CN109597422A - Unmanned tandem helicopter attitude control system and method - Google Patents
Unmanned tandem helicopter attitude control system and method Download PDFInfo
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- CN109597422A CN109597422A CN201811556449.0A CN201811556449A CN109597422A CN 109597422 A CN109597422 A CN 109597422A CN 201811556449 A CN201811556449 A CN 201811556449A CN 109597422 A CN109597422 A CN 109597422A
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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
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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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
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明实施例提供一种纵列式无人直升机姿态控制系统和方法。其中，纵列式无人直升机姿态控制系统包括：主控芯片、运动传感器和气压计；运动传感器和气压计，用于获取纵列式无人直升机的当前姿态和高度信息；主控芯片，用于获取纵列式无人直升机的期望姿态，并根据期望姿态与当前实际姿态之差，生成对各舵机的控制指令。本发明实施例提供的纵列式无人直升机姿态控制系统和方法，根据纵列式无人直升机的期望姿态与纵列式无人直升机的当前姿态之差，生成对各舵机的控制指令，以产生期望的姿态，结构更简单、容易实现，使得纵列式无人直升机的制造更简单、成本可控、成本更低，从而能提高产品在市场上的竞争力。
Embodiments of the present invention provide a tandem unmanned helicopter attitude control system and method. Among them, the attitude control system of the tandem unmanned helicopter includes: the main control chip, the motion sensor and the barometer; the motion sensor and the barometer are used to obtain the current attitude and altitude information of the tandem unmanned helicopter; the main control chip is used for It is used to obtain the desired attitude of the tandem unmanned helicopter, and generate control instructions for each steering gear according to the difference between the desired attitude and the current actual attitude. The tandem unmanned helicopter attitude control system and method provided by the embodiments of the present invention generate control instructions for each steering gear according to the difference between the desired attitude of the tandem unmanned helicopter and the current attitude of the tandem unmanned helicopter, In order to produce the desired attitude, the structure is simpler and easier to realize, which makes the manufacture of the tandem unmanned helicopter simpler, the cost is controllable, and the cost is lower, thereby improving the competitiveness of the product in the market.
Description
Technical field
The present embodiments relate to air vehicle technique field more particularly to a kind of unmanned tandem helicopter gesture stability systems
System and method.
Background technique
In recent years, multi-rotor unmanned aerial vehicle obtains the extensive concern of people and flourishes.Multi-rotor unmanned aerial vehicle can be realized
VTOL, forward-reverse, left flies the right flare maneuvers such as fly at spot hover.Although multi-rotor unmanned aerial vehicle obtains in production and living
To being widely applied and achieve good effect, but more rotors nobody have the shortcomings that its is intrinsic, i.e., its flight efficiency it is low,
Small, cruising ability is poor etc. is loaded, these factors restrict its large-scale application.
And unmanned tandem helicopter is big with loading capacity, hovering efficiency is high and the series of advantages such as bulk is small.
The type can be applied to the various fields such as transport, passenger traffic, hanging, medical treatment, search and rescue, antisubmarine and agricultural plant protection, therefore increasingly
By the attention of enterprise and researcher.But the type Control System Design is more complicated, and to lap siding, nobody is gone straight up at present
The research of machine is less, and the attitude control system and method for corresponding mature and reliable are a problem to be solved.
Summary of the invention
In view of the problems of the existing technology, the embodiment of the present invention provides one kind and overcomes the above problem or at least partly
The unmanned tandem helicopter attitude control system and method to solve the above problems.
In a first aspect, the embodiment of the present invention provides a kind of unmanned tandem helicopter attitude control system, comprising: master control core
Piece, motion sensor and barometer；
The motion sensor and the barometer, for obtaining the current pose of unmanned tandem helicopter；
The main control chip, for obtaining the expectation posture of unmanned tandem helicopter, and according to the expectation posture with
The difference of the current pose generates the control instruction to each steering engine.
Second aspect, the embodiment of the present invention provide a kind of unmanned tandem helicopter attitude control method, comprising:
Obtain the expectation posture and current pose of unmanned tandem helicopter；
According to the difference of the expectation posture and the current pose, the control instruction to each steering engine is generated.
The third aspect, the embodiment of the present invention provide a kind of electronic equipment, comprising:
At least one processor；And
At least one processor being connect with the processor communication, in which:
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to refer to
Order be able to carry out in the various possible implementations of first aspect lap siding provided by any possible implementation without
People's helicopter attitude control method.
Fourth aspect, the embodiment of the present invention provide a kind of non-transient computer readable storage medium, the non-transient calculating
Machine readable storage medium storing program for executing stores computer instruction, and the computer instruction makes the various possibility of the computer execution first aspect
Implementation in unmanned tandem helicopter attitude control method provided by any possible implementation.
