

7. a kind of various dimensions quadrotor gesture stability Simulation Experimental Platform according to claim 1, its feature exists In described experiment porch also includes support frame, and described flight controller is arranged on Three Degree Of Freedom rotation section by support frame On part.

8. a kind of various dimensions quadrotor gesture stability Simulation Experimental Platform according to claim 1, its feature exists In described detachable wing is fixed on Three Degree Of Freedom rotatable parts by fastening screw.