CN205121332U - Four rotor crafts based on host computer regulation and control and demonstration - Google Patents

Abstract

The utility model relates to a four-rotor aircraft based on the control and display of a host computer. The main control unit is connected to the host computer through a wireless transmission module, and is used to transmit the level and horizontal state parameter signals of the quadrotor aircraft to the host through a wireless network before the aircraft takes off. machine, and display and adjust the parameters of the balance state of the aircraft through the host computer until the four-rotor propeller of the aircraft reaches a balanced state; Direction, speed, and display the state parameters of the main adjustment aircraft through the host computer; the main control unit is connected to the brushless DC motor and propeller through the drive module; the power module is connected to the main control unit and the drive module respectively. The status parameters of the aircraft are transmitted to the host computer through the wireless module, and the internal parameters of the aircraft can be displayed and adjusted on the host computer, so as to achieve the purpose of debugging the control balance of the aircraft and displaying the flight status in real time.

Description

Quadrotor aircraft based on host computer control and display

technical field

The utility model relates to a four-rotor aircraft controlled and displayed by a host computer, in particular to the related hardware and software that transmits the status parameters of a quad-rotor aircraft to the host computer software through a wireless network, and can control and display the status parameters in the computer software. equipment.

Background technique

An unmanned aerial vehicle refers to an unmanned aerial vehicle that does not require a driver to drive, uses modern electronic equipment, uses a microprocessor to run a predetermined control program, receives an external wireless control signal or determines the flight attitude and flight trajectory according to an internal preset program, and uses the principle of aerodynamics to achieve flight recyclable aircraft. Since unmanned aerial vehicles do not require a pilot to fly, making them more suitable for performing dangerous tasks or performing tasks in environments that are not suitable for human survival, countries around the world are rushing to study unmanned aerial vehicles.

Quadrotor aircraft, also known as quadrotor helicopter, is an aircraft with four propellers and the four propellers have a cross-shaped cross structure. The opposite quadrotors have the same rotation direction and can be divided into two groups. The rotation direction of the two groups different.

The quadrotor aircraft uses four rotors as the direct power source for the flight. The rotors are symmetrically distributed in the front, rear, left and right directions of the body. The four rotors are on the same height plane, and the structures and radii of the four rotors are the same. Rotate counterclockwise, and the other two rotors rotate clockwise. The four motors are symmetrically installed on the bracket end of the aircraft, and the space in the middle of the bracket is placed for external devices such as flight control boards and wireless modules. The quadrotor aircraft changes the rotation speed of the rotor by adjusting the rotation speed of the four motors to realize the change of the lift force, thereby controlling the attitude and position of the aircraft. The control basis for all the above-mentioned movements is the stable hovering of the quadrotor aircraft. Therefore, effectively debugging the quadrotor aircraft so that it can maintain a stable flight state is the focus of current research.

Contents of the invention

The utility model is to provide a four-rotor aircraft based on the control and display of the upper computer, especially embedded with the flight control board, the upper computer and the wireless transmission module, which can transmit the state parameters of the aircraft to the upper computer through the wireless network, and can Modify the internal parameters of the aircraft on the host computer software to achieve the purpose of debugging the control balance of the aircraft and displaying the flight status in real time.

The utility model is realized through such a technical scheme: a four-rotor aircraft based on the control and display of the upper computer, including a main control unit, a DC brushless motor and a propeller, a drive module, a power module, a flight control board, a wireless transmission Module, remote controller, and host computer, the main control unit is connected to the host computer through the wireless transmission module, and is used to transmit the level and horizontal state parameter signals of the quadrotor aircraft to the host computer through the wireless network before the aircraft takes off, and display it through the host computer And adjust the balance state parameters of the aircraft until the four-rotor propeller of the aircraft reaches a balanced state; The status parameters of the main control aircraft are displayed through the host computer; the main control unit is connected to the brushless DC motor and the propeller through the drive module; the power supply module is connected to the main control unit and the drive module respectively.

The wireless communication module is a WIFI232 wireless network chip.

The flight control board adopts STM32F main controller, has 6-channel PWM input module, 8-channel PWM output module, MS5611 barometric altimeter, attitude measuring instrument, AT45DB data storage module, 3*LED display module, independent digital power analog power supply and interface.

The attitude measuring instrument in the flight control board adopts the STM32F103 chip as the main control chip, and has three-axis acceleration, three-axis angular rate, three-axis magnetometer, and barometric altimeter sensors.