Unmanned tandem helicopter attitude control system and method provided in an embodiment of the present invention, according to lap siding, nobody is straight
The difference of the current pose of the expectation posture and unmanned tandem helicopter of the machine of liter, generates the control instruction to each steering engine, to generate
Desired posture, structure is simpler, step is simpler, is easier to realize so that the manufacture of unmanned tandem helicopter it is simpler,
Cost is controllable, cost is lower, so as to improve product competitiveness in the market.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the steering engine layout drawing according to unmanned tandem helicopter provided in an embodiment of the present invention；
Fig. 2 is the structure chart according to unmanned tandem helicopter attitude control system provided in an embodiment of the present invention；
Fig. 3 is the flow diagram according to unmanned tandem helicopter attitude control method provided in an embodiment of the present invention；
Fig. 4 is to be illustrated according to the control process of unmanned tandem helicopter attitude control method provided in an embodiment of the present invention
Figure；
Fig. 5 is the structural schematic diagram according to unmanned tandem helicopter attitude control system provided in an embodiment of the present invention；
Fig. 6 is the flow chart according to unmanned tandem helicopter attitude control method provided in an embodiment of the present invention；
Fig. 7 is to be controlled according to pitch angle in unmanned tandem helicopter attitude control method provided in an embodiment of the present invention
Flow chart；
Fig. 8 is to be controlled according to roll angle in unmanned tandem helicopter attitude control method provided in an embodiment of the present invention
Flow chart；
Fig. 9 is to be controlled according to course angle in unmanned tandem helicopter attitude control method provided in an embodiment of the present invention
Flow chart；
Figure 10 is the structural block diagram according to electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Embodiment in the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In order to overcome the above problem of the prior art, the embodiment of the present invention provides a kind of unmanned tandem helicopter posture control
System and method processed, inventive concept are aiming at the problem that lacking unmanned tandem helicopter attitude control system at present, to provide
A kind of unmanned tandem helicopter attitude control system realizes the control to unmanned tandem helicopter flight attitude, expands nothing
Application of people's helicopter in dual-use field.
For the ease of the understanding to various embodiments of the present invention, below first to the navigation attitude operating mechanism of unmanned tandem helicopter
It is illustrated with the principle of change of flight posture.
Unmanned tandem helicopter includes former and later two rotors.The navigation attitude operating mechanism of unmanned tandem helicopter includes using
In 3 digital rudder controllers of the preceding rotor of control, 1 DC brushless motor immediately below preceding rotor shaft, for rotor after controlling
3 digital rudder controllers and 1 DC brushless motor immediately below rear rotor shaft.
Fig. 1 is the steering engine layout drawing according to unmanned tandem helicopter provided in an embodiment of the present invention.Fig. 1 is to overlook file
The steering engine layout drawing that formula unmanned helicopter obtains.The position of 6 digital rudder controllers steering engine 1, steering engine 2 and steering engine as shown in Figure 1:
3 be 3 digital rudder controllers of preceding rotor, and steering engine 4, steering engine 5 and steering engine 5 are 3 digital rudder controllers of preceding rotor.In lap siding, nobody is straight
Steering engine 3 and steering engine 4 are respectively arranged on the front and back rotor shaft line of the machine of liter；Steering engine 1 and steering engine 2 are located at the front of steering engine 3, the two
It is symmetrically distributed in the right side and left side of front and back rotor shaft line；Steering engine 5 and steering engine 6 are located at the rear of steering engine 4, and the two is symmetrical
In the right side and left side of front and back rotor shaft line.
1 DC brushless motor immediately below preceding rotor shaft is motor 1, for by the revolving speed that controls motor 1 come
The revolving speed of rotor before controlling；1 DC brushless motor immediately below rear rotor shaft is motor 2, for passing through control motor 2
Revolving speed come the revolving speed of rotor after controlling.By the control to 2 revolving speed of motor 1 and motor, can be used for controlling lap siding nobody
The height of helicopter.
The control inclined device of rotor is auto-bank unit, and the core component of auto-bank unit is pitch.Pitch by
Upper and lower two parts form；Upper disk is with rotor wing rotation, referred to as rotating disk；Lower wall is not with rotor rotational, referred to as not rotating disk.Upper disk
Above lower wall, the two is connected by bearing, and therefore, lower wall can drive disk up and down motion and banking motion.Lower wall by
The control of attitude control system.Upper disk is connected to every a piece of blade of rotor, and when it is inclined, every blade is inclined due to pitch
Oblique effect, in rotary course, wing setting angle changes；Established angle is small, and blade is waved downwards；Established angle is big, blade
It waves upwards.With the variation of wing setting angle, corresponding inclination occurs for track-height, to change unmanned tandem helicopter
Flight attitude.The above process is referred to as feathering.
