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CN112486198B - An autonomous modular flight array control method - Google Patents

An autonomous modular flight array control method Download PDF

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CN112486198B
CN112486198B CN202011445894.7A CN202011445894A CN112486198B CN 112486198 B CN112486198 B CN 112486198B CN 202011445894 A CN202011445894 A CN 202011445894A CN 112486198 B CN112486198 B CN 112486198B
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attitude
satellite
energy
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CN112486198A (en
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张树新
姜伟涛
王耀华
段宝岩
张硕
代季鹏
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Xidian University
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

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  • General Physics & Mathematics (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention belongs to the technical field of control, and particularly relates to a modular flight array control method with autonomy, which is characterized by comprising the following steps: at least comprises the following steps: single module unmanned aerial vehicle among the topological structure, single module unmanned aerial vehicle is including independent attitude control process: and performing the following modularized flight array control according to the independent attitude control process of the single-module unmanned aerial vehicle. The modularized flight array control method with the autonomy has the advantages of flexible attitude adjustment action, good data anti-interference capability of a CAN bus, small data delay, high reliability, capability of accurately and timely updating the array and good function expansibility.

Description

Modular flight array control method with autonomy
Technical Field
The invention belongs to the technical field of control, and particularly relates to a modular flight array control method with autonomy.
Background
The development and application of the unmanned aerial vehicle have attracted high attention from various countries, and people put forward higher requirements on the environmental adaptability and the working field of the unmanned aerial vehicle. The modularized design of the flight array for executing complex functions is performed, and indexes which are difficult to meet by the overall design are gradually the key points of various countries' research by utilizing the characteristics of modularization. The modularized flight control system has the advantages that the modularized flight control system is combined with the modularized design to achieve the function modularization of the whole system, the function load design is loaded in a single module, then the single-module unmanned aerial vehicle is controlled to form a topological structure, a corresponding array control strategy is formed according to the topological structure, and the application scenes and functions of the flight array are greatly enriched. To this end, a new flight array and single module control strategy is needed that can accomplish tasks including: full attitude adjustment of the array and the unit, module information interaction, module docking, array topology and the like.
In traditional distributed flight array control strategy, single module unmanned aerial vehicle adopts ground equipment mostly, and single module unmanned aerial vehicle adopts two sets of driving system: the single rotor wing provides power for flying; and the ground wheel system controls the assembly of multiple modules on the ground to form an array. The disadvantage of this control strategy is that the application scenario is limited, since a single module does not have the capability of independent flight, and needs to be assembled into a flight array on land to perform the flight mission. The flight array assembly process of the strategy needs a large space and does not have the attitude adjustment of the flight array and the single module.
The coaxial rotor control strategy of single module that develops on this basis, among this strategy, single module unmanned aerial vehicle possesses certain flight ability. The flight array that this strategy is constituteed possesses certain attitude adjustment ability, sends attitude data through the ground satellite station, and the power of adjustment single module unmanned aerial vehicle is realized. However, the strategy has no attitude adjusting structure, and the flight array has no flexible attitude.
In addition, the traditional unmanned aerial vehicle formation flight control strategy can solve the aerial collaborative postures of a plurality of unmanned aerial vehicles. The strategy depends on a sensor carried by the unmanned aerial vehicle, and the position relation between the strategy and the unmanned aerial vehicle is analyzed through sensor data so as to adjust the posture. The strategy has the disadvantage that if the reliability of the sensor is poor, the space distance and cluster action accuracy of the unmanned aerial vehicle are limited by the precision of the sensor, and the fault of the sensor in the unmanned aerial vehicle is easy to generate to influence the whole array structure.
Disclosure of Invention
The invention provides the modularized flight array control method with the autonomy, which has flexible attitude adjustment action, good data anti-jamming capability of a CAN bus, small data delay, high reliability, capability of accurately and timely updating an array and good function expansibility.