The beneficial effect of the utility model is: compared with the general aircraft, the utility model transmits the status parameters of the aircraft to the host computer through the wireless module, and can display and regulate the internal parameters of the aircraft on the host computer, so as to achieve the adjustment of the control balance of the aircraft, The purpose of displaying the flight status in real time.

Description of drawings

Fig. 1 is the structural block diagram of quadrotor aircraft;

Fig. 2 is the top view of quadrotor aircraft;

Figure 3 is a side view of the quadrotor aircraft.

detailed description

Below in conjunction with accompanying drawing and specific implementation process, the present invention is described in detail:

As shown in Figure 1, a quadrotor aircraft based on the control and display of the host computer includes a main control unit, a brushless DC motor and a propeller, a drive module, a power supply module, a flight control board, a wireless transmission module, a remote controller, and a host computer. , the main control unit is connected to the host computer through the wireless transmission module, and is used to transmit the level and horizontal state parameter signals of the quadrotor aircraft to the host computer through the wireless network before the aircraft takes off, and display and adjust the balance state parameters of the aircraft through the host computer, Until the four-rotor propeller of the aircraft reaches a balanced state; the remote controller is connected to the main control unit by connecting the flight control board, and is used to control the direction and speed of the aircraft through the remote controller after the aircraft takes off smoothly, and display the main adjustment of the aircraft through the host computer. state parameters; the main control unit is connected to the brushless DC motor and propeller through the drive module; the power module is respectively connected to the main control unit and the drive module.

As shown in Figures 2 and 3, the four rotor arms are symmetrically arranged at the four corners of the fuselage, and the four rotor arms are combined with the fuselage to form a "ten"-shaped structure. The brushless motors are fixedly connected to the rotor arms. Both are fixedly connected with the propeller, the brushless motor is connected with wires, the wires pass through the rotor arm and enter the installation part, and the other end of the wires is connected to the flight control device. The WIFI communication module is installed on the flight control device, and the host computer is connected wirelessly.

The power supply module supplies power to the main control unit and the execution drive module respectively.

Before the aircraft takes off, the level and horizontal state parameters of the quadrotor aircraft are transmitted to the host computer through the wireless network. If the propellers of the quadrotor are unbalanced before the aircraft takes off, the aircraft will fall towards the side where the propellers are heavier after take-off, and the aircraft may break. Therefore, before take-off, the host computer software can be used to display and adjust the balance state parameters of the aircraft until the four-rotor propeller of the aircraft reaches a balanced state. After the aircraft takes off smoothly, the direction and speed of the aircraft can be controlled through the transmitter remote control. The host computer software can display and adjust the status parameters of the aircraft such as acceleration, angular rate, magnetometer, barometric altitude, etc.

As preferably, the flight control board is selected as Captain flight control board, which adopts STM32F main controller, has 6-channel PWM input module, 8-channel PWM output module, MS5611 barometric altimeter, attitude measuring instrument, AT45DB data storage module, 3 * LED display module, independent digital power analog power supply and rich interfaces. The Captain flight control board is a hardware platform for flight controllers or robot controllers. It provides drivers for the hardware on the board, and users need to write their own software. The Captain control algorithm is based on PID, and the PID parameters need to be adjusted by themselves.

1) The Captain control board uses two sets of independent LDOs to supply power to the digital power supply and the analog power supply respectively. Moreover, the analog power supply has gone through a two-stage filter circuit to minimize the interference from the external power supply and obtain the most accurate measurement data. The maximum voltage of the digital power supply is 3.3V, and the maximum current is 800mA. The maximum voltage of the analog power supply is 3.3V, and the maximum current is 150mA.

2) The Captain has 6-channel PWM input for connecting to the receiver. It has collected the control signal from the remote control. Each channel has an RC filter circuit to reduce the influence of high frequency and glitch pulses. Through programming, it can support PPM signal input to expand more channel input.

3) The Captain flight control board has 8 channels of servo output, each channel is connected to the comparison output of STM32, and the duty cycle and frequency of the channel can be controlled independently. It supports the driving of analog steering gear and digital steering gear, and can also connect the electronic speed controller to drive the motor. The 8 channels of PWM signals are converted into the logic voltage of the servo power supply from the 3.3V driving voltage through the buffer, which can reach 5V or higher 6V.

4) The attitude sensor module of the Captain flight control board is composed of the following chips: (a) MPU6050 integrates a three-axis gyroscope and three-axis acceleration to calculate the pitch angle and roll angle. (b) The HMC5883 three-axis magnetometer senses geomagnetism to obtain the heading angle of the carrier. (c) MS5611 high-precision barometer, which converts the air pressure value into an altitude value. The above hardware, through sensor fusion technology, can obtain the pitch angle and roll angle of the current carrier relative to the horizontal plane, as well as the heading angle relative to the North Pole.