Unmanned tandem helicopter further includes two pitches: pitch 1 and pitch 2.Steering engine 1, steering engine 2 and steering engine 3
Rotational angle superposition, control to pitch 1 is formed, to realize the control to preceding rotor；Steering engine 4, steering engine 5 and steering engine
The superposition of 6 rotational angle forms the control to pitch 2, to realize the control to rear rotor.By to forward and backward rotor
Co- controlling, the control of unmanned tandem helicopter flight attitude may be implemented.
Fig. 2 is the structure chart according to unmanned tandem helicopter attitude control system provided in an embodiment of the present invention.Such as Fig. 2
Shown, a kind of unmanned tandem helicopter attitude control system includes: main control chip 201, motion sensor 202 and barometer
203。
Motion sensor 202 and barometer 203, for obtaining the current pose of unmanned tandem helicopter.
The posture of unmanned tandem helicopter, refers to flight attitude.The posture of unmanned tandem helicopter broad sense may include
Two aspects: angle information and elevation information.Angle information in the posture of broad sense is the posture of narrow sense.
Angle information by motion sensor 202, in the current pose of available unmanned tandem helicopter；Pass through
Barometer 203, the elevation information in the current pose of available unmanned tandem helicopter.Angle information is flight angle
Information.
Main control chip 201, for obtaining the expectation posture of unmanned tandem helicopter, and according to desired posture and current appearance
The difference of state generates the control instruction to each steering engine.
Main control chip 201 receives the expectation posture of the unmanned tandem helicopter of user's input.
Main control chip 201 receives the real time data that motion sensor 202 and barometer 203 acquire, and can be according to movement
The real time data that sensor 202 and barometer 203 acquire obtains the current pose of unmanned tandem helicopter.
Main control chip 201 can be STM32F103 chip.
It is poor that main control chip makees the expectation posture of unmanned tandem helicopter and current appearance, according to control law operation, processing
After export corresponding control command, control the movement of each steering engine, drive the inclination of corresponding rotor disk, generate desired posture.
Control law can be controlled by ratio (proportion), integral (integral), differential (differential)
(abbreviation PID) is realized, but is not limited by PID realization.
The embodiment of the present invention by main control chip according to the expectation posture of unmanned tandem helicopter, with motion sensor and
The difference of the current pose for the unmanned tandem helicopter that barometer obtains generates the control instruction to each steering engine, to generate expectation
Posture, structure is relatively simpler, is easier to realize so that the manufacture of unmanned tandem helicopter is simpler, cost is controllable, at
This is lower, so as to improve product competitiveness in the market.
Content based on the various embodiments described above, motion sensor include gyroscope, accelerometer, digital moving processing draw
It holds up.
It should be noted that the posture of narrow sense can be described by three Eulerian angles: pitch angle, roll angle, course
Angle.
Pitch angle refers to the angle between the longitudinal axis of unmanned tandem helicopter and horizontal plane.
Roll angle refers to the angle between the horizontal axis of unmanned tandem helicopter and horizontal plane.
Course angle refers to the angle between the longitudinal axis of unmanned tandem helicopter and the earth arctic, also known as true course angle.
Motion sensor is the device that can detect people or object movement.Motion sensor, alternatively referred to as attitude transducer
Therefore, motion sensor may include gyroscope, accelerometer, digital moving processing engine.
Gyroscope is a kind of angular movement detection device.Gyroscope usually utilizes the moment of momentum sensitivity shell of high-speed rotator
Angular movement detection device of the body relative inertness space around one or two axis for being orthogonal to the axis of rotation.Using made of other principles
Angular movement detection device plays the also referred to as gyroscope of said function.
Accelerometer is the instrument for measuring unmanned tandem helicopter linear acceleration.
Digital moving handles engine, also known as digital moving processor (Digital Motion Processor, abbreviation
DMP), digital processing is carried out for the data to gyroscope and accelerometer acquisition, obtains the movement of unmanned tandem helicopter
Information.
According to the motion information of unmanned tandem helicopter, the pitch angle of available unmanned tandem helicopter, roll
Angle, course angle.
The embodiment of the present invention is obtained by the motion sensor for handling engine including gyroscope, accelerometer, digital moving
The flight angle information of unmanned tandem helicopter can obtain more accurate current pose, so as to provide more accurate posture
Control reduces the time-consuming that desired posture is changed into from current pose.