The invention aims to realize the purpose, and the method for controlling the modularized flight array with autonomy is characterized in that: at least comprises the following steps: single module unmanned aerial vehicle among the topological structure, single module unmanned aerial vehicle is including independent attitude control process: performing the following modularized flight array control according to the independent attitude control process of the single-module unmanned aerial vehicle:
step 1-the master control module transmits and keeps hovering;
step 2, generating a topological structure, waiting for the success of the topological structure, and entering step 3 after the topological structure is generated, and adding a satellite module into the topological structure;
step 3, updating the satellite, wherein the satellite module is in butt joint with the main control module, the satellite structure is directly connected with the main control module as a primary passive module of the array, and the active module and the satellite structure execute the step 3.1 to realize electrical and structural connection; executing the step 3.2, wherein the main control module receives the signal loaded by the satellite module; entering step 3.3, the master control module updates the topological structure to form a topological structure with the satellite function, and generates a satellite count value; entering step 3.4, judging whether the loading of the satellite modules is finished, and judging whether the number of the satellite modules to be loaded enters step 4 according to the result;
step 4, updating energy, butting the energy module with the master control module or the satellite module, and executing step 4.1 to establish data connection, wherein the energy structure is used as a primary or secondary passive module of the array; executing the step 4.2, wherein the main control module receives the signal loaded by the energy module; entering step 4.3, the master control module updates the topological structure to form a topological structure with the energy function, and generates an energy count value; entering step 4.4, judging whether the energy modules are loaded completely, and judging whether the number of the energy modules to be loaded enters step 5 according to the result;
and 5, updating the function, and adding the function module into the topological structure. The functional modules include, but are not limited to, radar equipment, image equipment, new energy sources and the like;
updating the function, butting the functional module with the existing module, and executing the step 5.1 to establish data connection; executing the step 5.2, wherein the main control module receives a signal loaded by the functional module; entering step 5.3, the master control module updates the topological structure to form a topological structure added with specific functions and generates a function count value; entering step 5.4, judging whether the functional modules are loaded completely, and judging whether the number of the functional modules to be loaded enters step 6 according to the result;
in the loading process of the energy module and the function module, the energy module count value and the function module count value which are generated simultaneously are used as the selection basis of the branch of the step 8; the module updating operation is carried out in series, namely a satellite module, an energy module and a functional module, the arrangement mode of the three types of modules in the ground space is the sequence, and the array must ensure the principle that the modules taking off first are butted first, so that the lack of necessary units in the topological structure is prevented; entering step 6 after the module loading is finished;
step 6, updating the array topological structure, wherein the step is integral updating and generates semaphore indicating whether the topological structure is finished or not by comparing the current topological structure with the target topological structure;
step 7, judging by an array module, wherein the step judges whether the flight array is finished or not; executing a task by receiving the result of the step 6 and entering to finish the array assembly according to the result of yes; according to the result 'no', re-entering the cycle, and judging the satellite, energy and function count values formed in the step 3 and the step 5; inputting the result to step 8;
step 8, module loading/unloading branch, firstly executing step 8.1, and judging whether the count values of the satellite, the energy and the function modules are zero or not by the main control module according to whether the count values of the satellite, the energy and the function modules are loaded and enter corresponding steps 8.2A, 8.2B and 8.3C or not; if not, entering the corresponding step and executing the updating operation of the corresponding module; and judging that the count values of the satellite module, the energy module and the functional module have different weights.
The module loading weight is as follows in sequence: satellite > energy > function.
The attitude control process of the single-module unmanned aerial vehicle is as follows: the unmanned aerial vehicle firstly obtains a control command sent by a command center through wireless transceiving equipment;
the unmanned aerial vehicle measures actual attitude data of the unmanned aerial vehicle through an attitude sensor;
the unmanned aerial vehicle acquires a height calculation value, a pitch angle calculation value, a yaw angle calculation value and a roll angle calculation value which are calculated by a flight control system, and the height calculation value, the pitch angle calculation value, the yaw angle calculation value and the roll angle calculation value are used as target attitude data of the unmanned aerial vehicle, and are output to the PID controller in a manner of making difference values with actual attitude data of the unmanned aerial vehicle, which are measured by a sensor;
the four PID adjusting loops respectively control the X-axis transverse position, the Y-axis longitudinal position, the Z-axis height position and the Z-axis angle position, and carry out secondary adjustment according to the information such as the distance between the modules, the azimuth angle and the like measured by the butt joint sensor;
and the control system integrates the data from the PID controller and adjusts the attitude.
Four control adjustment quantities are output through an attitude adjustment algorithm:
the Z-axis adjustment quantity controls the brushless motor to realize height adjustment, the Y-axis adjustment quantity controls the outer ring of the vector power mechanism to realize horizontal plane longitudinal adjustment, the X-axis adjustment quantity controls the inner ring of the vector power mechanism to realize horizontal plane transverse adjustment, and the Z-axis angle adjustment quantity controls the differential rotation of the coaxial propeller to realize yaw angle adjustment.
The step 1 comprises the following steps:
the main control module obtains the attitude adjustment quantity: the Z-axis adjustment amount, the Y-axis adjustment amount, the X-axis adjustment amount and the Z-axis angle adjustment amount are used as the transmitters of the adjustment actions of the flight array attitude according to the single-module adjustment method,
processing the four adjustment quantities to obtain output data variables phi (alpha, beta, gamma and delta), wherein the parameter alpha is the rotation angle of the vector power mechanism around the X axis; the parameter beta is the rotation angle of the vector power mechanism around the Y axis; the parameter gamma is the motor rotating speed; the parameter delta is the motor differential speed;
the master control module outputs variables phi (alpha, beta, gamma and delta) to a primary passive module which is directly and electrically connected with the master control module in the topological structure, and a secondary passive module which is indirectly connected with the master control module realizes the transmission of the variables through an intermediate module;
and the passive module receives the phi variable and adjusts the vector power mechanism to make corresponding action according to the parameter.
The module directly connected with the active module is called a primary passive module, the module directly connected with the primary passive module is called a secondary passive module, and the third stage and the fourth stage are analogized; except for the passive module at the first level, other passive modules are indirectly electrically connected with the active module, and the passive module at the previous level is required to be used as data transfer to carry out data interaction.
