CN107357302A - The tumbling action implementation method and device of a kind of quadrotor - Google Patents
The tumbling action implementation method and device of a kind of quadrotor Download PDFInfo
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- CN107357302A CN107357302A CN201710808447.5A CN201710808447A CN107357302A CN 107357302 A CN107357302 A CN 107357302A CN 201710808447 A CN201710808447 A CN 201710808447A CN 107357302 A CN107357302 A CN 107357302A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000009471 action Effects 0.000 title claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims abstract description 11
- 230000002093 peripheral effect Effects 0.000 claims abstract description 9
- 238000013461 design Methods 0.000 claims abstract description 7
- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 230000004927 fusion Effects 0.000 claims abstract description 5
- 238000011105 stabilization Methods 0.000 claims abstract description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 125000002950 monocyclic group Chemical group 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000002153 concerted effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000009187 flying Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
The invention discloses the tumbling action implementation method and device of a kind of quadrotor,Including main control chip,Motor,Inertial Measurement Unit,Pid control module,Main control chip is STM32F3 series monolithics,Motor is brushless electric machine,Pid control module is cas PID control,Inertial Measurement Unit is MPU6050 chips,And access electronic compass,By electronic compass secondary gyroscope and angular-rate sensor checking attitude data and corrected,Multisensor carries out fusion calculation to the peripheral data in Inertial Measurement Unit,Then the attitude data being calculated is sent to main control chip,Main control chip is according to attitude data,To complete the control to motor,So as to control each rotor wing rotation speed,Attitude data is transmitted to cas PID control system simultaneously,Cas PID control system supplymentary artificially manipulates the self-stabilization for completing aircraft,Rolling in complete design.The tumbling action of the achievable quadrotor of the present invention, has extensive actual application value.
Description
Technical field
The present invention relates to vehicle technology field, more specifically to a kind of tumbling action of quadrotor
Implementation method and device.
Background technology
With power control system in recent years, radio communication progress, aircraft becomes that to substitute high-risk operations artificial
One of most convenient economic scheme.Quadrotor has high-freedom degree, detects that area is wide, not by the excellent of the unknown influence of topography
Point, turn into the optimal selection that field is detected, adverse circumstances are detected.At present, the quadrotor that can be rolled have six degree of freedom,
Volume diversity, landing is convenient, required place is small, stability is strong, hovering, low cruise, convenient, relatively low gyroscopic effect of going off course
The advantages of, it is all it become most convenient and efficient high-risk operations only selection.
Traditional quadrotor that can be rolled uses monocyclic control, subtracts current angular with expected angle first and obtains
Deviation.Proportional directly is multiplied to obtain by deviation with proportionality coefficient., can be directly by gyroscope because the differential of angle is angular speed
Measurement obtain, be multiplied with differential coefficient and can obtain differential term, master control amount is added to obtain by proportional with differential term, but instead
Feedback only considered angle information, and control accuracy is bad.The present invention adds angular speed ring in monocyclic control algolithm, forms PID strings
Level controls and provides the tumbling action implementation method and device of a kind of quadrotor, and measurement accuracy is high, and attitude data is accurate
Really, and can auxiliary is artificial manipulates the self-stabilization for completing aircraft, is widely used in high-risk operations.
Therefore in view of the shortcomings of the prior art, the tumbling action implementation method and dress of a kind of quadrotor have been invented
Put.
The content of the invention
It is an object of the invention to overcome：The control accuracy of monocyclic control is bad, and stability is poor.The present invention is gone here and there using PID
Level controls and provides the tumbling action implementation method and device of a kind of quadrotor, and measurement accuracy is high, and attitude data is accurate
Really, and can auxiliary is artificial manipulates the self-stabilization for completing aircraft.