Content based on the various embodiments described above, gyroscope are three-axis gyroscope；Accelerometer is three axis accelerometer.
It is understood that pitch angle, roll angle, course angle be defined in the three-dimensional space rectangular coordinate system, therefore,
The gyroscope that motion sensor includes is three-axis gyroscope, and the accelerometer that motion sensor includes is three axis accelerometer
Meet needs.
The embodiment of the present invention is by using three-axis gyroscope and three axis accelerometer, and structure is relatively simpler, it is real to be easier
Now, cost is lower.
Content based on the various embodiments described above, motion sensor further include communication interface.
Specifically, motion sensor further includes communication interface.
The communication interface includes at least principal communication interface.Principal communication interface can be used for the communication between main control chip.
The communication interface can also include secondary communication interface.Secondary communication interface can be used for extending third-party number
Word sensor (such as magnetometer).It, can be more in conjunction with the data that gyroscope, accelerometer and magnetometer acquire by extending magnetometer
Accurately determine pitch angle, roll angle, course angle.
Principal communication interface and secondary communication interface, all can be I2C (Inter-Integrated Circuit, it is internal whole
Close circuit) port, but not limited to this.
For example, motion sensor can be six axle sensor MPU6050；Six axle sensor MPU6050 have been internally integrated one
A three axis MEMS gyro, a 3 axis MEMS accelerometer, a digital motion process engine (DMP) and it is used for third number formulary
The auxiliary I of word sensor interface2C port；As auxiliary I2C port is connected to a three axle magnetometer, and MPU6050 can provide one
Complete nine axis fusion is output to its main I2C port.
Motion sensor of the embodiment of the present invention further includes communication interface, can carry out sensor extension to motion sensor, from
And more accurate current pose can be obtained, so as to provide more accurate gesture stability, reduces from current pose and change into expectation
The time-consuming of posture.
Content based on the various embodiments described above, barometer include communication interface.
Specifically, barometer further includes communication interface.The communication interface can be used for the communication between main control chip.
The communication interface can for Serial Peripheral Interface (SPI) (Serial Peripheral Interface, abbreviation SPI) and/
Or I2C bus interface, but it is not limited to above two interface.
For example, barometer can be the MS5611 high-precision barometer of MEAS；MS5611 high-precision barometer has simultaneously
SPI and I2C bus interface.
Barometrical communication protocol provided in an embodiment of the present invention is simple, without programming in device interior register, more holds
It easily realizes, so that the manufacture of unmanned tandem helicopter is simpler, cost is controllable, cost is lower.
Content based on the various embodiments described above, unmanned tandem helicopter attitude control system further include remote control reception dress
It sets；Remote-receiver, for receiving the expectation posture of unmanned tandem helicopter.
Specifically, unmanned tandem helicopter attitude control system further includes remote-receiver.
User generates remote controler by pitching rocking bar, roll rocking bar, course rocking bar and throttle rocking bar on manipulation remote controler
Instruction.Remote command carries the expectation posture of unmanned tandem helicopter.Remote controler sends the remote command of generation
To unmanned tandem helicopter attitude control system.
Unmanned tandem helicopter attitude control system receives remote command by remote-receiver, and according to remote control
The expectation posture of device command reception unmanned tandem helicopter.
For example, remote-receiver can be the NRF24L01 single-chip transceiver chip of NORDIC；NRF24L01 work
In the ISM band of 2.4~2.5GHz.
The embodiment of the present invention receives the expectation posture of unmanned tandem helicopter by remote-receiver, it is expected that posture
Input it is more convenient, quick so that the gesture stability of unmanned tandem helicopter is simpler, conveniently.
Fig. 3 is the flow diagram according to unmanned tandem helicopter attitude control method provided in an embodiment of the present invention.
Content based on the various embodiments described above, as shown in figure 3, a kind of unmanned tandem helicopter attitude control method includes: step
301, the expectation posture and current pose of unmanned tandem helicopter are obtained.
It should be noted that unmanned tandem helicopter attitude control method provided in an embodiment of the present invention, can be used for
Attitude control system in any of the above-described unmanned tandem helicopter attitude control system embodiment.
Specifically, the expectation posture of the unmanned tandem helicopter for input is obtained.
User can directly input desired posture, can also pass through the pitching rocking bar on manipulation remote controler, roll rocking bar, boat
To rocking bar and throttle rocking bar, generate the remote command for carrying desired posture, and by remote command be sent to lap siding without
People's helicopter attitude control system.
After the expectation posture for obtaining unmanned tandem helicopter, the current pose of unmanned tandem helicopter is obtained.