5) The Captain flight control board uses three LEDs of different colors to display the current operating status of the system. These LEDs can be controlled and customized by the user. The significance of the existence of the Flash memory is that it is convenient for the user to store: (a) The calibration value and compensation value of the sensor. (b) Changeable parameters or constants used in the program, such as PID parameter values. (c) Store mission status, GPS information, and longitude, latitude, and altitude of waypoints. AT45DB is connected to the SPI2 interface of STM32F, which can reach a clock speed of up to 18M and quickly access Flash data.

The attitude measuring instrument in the Captain flight control board uses the STM32F103 chip as the main control chip, and has three-axis acceleration, three-axis angular rate, three-axis magnetometer, and barometric altimeter sensors, which can measure pitch, roll, heading, altitude and temperature. It is widely used in aircraft, automobiles, robots and mechanical arms, etc.

1) The main control chip of the attitude measuring instrument is STM32F103T8, ARM32-bitCortex ^TM -M3 core, which has 64KB flash memory and 20KB running memory. The sensor on the attitude measuring instrument is connected to the STM32F through the I2C interface, and the data interrupt pin of the sensor is connected to the I0 of the STM32F. After the sensor completes the ADC rotation, the STM32F reads the latest data at the first time and responds quickly to changes in attitude. This connection allows the controller to have the greatest initiative and obtain the status and conversion results of each sensor the fastest. The attitude measuring instrument leads to two serial communication ports of the STM32 microcontroller: UART1 is used as the connection port of the slave, and UART2 is used as the data output port of the master. The attitude measuring instrument leads to the SWD debugging interface of STM32F. The SWD interface only needs four lines to connect to the STM32F core for simulation debugging.

2) MPU-6050 is the world's first integrated 6-axis motion processing component. Compared with multi-component solutions, it eliminates the problem of inter-axis difference when combining gyroscopes and accelerators, and reduces a lot of packaging space. The MPU6050 is connected to the main controller STM32F through the I2C interface. In the initialization phase, STM32 will set the measurement sensitivity and sampling frequency of MPU6050, and at the same time, it can interrupt the data update. After that, STM32 configures its own pin as an interrupt input. In this way, after a new sampling is completed, MPU6050 generates an interrupt and calls STM32 to read new data.

3) HMC5883L includes the most advanced high-resolution HMC118X series magnetoresistive sensors, and comes with Honeywell patented integrated circuits including amplifiers, automatic degaussing drivers, offset calibration, and 12-bit compass accuracy that can be controlled at 1`~2` Analog-to-digital converter, simple I2C serial bus interface. The HMC5883L is not directly connected to the I2C interface of the main controller, but to the AUX2C interface of the MPU6050. In this way, there are two ways to access the data of the HMC5883L: set the AUX interface of the MPU6050 to direct connection, and the STM32F can be directly connected through I2C Access HMC588L; open the AUX interface of MPU6050 as the main controller, through the AUXI2C interface MPU6050 is responsible for collecting the sampling results of HMC5883L, and store the results in its own F1F0 register. STM32F reads the conversion result of HMC5883 by accessing MPU6050. Both of the above two methods can be implemented in the attitude measuring instrument, without additional addition or modification of the circuit, only the corresponding control registers of the MPU6050 need to be set. The data preparation pin of HMC5883L is connected to STM32, by checking the level of this pin, it is judged whether there is new conversion data.

4) MS5611 is a new generation of high-resolution air pressure sensor with a resolution of up to 10cm. It has a built-in 24-bit AD converter, supports IIC and SPI communication protocols, the transmission rate can reach 20MHz, and its conversion time can be set. MS5611 is an integrated circuit composed of a piezoresistive sensor and a sensor interface. Its main function is to convert the measured uncompensated analog air pressure value into a 24-bit digital value for output through the ADC, and can also output a 24-bit digital temperature value.

5) The flight control device is equipped with a host computer software, which is used to display the output of each sensor and the attitude after calculation. It has multiple display modes: (a) Waveform, which shows the relationship between data value and time in the form of waveform. (b) Text, the text displays the current value. (c) 3D display, the attitude data after solving can be displayed in 3D.

6) To communicate with the host computer, the support of the communication protocol is required. A fixed frame format and number of bytes are specified. The host computer will deframe through the known protocol and update the corresponding data to waveform, text and 3D display.