Single module unmanned aerial vehicle in topological structure includes:
the control center 01 is used for receiving and sending control data, receiving ground station commands and adjusting the posture of the unmanned aerial vehicle;
the vector power unit 02 receives PWM data output by the control center and adjusts the posture;
load cell 03, the mission system for module unmanned aerial vehicle specifically includes but is not limited to: radar, images, etc.;
the CAN controller 04 packs the data into CAN standard/unpacks the data into digital signals, and directly transmits the data with the control center 01;
the attitude sensor 05 is used for acquiring attitude information and position confidence of the single-module unmanned aerial vehicle and transmitting the attitude information and the position confidence to the control center 01;
the wireless communication system 06 receives the command information of the ground station, the control center 01 analyzes the command and completes the command, and does not participate in the sending of other data, and the specific sending standard of the command center is determined according to the situation;
an energy source 07 for providing energy to the system;
a zigbee chip 08 which forms a local area network system of the array and is used for transmission communication of data in the array;
and the electrical interface 09 realizes the interaction of task data among the modules.
The single-module unmanned aerial vehicle outputs PWM data to control the vector power unit to stabilize the attitude through the control center 01; the task data generated by the load unit 03 is processed by the control center 01 to form a digital signal; then, the data is packaged into CAN standard data through a CAN controller 04; sending the data to a zigbee chip 08 and sending the data to a local area network through an electrical interface 09; the module unmanned aerial vehicle needing the data in the network acquires the data, and the module unmanned aerial vehicle not needing the data ignores the data; receiving end action of data: the module responds to zigbee local area network data and is first received by the zigbee chip 08 through the electrical interface 09; data verification work is performed, and then the data verification work is transmitted to the CAN controller 03; the processed data is converted into standard digital signals by the CAN standard and then transmitted into the control center 01.
Compared with the prior art, the invention has the following advantages:
firstly, the invention adopts a full-vector power device, the posture adjustment of the array and the unit is realized through a vector mechanism, the regulation of the posture is realized through the component force of an included angle between the power and the vertical direction, and the invention has flexible posture regulation action.
Secondly, the invention adopts the CAN bus structure to realize the information interaction between the modules, the longest transmission distance between the buses is not more than 5m, and the CAN bus has good data anti-interference capability.
Thirdly, the invention adopts a topological structure based on the imitated zigbee local area network, and has the capability of large-scale unit topology. The array network adopts wired transmission, so that the data delay is small and the reliability is high.
Fourthly, the invention can accurately and timely update the topological structure of the array by an incremental topological structure growth mode and a circulating structure error-surveying strategy. Has good function expansibility.
Drawings
FIG. 1 is a flow chart of flight array topology generation control;
FIGS. 2A and 2B are schematic diagrams of two topologies (not intended to be limiting);
FIG. 3 is a schematic view of attitude control of a single module unmanned aerial vehicle;
FIG. 4 is a schematic view of a flight array attitude adjustment;
FIG. 5 is a schematic diagram of a single module unmanned aerial vehicle carrier structure according to an embodiment of the invention;
fig. 6 is a diagram of information exchange between modules.
In the figure: 1. a control center; 2. a vector power unit; 3. a CAN controller; 4. an attitude sensor; 5. an attitude sensor; 6. a wireless communication system; 7. an energy source; 8. a zigbee chip; 9. an electrical interface.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following description is presented to enable one of ordinary skill in the art to make and use the present invention as provided within the context of a fully functioning computer system. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
A modular flight array control method with autonomy is characterized in that: at least comprises the following steps: single module unmanned aerial vehicle among the topological structure, single module unmanned aerial vehicle is including independent attitude control process: performing the following modularized flight array control according to the independent attitude control process of the single-module unmanned aerial vehicle:
step 1-the master control module transmits and keeps hovering;
step 2, generating a topological structure, waiting for the success of the topological structure, and entering step 3 after the topological structure is generated, and adding a satellite module into the topological structure;
step 3, updating the satellite, wherein the satellite module is in butt joint with the main control module, the satellite structure is directly connected with the main control module as a primary passive module of the array, and the active module and the satellite structure execute the step 3.1 to realize electrical and structural connection; executing the step 3.2, wherein the main control module receives the signal loaded by the satellite module; entering step 3.3, the master control module updates the topological structure to form a topological structure with the satellite function, and generates a satellite count value; entering step 3.4, judging whether the loading of the satellite modules is finished, and judging whether the number of the satellite modules to be loaded enters step 4 according to the result;
step 4, updating energy, butting the energy module with the master control module or the satellite module, and executing step 4.1 to establish data connection, wherein the energy structure is used as a primary or secondary passive module of the array; executing the step 4.2, wherein the main control module receives the signal loaded by the energy module; entering step 4.3, the master control module updates the topological structure to form a topological structure with the energy function, and generates an energy count value; entering step 4.4, judging whether the energy modules are loaded completely, and judging whether the number of the energy modules to be loaded enters step 5 according to the result;
and 5, updating the function, and adding the function module into the topological structure. The functional modules include, but are not limited to, radar equipment, image equipment, new energy sources and the like;
updating the function, butting the functional module with the existing module, and executing the step 5.1 to establish data connection; executing the step 5.2, wherein the main control module receives a signal loaded by the functional module; entering step 5.3, the master control module updates the topological structure to form a topological structure added with specific functions and generates a function count value; entering step 5.4, judging whether the functional modules are loaded completely, and judging whether the number of the functional modules to be loaded enters step 6 according to the result;