To reach above-mentioned purpose, technical scheme provided by the invention is：A kind of rolling of quadrotor of the present invention
It is STM32F3 series monolithics to act implementation method and device, main control chip, and Inertial Measurement Unit is MPU6050 chips, and
Second I2C interface accesses electronic compass, and motor is brushless electric machine, and PID control system is cas PID control system.Running
When, verify attitude data by the gyroscope in electronic compass supplementary inertial measuring unit, angular-rate sensor and corrected,
Multi-sensor cooperation is worked, and fusion calculation, the flight that then will be calculated are carried out to the peripheral data in Inertial Measurement Unit
Attitude data in device flight course is sent to main control chip.Main control chip according to the attitude data during aircraft flight,
To complete the control to motor, so as to control each rotor wing rotation speed, attitude data is transmitted to cascade PID by main control chip simultaneously
Control system, aid in artificially manipulating the self-stabilization for completing aircraft, the rolling in complete design.
The model STM32F303 of described single-chip microcomputer.
Described motor is the bright type brushless electric machine of space 2204.
Described Inertial Measurement Unit is the MPU-6050 of invensense companies.
Described Inertial Measurement Unit electronic compass, gyroscope, acceleration transducer cooperate.
Described pid control module is cas PID control, and using angular speed ring as inner ring, inner loop feedback is directly by angular speed
Sensor obtains, and avoids the introducing of error, and the output of outer shroud is directly as the input of inner ring.
Using technical scheme provided by the invention, compared with existing known technology, have the advantages that：(1) originally
The tumbling action implementation method and device for a kind of quadrotor are invented, its motor rotating torque is big, small volume, weight
Gently, assembling is simple, and easy to use, speed adjustable range is wide, and is easy to smooth adjustment, easily controllable, and reliability is high.
(2) the tumbling action implementation method and device of the invention for a kind of quadrotor, its main control chip
STM32F303 single-chip microcomputers, there is high-performance, external equipment aboundresources, processing speed is fast, development efficiency is high.It is abundant
Resources on Chip can also meet the communication requirement of On-Chip peripheral, be easy to complete after the completion of quadrotor basic platform builds
Function Extension.
(3) the tumbling action implementation method and device of the invention for a kind of four rotor unmanned aircraft, its inertia measurement list
First MPU-6050 incorporates 3 axle gyroscopes and 3 axle accelerators.And possess 2 IIC interfaces, one of IIC interfaces are
Spare interface, extra sensor can be accessed according to design conditions when in use.MPU-6050 also possesses DMP databases, gathers around
There is its independent motion process data bank, can be measured according to MPU-6050 and obtain data, carried out pose calibrating, reduce master control core
The computational load of piece, more accurate attitude data can be obtained.
(3) the tumbling action implementation method and device of the invention for a kind of four rotor unmanned aircraft, its PID control system
Unite and mutually confirmed for cas PID control system, two pid control algorithms, angle and angular speed, reduce data error, so increase
The strong stability of aircraft.
Brief description of the drawings
Fig. 1 is four rotor simple model schematic diagrames.
Fig. 2 is hardware system structure schematic diagram.
Fig. 3 illustrates for Software for Design flow.
Fig. 4 is zero checking process schematic diagram.
Fig. 5 is cas PID control schematic flow sheet.
Embodiment
The invention will be further described with the following Examples.
The present invention is the tumbling action implementation method and device of a kind of quadrotor, and main control chip is STM32F3 systems
Row single-chip microcomputer, described Inertial Measurement Unit are MPU6050 chips, and access electronic compass in second I2C interface, and motor is
Brushless electric machine, PID control system are cas PID control system.Operationally, by electronic compass supplementary inertial measuring unit
Gyroscope, angular-rate sensor checking attitude data and corrected, multi-sensor cooperation work, in Inertial Measurement Unit
Peripheral data carry out fusion calculation, the attitude data during the aircraft flight being calculated then is sent to master control core
Piece.Main control chip is according to the attitude data during aircraft flight, to complete the control to motor, so as to control each rotor
Attitude data is transmitted to cas PID control system by rotary speed, main control chip simultaneously, aid in it is artificial manipulate complete aircraft from
It is stable, the rolling in complete design.