The operation steps of this aircraft operation are as follows:

1) Connect the lithium battery of the quadrotor aircraft on the upper end of the debugging platform, and observe that the lights on the receiver, WiFi communication module and flight control board are all on;

2) Connect the WIFI of the wireless communication module on the computer, and connect the flight control board to the host computer through wireless;

3) Install the corresponding virtual serial port software and host computer software on the computer, and open the software debugging parameters to make the host computer display waveforms and data normally;

4) Turn on the remote control to control the flight of the quadrotor, and select the corresponding mode to control the flying height of the quadrotor;

5) Observe whether the quadrotor remains in the "hover" state at different altitudes and the relevant flight status information displayed on the host computer; modify the internal parameters of the PID until the quadrotor can fly stably.

In step 2), first establish a wireless network "HF-A11x_AP" through the WIFI232 module, connect to this network on the computer, and set it to obtain IP automatically. The WIFI module supports the DHCPServer function and is enabled by default. At this time, the Link indicator of the module is on. .

In step 3), after the computer is connected to the module WIFI network, click "Search" on the main page of the virtual serial port software, select "USR-WIFI232-x" in the drop-down menu, and in the pop-up search list dialog box, click "Search Device", select the found device in the device list, and click "Connect Virtual Serial Port". In the pop-up dialog box, create a virtual serial port, set the virtual serial port as COM2, the network protocol as TCPClient, the target IP is 10.10.100.254, the target port is 8899, the server address is "10.10.100.100", the baud rate of the WiFi serial port module Set it to "115200", the data bit to "8", and the stop bit to "1". After the setting is complete, restart the virtual serial port. Then open the upper computer test software "AHRS_Captain_Flight", click the file operation in the port setting, set the same parameters as the virtual serial port. Click the button at the "port is closed" to open the port so that it turns red and displays "port is open", and at the same time, the information display bar below the host computer software prompts that the COM2 port is successfully opened, and the status of the serial port above the software RXD lights up , and the small light at the calculation rate blinks, indicating that there is data transmission and the connection is successful. Click "Follow Latest" on the display panel to display the status parameters of the aircraft. Click "3D display" to display the 3D parameter status of the aircraft.

Step 5) is mainly to observe whether the quadrotor maintains a stable flight state at different debugging altitudes. The specific operation is: modify the parameters of roll, pitch, heading, altitude and angle balance PID, click write after modification, and the data can be stored in the flight control board. After power off, power on again, and then click to read the data, it will become the modified data. Repeat this operation step until the quadrotor is observed to maintain a balanced flight, and save the relevant data at this time. By modifying the PID internal parameters of the upper computer, the balance state of the control aircraft can be adjusted in real time, thereby greatly improving the debugging efficiency, and finally achieving the purpose of debugging the control balance of the aircraft and displaying the flight state in real time.

Claims (4)

1. one kind regulates and controls the quadrotor with display based on host computer, comprise main control unit, DC brushless motor and screw propeller, driver module, power module, fly to control plate, wireless transport module, telepilot, host computer, it is characterized in that: described main control unit connects host computer by wireless transport module, before aircraft takeoff, by the flat horizontal state parameter signal of quadrotor by wireless network transmissions to host computer, and shown by host computer and regulate aircraft equilibrium state parameter, until four propeller aircrafts of aircraft reach equilibrium state; Described telepilot flies control plate by connection and connects main control unit, after steadily taking off, is controlled direction, the speed of aircraft by telepilot, and show the state parameter of main regulation aircraft by host computer for aircraft; Described main control unit connects DC brushless motor and screw propeller by driver module; Described power module connects main control unit and driver module respectively.

2. according to claim 1 based on host computer regulation and control and the quadrotor of display, it is characterized in that: described wireless communication module is WIFI232 wireless network chip.

3. according to claim 1 based on the quadrotor of host computer regulation and control with display, it is characterized in that: the described control plate that flies adopts STM32F master controller, has 6 passage PWM load modules, 8 passage PWM output modules, MS5611 barometric altimeter, attitude measurement instrument, AT45DB data memory module, 3*LED display module, independently digital power analog power and interface.

4. according to claim 3 based on the quadrotor of host computer regulation and control with display, it is characterized in that: described in fly the attitude measurement instrument controlled in plate and adopt STM32F103 chip to be main control chip, and have 3-axis acceleration, tri-axis angular rate, three axle magnetometers, barometer altitude flowmeter sensor.