in the loading process of the energy module and the function module, the energy module count value and the function module count value which are generated simultaneously are used as the selection basis of the branch of the step 8; the module updating operation is carried out in series, namely a satellite module, an energy module and a functional module, the arrangement mode of the three types of modules in the ground space is the sequence, and the array must ensure the principle that the modules taking off first are butted first, so that the lack of necessary units in the topological structure is prevented; entering step 6 after the module loading is finished;
step 6, updating the array topological structure, wherein the step is integral updating and generates semaphore indicating whether the topological structure is finished or not by comparing the current topological structure with the target topological structure;
step 7, judging by an array module, wherein the step judges whether the flight array is finished or not; executing a task by receiving the result of the step 6 and entering to finish the array assembly according to the result of yes; according to the result 'no', re-entering the cycle, and judging the satellite, energy and function count values formed in the step 3 and the step 5; inputting the result to step 8;
step 8, module loading/unloading branch, firstly executing step 8.1, and judging whether the count values of the satellite, the energy and the function modules are zero or not by the main control module according to whether the count values of the satellite, the energy and the function modules are loaded and enter corresponding steps 8.2A, 8.2B and 8.3C or not; if not, entering the corresponding step and executing the updating operation of the corresponding module; judge that satellite, energy, three module count values of function possess different weights, the weight size is in proper order: satellite > energy > function; this weight ensures that all modules can be fully loaded, e.g. three counts in order satellite, energy, function are thus 2, 0, 1. At this time, the value of the satellite module is not zero, so step 3 is entered to load the satellite module.
As shown in fig. 2, a schematic diagram of two topological structures (without limitation) of the present invention is given, in the diagram, a diagram a is a networking topological structure, a main control module is located in a networking center, six peripheral butt-joint surfaces of the main control module are electrically connected and connected with other six passive modules to realize data interaction, the main control module is responsible for processing overall transactions of a local area network, sending control commands to other single-module unmanned aerial vehicles, and receiving task data; the functional passive module is provided with a photoelectric camera for acquiring image data and outputting image information to the main control module, and is provided with a radar for remote detection, information capturing and processing, electromagnetic characteristic information is output to the main control module, and the functional passive module is electrically connected with the main control module and structurally connected with other passive modules; the energy module carries energy, ensures long-endurance functions, and is electrically connected with corresponding surfaces of the main control module and other passive modules and structurally connected to realize information interaction; the satellite module is electrically connected with the main control module to meet the satellite communication requirement, and the main control module sends the task data to the satellite module and then the task data is sent by the satellite communication module.
The diagram B is a chain type topological structure, the main control module is positioned in a chain type center, two abutting surfaces around the main control module are electrically connected, the main control module is connected with the primary passive module to realize data interaction, and the main control module sends control commands to other single-module unmanned aerial vehicles and receives task data; the secondary passive module is electrically connected with the main control module for the satellite module to meet the satellite communication requirement, and the main control module sends task data to the satellite module and then the task data is sent by the satellite communication module; the secondary passive module is carried as an energy module to ensure the long-endurance function, and is indirectly connected with the active module through the upper passive module serving as a transfer station, and the corresponding surfaces of other passive modules are electrically connected and structurally connected to realize information interaction; the third-level passive module is a functional module, outputs task data to the main control module, and is indirectly connected with the active module through the upper-level passive module as a transfer station;
the two structures physically behave differently, but the manipulation strategy is the same. The master control module is located at a central location of the topology, and the remaining modules are directly or indirectly in data connection therewith. In the diagram A, each module is directly connected with the main control module in a data mode and is realized through an electric butt joint surface; in the diagram B, the main control module is positioned at the middle point of the chain structure, two primary passive modules at two sides are electrically connected with the main control module, secondary passive modules are expanded outside the primary passive modules, indirect data connection is kept between the primary passive modules and the main control module, and the like, and the tertiary passive modules are analogized.
The growth direction of the topological structure of the chain structure is independently increased by the stages of the passive butt joint structure, and the simplicity of the topological structure of the system is replaced by the data transmission delay time of the system; the growth direction of the networking structure is to fill up a low-level passive butt joint layer, and the simplicity of the topological structure is sacrificed to replace the delay time of data transmission.
As shown in fig. 3, the attitude control process of the single-module unmanned aerial vehicle is as follows: the unmanned aerial vehicle firstly obtains a control command sent by a command center through wireless transceiving equipment;
the unmanned aerial vehicle measures actual attitude data of the unmanned aerial vehicle through an attitude sensor;
the unmanned aerial vehicle acquires a height calculation value, a pitch angle calculation value, a yaw angle calculation value and a roll angle calculation value which are calculated by a flight control system, and the height calculation value, the pitch angle calculation value, the yaw angle calculation value and the roll angle calculation value are used as target attitude data of the unmanned aerial vehicle, and are output to the PID controller in a manner of making difference values with actual attitude data of the unmanned aerial vehicle, which are measured by a sensor;
the four PID adjusting loops respectively control the X-axis transverse position, the Y-axis longitudinal position, the Z-axis height position and the Z-axis angle position, and carry out secondary adjustment according to the information such as the distance between the modules, the azimuth angle and the like measured by the butt joint sensor;
and the control system integrates the data from the PID controller and adjusts the attitude.