Step S302, it according to the expectation posture of unmanned tandem helicopter and the difference of current pose, generates to each steering engine
Control instruction.
It is poor that expectation posture and current appearance to unmanned tandem helicopter are made, according to output phase after control law operation, processing
The control command answered controls the movement of each steering engine, drives the inclination of corresponding rotor disk, generates desired posture.
Control law can be controlled by ratio (proportion), integral (integral), differential (differential)
(abbreviation PID) is realized, but is not limited by PID realization.
The embodiment of the present invention is according to the expectation posture of unmanned tandem helicopter and the current appearance of unmanned tandem helicopter
The difference of state generates the control instruction to each steering engine, and to generate desired posture, step is simpler, is easier to realize, so that file
The manufacture of formula unmanned helicopter is simpler, cost is controllable, cost is lower, so as to improve product competitiveness in the market.
Content based on the various embodiments described above, according to the expectation posture of unmanned tandem helicopter and the difference of current pose,
Generation includes: to resolve to desired posture to the specific steps of the control instruction of each steering engine, obtains expectation pitch angle, expectation cross
Roll angle, desired course angle and Desired Height；Current pose is resolved, practical pitch angle, practical roll angle, practical boat are obtained
To angle and actual height；According to the difference of desired pitch angle and practical pitch angle, the first rotational angle of each steering engine is determined；According to the phase
The difference for hoping roll angle and practical roll angle, determines the second rotational angle of each steering engine；According to desired course angle and actual heading angle
Difference, determine the third rotational angle of each steering engine；According to the difference of Desired Height and actual height, the 4th rotation of each steering engine is determined
Angle；For each steering engine, according to the first rotational angle of each steering engine, the second rotational angle, third rotational angle and the 4th turn
Dynamic angle, determines the control amount of each steering engine, the control instruction of each steering engine is generated according to control amount.
It should be noted that two main paddles are reversed when unmanned tandem helicopter complete machine operates, but revolving speed is equal.
By resolving to desired posture, desired pitch angle, expectation roll angle, desired course angle and expectation can be obtained
Highly.
Pass through data (i.e. current pose, the number acquired including motion sensor and barometer acquired to attitude transducer
According to) resolved, practical pitch angle, practical roll angle, actual heading angle and actual height can be obtained.
To realize the fully controllable of unmanned tandem helicopter, it is necessary to pitch angle, roll to unmanned tandem helicopter
Angle, course angle and height are controlled.Therefore, the gesture stability of unmanned tandem helicopter can be analyzed to pitch angle control, cross
Roll angle control, course angle control and height control.
Fig. 4 is to be illustrated according to the control process of unmanned tandem helicopter attitude control method provided in an embodiment of the present invention
Figure.As shown in figure 4, specific method includes:
The blade vertebral body for controlling forward and backward rotor leans forward or hypsokinesis, and the pitch angle of unmanned tandem helicopter can be realized
Control, i.e., according to the difference of desired pitch angle and practical pitch angle, control steering engine 1, steering engine 2, steering engine 4 synchronize turns over first clockwise
Rotational angle α, while controlling steering engine 3, steering engine 5, steering engine 6 and turning over the first rotational angle α counterclockwise；Or according to desired pitch angle
And the difference of practical pitch angle, control steering engine 1, steering engine 2, steering engine 4 synchronize turns over the first rotational angle α, while control flaps counterclockwise
Machine 3, steering engine 5, steering engine 6 turn over the first rotational angle α clockwise.
The "Left"-deviationist of blade vertebral body or Right deviation for controlling forward and backward rotor, can be realized the roll angle of unmanned tandem helicopter
Control controls steering engine 1, steering engine 5 synchronizes and turns over the second angle of rotation clockwise that is, according to the difference of desired roll angle and practical roll angle
β is spent, steering engine 2, steering engine 6 turn over the second rotational angle β counterclockwise, and steering engine 3, steering engine 4 are motionless (the second rotational angle is 0)；Or
According to the difference of desired roll angle and practical roll angle, steering engine 1 is controlled, steering engine 5 synchronizes and turns over the second rotational angle β, rudder counterclockwise
Machine 2, steering engine 6 turn over the second rotational angle β clockwise, and steering engine 3, steering engine 4 are motionless (the second rotational angle is 0).
The course angle control for realizing unmanned tandem helicopter, i.e., according to the difference at desired course angle and actual heading angle, control
Steering engine 1 processed, steering engine 6 synchronize and turn over third rotational angle γ clockwise, and steering engine 2, steering engine 5 turn over third rotational angle counterclockwise
γ, steering engine 3, steering engine 4 are motionless (third rotational angle is 0)；Or the difference according to desired course angle and actual heading angle, control flaps
Machine 1, steering engine 6, which synchronize, turns over third rotational angle γ counterclockwise, and steering engine 2, steering engine 5 turn over third rotational angle γ, rudder clockwise
Machine 3, steering engine 4 are motionless (third rotational angle is 0).