Shown in four rotor basic model sketches 1, when 1, No. 4 rotor wing rotation speed increase, 1, No. 4 rotor is to the anti-of fuselage
Moment of torsion is more than reaction torque of 2, No. 3 rotors to fuselage, and aircraft fuselage produces rotation phenomenon in the presence of two groups of reaction torque differences,
It is now yaw maneuver.Yaw direction is opposite with the direction of rotation of 1, No. 4 rotor.Vice versa, when 2, No. 3 rotor wing rotation speed
During degree increase, 2, No. 3 rotors are more than 1, No. 4 rotor to fuselage reaction torque to the reaction torque of fuselage, and now quadrotor is inclined
Boat direction and 2, No. 3 rotor wing rotations are in opposite direction.
The preparatory stage is overturn, sets standing place towards the rigid body three-dimensional coordinate with horizontal plane as X-axis, the model direction of arrow
For the positive direction in the front, the i.e. Z axis of rigid body coordinate of four rotor bodies.After rising four rotors, four rotors is in horizontal and put down
Steady state, now with respect to the horizontal plane inclination angle is zero degree to four rotors, and the conventional posture of four rotor flyings and is held position.This
In posture, four independent rotors of four rotors produce four equal upward thrusts to four rotor fuselages.And now four rotations
The thrust of the wing is made a concerted effort equal to the gravity of four rotor bodies.
Overturn the first stage：Exemplified by rolling to the left（Rolling to the right is identical with principle of rolling to the left）, now body is water
Flat, rolling premise needs fuselage to produce certain angle with rigid body horizontal line, and control the thrust of four rotors come further expand with
Horizontal angle is completed to roll.Rolling makes two motors of 3, No. 4 rotors of body be in idling mode to the left, increase by 1,
The thrust of No. 2 rotor motors.Now left low right high posture can be presented in body.Increasing the thrust of four rotors simultaneously afterwards can enter
One step expand with the angle of horizontal plane, now standard of fuselage line be not up to close to 90 ° but also 90 ° with rigid body horizontal sextant angle.
Overturn second stage：When standard of fuselage line and rigid body horizontal sextant angle are close to 90 °, four rotors should be now reduced
Rotating speed.Because before accelerating in the first stage, 1, No. 2 rotor rotating speed is more than 3, No. 4 rotors.Accelerate rear body and rigid body in a stage
Coordinate system X-axis angle is close to 90 °, and now fuselage inertia can promote fuselage to continue to overturn with Rotor thrust, fuselage is sat with rigid body
Mark system X-axis angle is more than 90 °.Now 4 rotors point to the fourth quadrant of X and Y-axis in rigid body coordinate system to the thrust of fuselage, outside
It can earthward be flown in direction showing as fuselage, now need to reduce the thrust of four rotors, to avoid quadrotor straight
It is connected under the thrust of self gravitation and four rotors and earthward pounds, the thrust for now reducing by four rotors is to increase by four rotations
The wing skyborne flight time, so as to increase the pot life of upset, to realize low upset of dropping.Reducing turn of four rotors
During speed, because 1, No. 2 rotor rotating speed is more than 3, No. 4 rotors always in whole switching process, fuselage can continue to overturn, this
When quadrotor keep motion state continue as initial position deflect nearly 270 ° of mitre joint position, into fourth order
Section.
Overturn the phase III：Quadrotor fuselage and initial position angle are close to 270 ° in second stage, now
Continuing the motion state of second stage can make the angle of fuselage and initial position be more than 270 °.In this state, four rotors are to machine
The thrust of body comes back to the Y-axis positive direction to rigid body coordinate system, and external manifestation is that the thrust of four rotors promotes four rotors again
Secondary flight upwards, because being to make four rotors complete low drop to overturn and extend duration of passage in second stage, to four rotors
Slow down, after deceleration the thrust of four rotors make a concerted effort already less than fuselage gravity so as to do work, then should be increased in current state
The pulling force of four rotors, make the thrust acting of four rotors equal to the gravity acting of fuselage, so as to keep quadrotor
Level height.Because 1, No. 2 Rotor thrust is more than 3, No. 4 rotors in switching process, fuselage should reduce also in heeling condition
1st, 3, No. 4 rotor rotating speeds of the rotating speed of No. 2 rotors and increasing, to make quadrotor return to horizontal attitude with most fast speed.