Four control adjustment quantities are output through an attitude adjustment algorithm:
the Z-axis adjustment quantity controls the brushless motor to realize height adjustment, the Y-axis adjustment quantity controls the outer ring of the vector power mechanism to realize horizontal plane longitudinal adjustment, the X-axis adjustment quantity controls the inner ring of the vector power mechanism to realize horizontal plane transverse adjustment, and the Z-axis angle adjustment quantity controls the differential rotation of the coaxial propeller to realize yaw angle adjustment.
As shown in fig. 4, in the autonomous modular flight array control method, the master control module controls the attitude of other passive modules in the flight array, and the single-module unmanned aerial vehicle controls the flight array in the following steps:
the main control module obtains the attitude adjustment quantity: the Z-axis adjustment amount, the Y-axis adjustment amount, the X-axis adjustment amount and the Z-axis angle adjustment amount are used as the transmitters of the adjustment actions of the flight array attitude according to the single-module adjustment method,
processing the four adjustment quantities to obtain output data variables phi (alpha, beta, gamma and delta), wherein the parameter alpha is the rotation angle of the vector power mechanism around the X axis; the parameter beta is the rotation angle of the vector power mechanism around the Y axis; the parameter gamma is the motor rotating speed; the parameter delta is the motor differential speed;
the master control module outputs variables phi (alpha, beta, gamma and delta) to a primary passive module which is directly and electrically connected with the master control module in the topological structure, and a secondary passive module which is indirectly connected with the master control module realizes the transmission of the variables through an intermediate module;
the passive module receives the phi variable and adjusts the vector power mechanism to make corresponding action according to the parameter; as shown in fig. 4, a module directly connected to the active module is called a first-stage passive module, a module directly connected to the first-stage passive module is called a second-stage passive module, and so on;
except for the passive module at the first level, other passive modules are indirectly electrically connected with the active module, and the passive module at the previous level is required to be used as data transfer to carry out data interaction.
As shown in fig. 5, a single module unmanned aerial vehicle structure diagram is given, including: the unmanned aerial vehicle attitude control strategy comprises a vector power mechanism A, a modularized machine body B and a functional load C, wherein the strategy controls the attitude of a modular unmanned aerial vehicle through controlling the vector power mechanism A, and the attitude comprises a Z-axis height, a horizontal plane X-axis, a horizontal plane Y-axis and a Z-axis pitch angle; the modularized fuselage B is used as a topological structure physical form of the unmanned aerial vehicle and other units, and a honeycomb type flying array structure is formed through a hexagonal fuselage structure. In six faces of the hexagonal fuselage, two electrical connection faces and four structural connection faces are required but not limited. The electrical connection surface transmits data, and the structural connection surface ensures the stability of the physical carrier of the topological structure. The functional load C is used as a characteristic structure of the single-module unmanned aerial vehicle, and functional units of the characteristics have different task data formats, such as radar signals, image signals, comprehensive task signals and the like. The functional load and the electrical connection surface are required to be connected through a data line, so that data can be transmitted to other modules.
As shown in fig. 6, the process of information exchange between modules in the topology directly electrically connected to it is given as follows:
form the multimode array through realizing electrical connection and structural connection between the single module unmanned aerial vehicle, realize the realization of array function through the information interaction between the module, single module unmanned aerial vehicle includes at least:
the control center 01 is used for receiving and sending control data, receiving ground station commands and adjusting the posture of the unmanned aerial vehicle;
the vector power unit 02 receives PWM data output by the control center and adjusts the posture;
load cell 03, the mission system for module unmanned aerial vehicle specifically includes but is not limited to: radar, images, etc.;
the CAN controller 04 packs the data into CAN standard/unpacks the data into digital signals, and directly transmits the data with the control center 01;
the attitude sensor 05 is used for acquiring attitude information and position confidence of the single-module unmanned aerial vehicle and transmitting the attitude information and the position confidence to the control center 01;
the wireless communication system 06 receives the command information of the ground station, the control center 01 analyzes the command and completes the command, and does not participate in the sending of other data, and the specific sending standard of the command center is determined according to the situation;
an energy source 07 for providing energy to the system;
a zigbee chip 08 which forms a local area network system of the array and is used for transmission communication of data in the array;
and the electrical interface 09 realizes the interaction of task data among the modules.
In the present invention, the physical representation of the topology includes, but is not limited to, a chain structure and a network structure. The two topological structures have different physical expression forms; the growth modes of secondary passive modules in the topological structure are different (the chain type is the passive module series which is simply increased in the topological structure, and the networking type is that the series is continuously increased for the secondary passive modules which are not fully filled); the physical line used in data interaction is different from the generated physical delay time. The rest of the operation strategy is completely the same.