Control forward and backward rotor always away from, can be realized unmanned tandem helicopter height control, i.e., according to Desired Height
And difference control steering engine 1, steering engine 2, steering engine 3, steering engine 4, steering engine 5, the steering engine 6 of actual height be synchronous to turn over the clockwise or counterclockwise
Four rotational angle δ.
Above four control channels are mutually indepedent, and each control channel is to the practical posture measured of sensor and distant
The expectation posture that control device provides is compared, and servo antrol can be done using PID control rule, and control amount is four-way PID calculation
Method exports the linear superposition of control amount in each executing agency, realizes front and back feather to change posture.Its
In, executing agency includes steering engine 1, steering engine 2, steering engine 3, steering engine 4, steering engine 5, steering engine 6, motor 1, motor 2.
For each steering engine, it is added according to the rotational angle that above four control channels determine, the steering engine control can be obtained
Amount processed.Control amount refers to the angle that the steering engine needs to turn over.Control instruction refers to that control steering engine turns over the finger for needing the angle turned over
It enables.
The angle turned over clockwise is denoted as the angle that forward and inverse hour hands turn over and is denoted as angle that is negative, or will turning over counterclockwise
Degree is denoted as the angle turned over just, clockwise and is denoted as negative, the then control amount of steering engine 1, steering engine 2, steering engine 3, steering engine 4, steering engine 5, steering engine 6
Respectively alpha+beta+γ+δ, alpha-beta-γ+δ ,-α+δ, α+δ ,-alpha+beta-γ+δ ,-alpha-beta+γ+δ.
The embodiment of the present invention passes through the control by each steering engine on four pitch angle, roll angle, course angle and height channels
Component is overlapped, and determines control amount, and so as to generate the control instruction of each steering engine according to control amount, step is simpler, more holds
It easily realizes, so that the manufacture of unmanned tandem helicopter is simpler, cost is controllable, cost is lower, so as to improve product in city
Competitiveness on field.
For the ease of the understanding to various embodiments of the present invention, illustrate unmanned tandem helicopter appearance below by an example
The course of work of state control system.
Fig. 5 is the structural schematic diagram according to unmanned tandem helicopter attitude control system provided in an embodiment of the present invention.
As shown in figure 5,501 be the preceding rotor steering engine group in navigation attitude operating mechanism, 502 be unmanned tandem helicopter gesture stability system
System, 503 be the rear rotor steering engine group in navigation attitude operating mechanism.
Main control chip is microcontroller STM32F103VET6.STM32F103VET6 is one of STM32F103 chip.
Battery is respectively that power supply 1 and power supply 2 are powered.Power supply 1 is microcontroller STM32F103VET6, LED light, six axis are moved and passed
Sensor MPU6050 and radio transmitting and receiving chip NRF24L01 power supply；Power supply 2 is the power supply of MS5611 high-precision barometer.
Microcontroller STM32F103VET6 receives the expectation posture that radio transmitting and receiving chip NRF24L01 is obtained, according to six axis
The data acquisition current pose of motion sensor MPU6050 and MS5611 high-precision barometer acquisition, and according to it is expected posture and
The difference of current pose generates the control to steering engine 1, steering engine 2, steering engine 3, steering engine 4, steering engine 5, steering engine 6, motor 1, motor 2 respectively
Instruction.Specifically, by timer output multi-channel PWM (pulse width is modulated, Pulse Width Modulation) waveform, divide
Not as the control instruction to steering engine 1, steering engine 2, steering engine 3, steering engine 4, steering engine 5, steering engine 6；The control of motor 1, motor 2 is referred to
It enables, for electronic speed regulation instruction (Electronic Speed Control, referred to as electricity are adjusted).
Fig. 6 is the flow chart according to unmanned tandem helicopter attitude control method provided in an embodiment of the present invention.Fig. 6 shows
The workflow of unmanned tandem helicopter attitude control system 502 is gone out.
As shown in fig. 6, unmanned tandem helicopter attitude control system 502 is firstly the need of progress initial configuration.Initially
Changing configuration includes: system clock configuration, SPI, I2The initialization of the functions such as C.Brshless DC motor under forward and backward mast by
Electric transfer drive is dynamic, needs to do throttle stroke setting to electricity tune, to determine system to the controlled range of motor speed.