Phase III completes the upset operation of quadrotor single.
Referring to Fig. 2, in face of the attitude monitoring of four rotors, Inertial Measurement Unit is set up using external peripheral, by outside
The sensor synergism work of peripheral hardware, carries out fusion calculation, by aircraft flight process to the peripheral data in Inertial Measurement Unit
In posture main control chip is sent to data mode.Main control chip has come according to the attitude data during aircraft flight
The control of paired motor, so as to control each rotor wing rotation speed, to reach the purpose of posture changing and posture holding.
Brushless electric machine also because its rotor outside, unique texture including stator in outside, it is necessary to add electron speed regulator
The accurate control to motor speed could be realized.
MPU-6050 obtains data by electronic compass subsidiary, pose calibrating is carried out, so as to obtain accurate posture
Data.
The software flow pattern of whole aerocraft system, when hardware is powered, needs initial to main control chip as shown in 3 figures
Change, guide main program cycle, select the internal clocking crystal oscillator in STM32, as system clock, and initialize flight control
The clock of system.And then initialization address bus and iic bus, the initialization of On-Chip peripheral is completed by bus.Whenever logical
Electricity and after completing initial work, will carry out zero calibration, to keep posture number to the Inertial Measurement Unit of flight control system
According to accuracy.
Referring to Fig. 4, in Software for Design, zero verification is after the initialization of upper electrical environment, reads attitude transducer data, tests
Demonstrate,prove whether attitude data is zero, carried out if non-zero repeatedly, read measured value and calculate the average value repeatedly measured, this value
As be zeroed calibration value, after inertia measurement power measurement attitude data, can all subtract this fixed value, to lower data mistake
Difference.
Referring to Fig. 5 aircraft cas PID controls, using angular rate control unit as inner ring, using angle controller as outer shroud, count
Input signal of the expectation angular speed calculated as inner ring, the angular speed that gyroscope collects is directly as feedback information, effectively
Influence caused by avoiding external interference.Aircraft is controlled by two controllers, stability is effectively enhanced, improves angle
Changing sensitivity so that aircraft has stronger adaptability.
As shown in figure 5, angle control ring is the first ring of cas PID control.Angle control ring P values are equivalent to manipulation process
In amendment dynamics.When P values increase, feel that quadrotor refers in the manipulation that resistance is assigned when manipulating four rotors
Order, show as response it is slower, response amplitude is smaller.When P values are excessive, dither can occur for quadrotor.Angle control
Ring I values processed influence the static difference of integration, and static difference keeps a lower value, and the stable state for being advantageous to aircraft is kept.Angle controls
Ring D values are the difference of error twice recently, and differential is exactly angular acceleration in angular speed control ring, can control aircraft
Return to reference attitude faster.When the reduction of D values, then the concussion of aircraft is reduced during initial position is calibrated back, but
Be return to time of stable state also can be elongated therewith.
As shown in figure 5, angular speed control ring is the second ring of cas PID control.Quadrotor controls through over-angle
After the calibration of ring, aircraft can keep stable state substantially.It is slow with the P values of angular speed control ring during parameter testing
Slow increase, the response speed that can substantially experience aircraft and the speed for calibrating back horizontal attitude are more and more faster.When continuing to increase
During the P values of big angle speed control ring, aircraft can become more sensitive, and response speed is more and more faster, but can cause to manipulate out
Existing error, calibration frequency is too high, so the P values according to concrete condition angular velocity control ring carry out parameter adjustment in an experiment.