In the invention, the single-module unmanned aerial vehicle outputs PWM data to control the vector power unit to stabilize the attitude by the control center 01; the task data generated by the load unit 03 is processed by the control center 01 to form a digital signal; then, the data is packaged into CAN standard data through a CAN controller 04; sending the data to a zigbee chip 08 and sending the data to a local area network through an electrical interface 09; the module unmanned aerial vehicle needing the data in the network acquires the data, and the module unmanned aerial vehicle not needing the data ignores the data; receiving end action of data: the module responds to zigbee local area network data and is first received by the zigbee chip 08 through the electrical interface 09; data verification work is performed, and then the data verification work is transmitted to the CAN controller 03; the processed data is converted into standard digital signals by the CAN standard and then transmitted into the control center 01.
In the description of the present invention, it should be understood that the terms "flight array", "topology" and "array", "single module" and "drone" are used as the same object to standardize the operation for the sentence service. The remaining terms of orientation or positional relationships, such as "X-axis," "Y-axis," "Z-axis," "pitch," and the like, are based on the orientation or positional relationship shown in the drawings and are intended only to describe the present patent and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the present patent.
While specific embodiments of the present invention have been described above, common and well-known means in the industry have not been described in detail in the embodiments, and are not described one by one. The present invention is not limited to the specific embodiments described above, and the above examples do not limit the scope of the present invention, and all modifications or variations that fall within the scope of the claims of the present invention fall within the scope of the present invention.

Claims (8)

1.一种具备自主性的模块化飞行阵列控制方法，其特征是：至少包括：拓扑结构中的单模块无人机，单模块无人机包括有独立的姿态控制过程：依据单模块无人机的独立的姿态控制过程进行如下模块化飞行阵列控制：1. a modularized flight array control method with autonomy, is characterized in that: comprise at least: the single-module unmanned aerial vehicle in the topology structure, the single-module unmanned aerial vehicle comprises an independent attitude control process: according to the single-module unmanned aerial vehicle The independent attitude control process of the aircraft performs the following modular flight array control: 步骤1——主控模块发射，并保持悬停；Step 1 - The main control module launches and keeps hovering; 步骤2——生成拓扑结构，并等待拓扑结构的成功，当拓扑结构生成后，进入步骤3，向拓扑结构中加入卫星模块；Step 2---generate the topology structure, and wait for the success of the topology structure, after the topology structure is generated, enter step 3, and add satellite modules to the topology structure; 步骤3——更新卫星，卫星模块与主控模块对接，执行步骤3.1，建立电气连接；执行步骤3.2，系统接收卫星模块加载的信号；执行步骤3.3，系统更新拓扑结构，形成加入卫星功能的拓扑结构，并产生卫星计数值；执行步骤3.4，判断卫星模块是否加载完成，待加载的卫星模块数量根据结果“是”进入步骤4；Step 3 - update the satellite, the satellite module is docked with the main control module, and step 3.1 is performed to establish an electrical connection; step 3.2 is performed, the system receives the signal loaded by the satellite module; and step 3.3 is performed, the system updates the topology to form a topology that adds satellite functions structure, and generate the satellite count value; execute step 3.4, determine whether the satellite module is loaded, and the number of satellite modules to be loaded enters step 4 according to the result "yes"; 步骤4——更新能源，能源模块参与对接，执行步骤4.1，建立电气连接；执行步骤4.2，系统接收能源模块加载的信号；执行步骤4.3，系统更新拓扑结构，形成加入能源功能的拓扑结构，产生能源计数值；执行步骤4.4，判断能源模块是否加载完成，判断待加载的能源模块数量根据结果“是”进入步骤5；Step 4 - update energy, the energy module participates in the docking, and perform step 4.1 to establish an electrical connection; perform step 4.2, the system receives the signal loaded by the energy module; perform step 4.3, the system updates the topology structure, and forms a topology structure that adds energy functions, generating Energy count value; go to step 4.4 to determine whether the energy modules are loaded, and determine the number of energy modules to be loaded, and enter step 5 according to the result "Yes"; 步骤5——更新功能，功能模块参与对接，执行步骤5.1，建立数据连接；执行步骤5.2，系统接收功能模块加载的信号；执行步骤5.3，系统更新拓扑结构，形成加入具体功能的拓扑结构，并产生功能计数值；执行步骤5.4，判断功能模块是否加载完成，判断待加载的功能模块数量根据结果“是”进入步骤6；Step 5 - update function, the function module participates in the docking, execute step 5.1, establish a data connection; execute step 5.2, the system receives the signal loaded by the function module; execute