After initial configuration, attitude control method enters major cycle.Into after major cycle, remote-receiver is received
After the expectation posture issued to remote controler, it would be desirable to which posture is sent to main control chip；Main control chip passes through I2C serial ports is read
The barometrical real time data of real time data and MS5611 high-precision of six axis attitude transducer of MPU6050；Main control chip will it is expected
It is poor that posture is made with the measured value obtained according to attitude transducer and barometer, via PID control link respectively to three Eulerian angles
The fixed high control for doing servo antrol and altitude channel, then makees linear superposition for individual control amount；Finally by timer
Output multi-channel PWM waveform, control digital rudder controller DC brushless motor and the movement for waiting executing agencies, to control lap siding, nobody is straight
The posture of the machine of liter.
Fig. 7 is to be controlled according to pitch angle in unmanned tandem helicopter attitude control method provided in an embodiment of the present invention
Flow chart.As shown in fig. 7, the location information of pitching rocking bar to be converted into desired value (the i.e. expectation pitching of pitch angle by ADC
Angle), and the measured value of pitch angle extracted via the real time information that serial ports reads six axis attitude transducer of MPU6050
Input value as PID controller after both (i.e. practical pitch angle) makes the difference, the control amount of output is steering engine 1, steering engine 2, steering engine 4
It is synchronous to turn over equal angular α clockwise or counterclockwise, while steering engine 3, steering engine 5, steering engine 6 correspondingly turn over counterclockwise or clockwise
Equal angular α, and then change longitudinal feathering of forward and backward rotor by controlling pitch 1 and pitch 2, so that control is vertical
Pitch control is realized in column unmanned helicopter pitch attitude.
Fig. 8 is to be controlled according to roll angle in unmanned tandem helicopter attitude control method provided in an embodiment of the present invention
Flow chart.As shown in figure 8, by the location information of roll rocking bar by ADC (Analog-to-Digital Converter, mould/
Number converter or analog-digital converter) it is converted into the desired value (i.e. expectation roll angle) of roll angle, and read via serial ports
Both the measured values (i.e. practical roll angle) for the roll angle that the real time information of six axis attitude transducer of MPU6050 extracts make the difference
Afterwards as the input value of PID controller, the control amount of output is steering engine 1, the synchronization of steering engine 5 turns over same angular clockwise or counterclockwise
β is spent, steering engine 2, steering engine 6 correspondingly counterclockwise or turn over equal angular β clockwise, and steering engine 3, steering engine 4 are motionless, and then pass through control
Pitch 1 and pitch 2 change the lateral feathering of forward and backward rotor, so that unmanned tandem helicopter roll posture is controlled,
Realize control of sideward roll.
Fig. 9 is to be controlled according to course angle in unmanned tandem helicopter attitude control method provided in an embodiment of the present invention
Flow chart.As shown in figure 9, the location information of course rocking bar to be converted into desired value (the i.e. desired course of course angle by ADC
Angle), and the measured value of course heading extracted via the real time information that serial ports reads six axis attitude transducer of MPU6050
Input value as PID controller after both (i.e. actual heading angle) makes the difference, it is suitable that the control amount of output is that steering engine 1, steering engine 6 synchronize
Hour hands turn over equal angular γ counterclockwise, and steering engine 2, steering engine 5 correspondingly turn over equal angular γ, steering engine counterclockwise or clockwise
3, steering engine 4 is motionless, to control unmanned tandem helicopter course posture, realizes Heading control.
By control front and back rotor always away from by throttle rocking bar control DC brushless motor revolving speed, realize lap siding
The liter or drop of unmanned helicopter.The altitude information that unmanned tandem helicopter is acquired by barometer, does with the height value of setting
Compare, the difference of the two controlled after control law operation, processing front and back rotor always away from same increasing or with subtracting, i.e., each steering engine synchronizes suitable
Hour hands turn over equal angular angle δ counterclockwise, fixed high to achieve the purpose that control unmanned tandem helicopter.
Figure 10 is the structural block diagram according to electronic equipment provided in an embodiment of the present invention.Content based on the above embodiment,
As shown in Figure 10, which may include: processor (processor) 1001, memory (memory) 1002 and bus
1003；Wherein, processor 1001 and memory 1002 complete mutual communication by bus 1003；Processor 1001 is for adjusting
With the computer program instructions that can be run in memory 1002 and on processor 1001 are stored in, to execute above-mentioned each method reality
Apply method provided by example, for example, obtain the expectation posture and current pose of unmanned tandem helicopter；According to desired appearance
The difference of state and current pose generates the control instruction to each steering engine.