System can realize the action of the stable rolling of unmanned plane very well according to the cooperating of above software and hardware.
Claims (3)
1. the invention discloses a kind of implementation method and device of quadrotor tumbling action, the device includes master control core
Piece, motor, Inertial Measurement Unit, pid control module, main control chip are STM32F3 series monolithics, and motor is brushless electric machine,
Pid control module is cas PID control, and Inertial Measurement Unit is MPU6050 chips, and accesses electronics in second I2C interface
Compass, verify attitude data by the gyroscope in electronic compass supplementary inertial measuring unit, angular-rate sensor and entangled
Just, multi-sensor cooperation is worked, and fusion calculation is carried out to the peripheral data in Inertial Measurement Unit, is then flown what is be calculated
Attitude data in row device flight course is sent to main control chip, and main control chip is according to the posture number during aircraft flight
According to complete the control to motor, so as to control each rotor wing rotation speed, while attitude data is transmitted to tandem by main control chip
PID control system, cas PID control system supplymentary are artificially manipulated to complete the self-stabilization of aircraft, the rolling in complete design.
2. the tumbling action implementation method and device of a kind of quadrotor according to claim 1, it is characterised in that：
Electronic compass in Inertial Measurement Unit, gyroscope, acceleration transducer cooperate.
3. the tumbling action implementation method and device of a kind of quadrotor according to claim 1, it is characterised in that：
The pid control module is cas PID control, and inner loop feedback is angular-rate sensor data, and the output of outer shroud is directly as interior
The input of ring.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108469829A (en) * | 2018-03-05 | 2018-08-31 | 黄相贤 | A kind of the stable type control mode and control algolithm of unmanned plane |
| CN108958279A (en) * | 2018-08-21 | 2018-12-07 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle rolling method, apparatus, unmanned plane and storage medium |
| CN109634293A (en) * | 2018-12-05 | 2019-04-16 | 浙江大学 | A kind of fixed-wing unmanned plane roller flowing control method |
| CN109634302A (en) * | 2018-12-06 | 2019-04-16 | 河池学院 | A kind of quadrotor system based on optical alignment |
| CN110703788A (en) * | 2019-10-16 | 2020-01-17 | 北京航空航天大学 | A Stability Augmentation Control Method for a Micro Flapping-Wing Aircraft and Its Implementation |
| CN111960339A (en) * | 2020-08-03 | 2020-11-20 | 吉林大学青岛汽车研究院 | An attitude self-stabilizing rope-rail type hoisting equipment and attitude control method thereof |
| CN112327933A (en) * | 2020-12-04 | 2021-02-05 | 上海磐启微电子有限公司 | Aircraft control system and method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469829A (en) * | 2018-03-05 | 2018-08-31 | 黄相贤 | A kind of the stable type control mode and control algolithm of unmanned plane |
| CN108958279A (en) * | 2018-08-21 | 2018-12-07 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle rolling method, apparatus, unmanned plane and storage medium |
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| CN109634302A (en) * | 2018-12-06 | 2019-04-16 | 河池学院 | A kind of quadrotor system based on optical alignment |
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| CN110703788A (en) * | 2019-10-16 | 2020-01-17 | 北京航空航天大学 | A Stability Augmentation Control Method for a Micro Flapping-Wing Aircraft and Its Implementation |
| CN111960339A (en) * | 2020-08-03 | 2020-11-20 | 吉林大学青岛汽车研究院 | An attitude self-stabilizing rope-rail type hoisting equipment and attitude control method thereof |
| CN111960339B (en) * | 2020-08-03 | 2022-03-29 | 吉林大学青岛汽车研究院 | Attitude self-stabilizing rope rail type lifting equipment and attitude control method thereof |
| CN112327933A (en) * | 2020-12-04 | 2021-02-05 | 上海磐启微电子有限公司 | Aircraft control system and method |
| CN112327933B (en) * | 2020-12-04 | 2024-03-08 | 上海磐启微电子有限公司 | Aircraft control system and method |
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