step 5.3, the system updates the topology structure to form a topology structure adding specific functions, and Generate a function count value; execute step 5.4, determine whether the function module is loaded, and determine the number of function modules to be loaded according to the result "Yes" and enter step 6; 步骤6——阵列拓扑结构更新，此步骤为整体更新，通过比较当前的拓扑结构与目标拓扑结构产生拓扑结构完成与否的信号量；Step 6—array topology update, this step is an overall update, and generates a semaphore whether the topology is complete or not by comparing the current topology and the target topology; 步骤7——阵列模块判断，该步骤判断飞行阵列是否完成；通过接收步骤6的结果，并根据结果“是”进入结束——阵列组装完成，执行任务；根据结果“否”重新进入循环，判断步骤3和步骤5形成的卫星、能源、功能计数值；将结果输入至步骤8；Step 7——The array module judges, this step judges whether the flight array is completed; by receiving the result of step 6, and according to the result "Yes" to enter the end - the array assembly is completed, and the task is executed; according to the result "No", re-enter the loop to judge Satellite, energy, function count value formed in step 3 and step 5; input the result to step 8; 步骤8——模块加载/卸载分支，首先执行步骤8.1，主控模块根据卫星、能源、功能三个模块计数值是否为零来判断卫星、能源、功能三个模块是否加载完成；不为零则进入相应的步骤中，执行对应模块的更新操作；判断卫星、能源、功能三个模块计数值具备不同的权重。Step 8 - module loading/unloading branch, first perform step 8.1, the main control module judges whether the three modules of satellite, energy and function are loaded according to whether the count values of the three modules of satellite, energy and function are zero; if it is not zero, then In the corresponding step, the update operation of the corresponding module is performed; it is judged that the count values of the three modules of satellite, energy and function have different weights. 2.根据权利要求1所述的一种具备自主性的模块化飞行阵列控制方法，其特征是：所述的权重大小依次为：卫星>能源>功能。2 . The autonomous modular flight array control method according to claim 1 , wherein the weights are in the order of: satellite>energy>function. 3 . 3.根据权利要求1所述的一种具备自主性的模块化飞行阵列控制方法，其特征是：单模块无人机的姿态控制过程为：无人机首先通过无线收发设备获取指挥中心发送的控制命令；3. A kind of autonomous modularized flight array control method according to claim 1, it is characterized in that: the attitude control process of single module unmanned aerial vehicle is: unmanned aerial vehicle first obtains the information sent by command center through wireless transceiver equipment. control commands; 无人机通过姿态传感器测量无人机的实际姿态数据；The UAV measures the actual attitude data of the UAV through the attitude sensor; 飞控计算无人机当前状态的高度、俯仰角、偏航角、滚转角，并将其作为目标姿态数据，与无人机从传感器测量的高度、俯仰角、偏航角和滚转角实际姿态数据做差值输出至PID控制器；The flight control calculates the altitude, pitch angle, yaw angle, and roll angle of the current state of the UAV, and uses it as the target attitude data, which is compared with the actual attitude of the UAV from the sensor to measure the height, pitch angle, yaw angle and roll angle. The data is output as a difference value to the PID controller; 四个PID调整回路分别控制X轴横向位置、Y轴纵向位置、Z轴高度位置、Z轴角度位置，并根据对接传感器测出的模块间距离信息、方位角信息进行二次调整；Four PID adjustment loops control the X-axis lateral position, Y-axis longitudinal position, Z-axis height position, and Z-axis angular position respectively, and perform secondary adjustment according to the distance information and azimuth angle information between modules measured by the docking sensor; 控制系统将来自PID控制器的数据进行整合处理，进行姿态调整；The control system integrates the data from the PID controller to adjust the attitude; 通过姿态调整算法输出四种控制调整量：Four control adjustments are output through the attitude adjustment algorithm: Z轴调整量控制无刷电机实现高度的调整，Y轴调整量控制矢量动力机构外环实现水平面纵向调整，X轴调整量控制矢量动力机构内环实现水平面横向调整，Z轴角度调整量控制共轴螺旋桨差速转动实现偏航角的调整。The Z-axis adjustment amount controls the brushless motor to achieve height adjustment, the Y-axis adjustment amount controls the outer ring of the vector power mechanism to achieve vertical horizontal adjustment, the X-axis adjustment amount controls the inner ring of the vector power mechanism to achieve horizontal horizontal adjustment, and the Z-axis angle adjustment amount controls a total of The differential rotation of the shaft propeller realizes the adjustment of the yaw angle. 4.根据权利要求1所述的一种具备自主性的模块化飞行阵列控制方法，其特征是：所述的步骤1包括：4. The autonomous modular flight array control method according to claim 1, wherein the step 1 comprises: 主控模块得到姿态调整量：Z轴调整量、Y轴调整量、X轴调整量、Z轴角度调整量，作为飞行阵列姿态的调整动作发出者，按照单模块调整方法，The main control module obtains the attitude adjustment amount: Z-axis adjustment amount, Y-axis adjustment amount, X-axis adjustment amount, Z-axis angle adjustment amount. 