Another embodiment of the present invention discloses a kind of computer program product, and computer program product is non-transient including being stored in
Computer program on computer readable storage medium, computer program include program instruction, when program instruction is held by computer
When row, computer is able to carry out method provided by above-mentioned each method embodiment, for example, obtains unmanned tandem helicopter
Expectation posture and current pose；According to the difference of desired posture and current pose, the control instruction to each steering engine is generated.
In addition, the logical order in above-mentioned memory 1002 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
The technical solution of the inventive embodiments substantially part of the part that contributes to existing technology or the technical solution in other words
It can be embodied in the form of software products, which is stored in a storage medium, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes the present invention respectively
The all or part of the steps of a embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
Another embodiment of the present invention provides a kind of non-transient computer readable storage medium, non-transient computer readable storages
Medium storing computer instruction, computer instruction makes computer execute method provided by above-mentioned each method embodiment, such as wraps
It includes: obtaining the expectation posture and current pose of unmanned tandem helicopter；According to the difference of desired posture and current pose, generation pair
The control instruction of each steering engine.
System embodiment described above is only schematical, wherein unit can be as illustrated by the separation member
Or may not be and be physically separated, component shown as a unit may or may not be physical unit, i.e.,
It can be located in one place, or may be distributed over multiple network units.It can select according to the actual needs therein
Some or all of device achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creative labor
In the case where dynamic, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Such understanding, above-mentioned skill
Substantially the part that contributes to existing technology can be embodied in the form of software products art scheme in other words, the calculating
Machine software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes above-mentioned each implementation
The method of certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of unmanned tandem helicopter attitude control system characterized by comprising main control chip, motion sensor and
Barometer；
The motion sensor and the barometer, for obtaining the current pose of unmanned tandem helicopter；
The main control chip, for obtaining the expectation posture of unmanned tandem helicopter, and according to the expectation posture with it is described
The difference of current pose generates the control instruction to each steering engine.
2. unmanned tandem helicopter attitude control system according to claim 1, which is characterized in that the motion-sensing
Device includes gyroscope, accelerometer, digital moving processing engine.
3. according to unmanned tandem helicopter attitude control system as claimed in claim 2, which is characterized in that the gyroscope is three
Axis gyroscope；The accelerometer is three axis accelerometer.
4. unmanned tandem helicopter attitude control system according to claim 2, which is characterized in that the motion-sensing
Device further includes communication interface.
5. unmanned tandem helicopter attitude control system according to claim 1, which is characterized in that the barometer packet
Include communication interface.
6. unmanned tandem helicopter attitude control system according to any one of claims 1 to 5, which is characterized in that also wrap
Include remote-receiver；
The remote-receiver, for receiving the expectation posture of the unmanned tandem helicopter.
7. a kind of unmanned tandem helicopter attitude control method characterized by comprising
Obtain the expectation posture and current pose of unmanned tandem helicopter；
According to the difference of the expectation posture and the current pose, the control instruction to each steering engine is generated.
8. unmanned tandem helicopter attitude control method according to claim 1, which is characterized in that according to the expectation
The difference of posture and the current pose, generation include: to the specific steps of the control instruction of each steering engine
The expectation posture is resolved, expectation pitch angle, expectation roll angle, desired course angle and Desired Height are obtained；
The current pose is resolved, practical pitch angle, practical roll angle, actual heading angle and actual height are obtained；
According to the difference of the expectation pitch angle and the practical pitch angle, the first rotational angle of each steering engine is determined；
According to the difference of the expectation roll angle and the practical roll angle, the second rotational angle of each steering engine is determined；
According to the difference at the desired course angle and the actual heading angle, the third rotational angle of each steering engine is determined；
According to the difference of the Desired Height and the actual height, the 4th rotational angle of each steering engine is determined；
For each steering engine, according to the first rotational angle of each steering engine, the second rotational angle, third rotational angle and the 4th rotation
Angle determines the control amount of each steering engine, and the control instruction of the steering engine is generated according to the control amount.
9. a kind of electronic equipment characterized by comprising
At least one processor；And
At least one processor being connect with the processor communication, in which:
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to instruct energy
Enough execute method as claimed in claim 7 or 8.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute method as claimed in claim 7 or 8.
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| CN201811556449.0A CN109597422A (en) | 2018-12-19 | 2018-12-19 | Unmanned tandem helicopter attitude control system and method |
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| CN201811556449.0A CN109597422A (en) | 2018-12-19 | 2018-12-19 | Unmanned tandem helicopter attitude control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021223474A1 (en) * | 2020-05-06 | 2021-11-11 | 仿翼（深圳）科技有限公司 | Aircraft, aircraft control method, and computer readable storage medium |
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