将这四个调整量进行处理得到输出数据变量Φ(α,β,γ,δ），参数α为矢量动力机构绕X轴旋转角度；参数β为矢量动力 机构绕Y轴旋转角；参数γ为电机转速；参数δ为电机差速；The output data variable Φ(α, β, γ, δ) is obtained by processing these four adjustment quantities. The parameter α is the rotation angle of the vector power mechanism around the X axis; the parameter β is the rotation angle of the vector power mechanism around the Y axis; the parameter γ is Motor speed; parameter δ is the motor differential speed; 主控模块向拓扑结构中与其直接电气连接的一级被动模块输出变量Φ(α,β,γ,δ），与其间接连接的次级被动模块经由中间模块实现变量的传递；The main control module outputs variables Φ(α, β, γ, δ) to the primary passive module that is directly electrically connected to it in the topology structure, and the secondary passive module indirectly connected to it realizes the transmission of variables through the intermediate module; 被动模块接收到Φ变量并按照参数调整矢量动力机构做出相应动作。The passive module receives the Φ variable and adjusts the vector power mechanism according to the parameters to make corresponding actions. 5.根据权利要求4所述的一种具备自主性的模块化飞行阵列控制方法，其特征是：所述的与主动模块直接相连的模块称为一级被动模块，与一级被动模块直接相连的称为二级被动模块，三级、四级以此类推；除一级被动模块外，其余被动模块与主动模块为间接电气连接，需要上一级被动模块作为数据中转，进行数据的交互。5 . The autonomous modular flight array control method according to claim 4 , wherein the module directly connected to the active module is called a first-level passive module, and is directly connected to a first-level passive module. 6 . It is called the second-level passive module, the third-level, fourth-level and so on; except for the first-level passive module, the other passive modules and the active module are indirectly electrically connected, and the upper-level passive module is required as a data transfer for data interaction. 6.根据权利要求1所述的一种具备自主性的模块化飞行阵列控制方法，其特征是：拓扑结构中的单模块无人机包括：6. a kind of modular flight array control method with autonomy according to claim 1 is characterized in that: the single-module UAV in the topology structure comprises: 控制中心（01），为控制数据的收发、地面站命令的接收、无人机姿态的调整；The control center (01) is used to send and receive control data, receive commands from the ground station, and adjust the attitude of the UAV; 矢量动力单元（02），接收控制中心输出的PWM数据，调整姿态；The vector power unit (02) receives the PWM data output by the control center and adjusts the attitude; 载荷单元（03），为模块无人机的任务系统，具体包括但不限于：雷达系统，图像系统；The load unit (03) is the mission system of the modular UAV, specifically including but not limited to: radar system, image system; CAN控制器（04），将数据打包成CAN标准／解包成数字信号，与控制中心01进行数据的直接传输；CAN controller (04), packs data into CAN standard/unpacks into digital signal, and directly transmits data with control center 01; 姿态传感器（05），获取单模块无人机的姿态信息与位置信，传递给控制中心01；Attitude sensor (05), obtains the attitude information and position information of the single-module UAV, and transmits it to the control center 01; 无线通信系统（06），接收地面站的命令信息，控制中心（01）解析该命令并完成命令，并不参与其他数据的发送；The wireless communication system (06) receives the command information from the ground station, the control center (01) parses the command and completes the command, and does not participate in the transmission of other data; 能源（07），为系统提供能源；Energy (07), providing energy for the system; zigbee芯片（08），组成阵列的局域网系统，用于阵列内数据的传输通信；The zigbee chip (08), the local area network system that forms the array, is used for data transmission and communication within the array; 电气接口（09），实现模块之间任务数据的交互。The electrical interface (09) realizes the interaction of task data between modules. 7.根据权利要求1所述的一种具备自主性的模块化飞行阵列控制方法，其特征是：单模块无人机由控制中心（01）输出PWM数据控制矢量动力单元进行姿态稳定；载荷单元（03）产生的任务数据经过控制中心（01）处理，形成数字信号；然后经过CAN控制器（04）将数据打包成CAN标准数据；发送至zigbee芯片（08）中，并经由电气接口（09）发送至局域网络中；网络中需要该数据的模块无人机获取该数据，不需要该数据的模块无人机忽略该数据；数据的接收端动作：模块响应zigbee局域网数据，通过电气接口（09）首先由zigbee芯片（08）接收；执行数据校验工作，然后传递给CAN控制器（04）；处理完成后的数据由CAN标准转化为标准数字信号传入控制中心（01）。7. The autonomous modular flight array control method according to claim 1, characterized in that: the single-module UAV is controlled by the control center (01) to output PWM data to control the vector power unit for attitude stabilization; the load unit (03) The generated task data is processed by the control center (01) to form a digital signal; then the data is packaged into CAN standard data by the CAN controller (04); sent to the zigbee chip (08), and via the electrical interface (09 ) to the local area network; the module drone that needs the data in the network obtains the data, and the module drone that does not need the data ignores the data; the action of the receiving end of the data: the module responds to the zigbee local area network data through the electrical interface ( 09) It is first received by the zigbee chip (08); data verification is performed, and then passed to the CAN controller (04); the processed data is converted by the CAN standard into a standard digital signal and sent to the control center (01). 8.根据权利要求1所述的一种具备自主性的模块化飞行阵列控制方法，其特征是：拓扑结构物理表现形式可以分为有两种：链式结构与组网式结构。8 . The autonomous modular flight array control method according to claim 1 , wherein the physical representation of the topology structure can be divided into two types: a chain structure and a network structure. 9 .
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