CN205229808U - Integration of many power flies accuse system for little small aircraft - Google Patents
Integration of many power flies accuse system for little small aircraft Download PDFInfo
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- CN205229808U CN205229808U CN201521098235.5U CN201521098235U CN205229808U CN 205229808 U CN205229808 U CN 205229808U CN 201521098235 U CN201521098235 U CN 201521098235U CN 205229808 U CN205229808 U CN 205229808U
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Abstract
本实用新型提供一种应用于微小型飞行器的多动力融合飞控系统，系统包括飞控计算机、飞行参数传感器、PID控制器、偏航桨动力系统、姿态桨动力系统和主桨动力系统；飞行参数传感器的输出端连接到飞控计算机的输入端，飞控计算机的输出端通过PID控制器分别连接到偏航桨动力系统、姿态桨动力系统和主桨动力系统。优点为：(1)采用主桨、姿态桨和偏航桨的布局方式，可有效降低在飞行过程中姿态桨负荷，有效的提升飞行器动力系统效率，提升飞行器续航时间。(2)对飞行器多套动力系统进行融合控制，解决了该飞行器主桨升力不稳定以及主桨反向扭矩平衡的问题，最终实现该新布局多旋翼飞行器的自主飞行。
The utility model provides a multi-power fusion flight control system applied to miniature aircraft. The system includes a flight control computer, a flight parameter sensor, a PID controller, a yaw propeller power system, an attitude propeller power system and a main propeller power system; The output end of the parameter sensor is connected to the input end of the flight control computer, and the output end of the flight control computer is respectively connected to the yaw propeller power system, the attitude propeller power system and the main propeller power system through the PID controller. The advantages are: (1) The layout of main propellers, attitude propellers and yaw propellers can effectively reduce the load on the attitude propellers during flight, effectively improve the efficiency of the power system of the aircraft, and increase the endurance time of the aircraft. (2) Fusion control of multiple sets of power systems of the aircraft solves the problem of unstable lift force of the aircraft's main propeller and the balance of the reverse torque of the main propeller, and finally realizes the autonomous flight of the multi-rotor aircraft with the new layout.
Description
Technical field
The utility model belongs to aircraft flight control system technical field, is specifically related to a kind of many power being applied to micro air vehicle and merges flight control system.
Background technology
Multi-rotor aerocraft is driven by many rotors can realize surely high spot hover, and under floating state, can change fuselage attitude rapidly, has good maneuverability, can carry load and complete aerial mission.
In prior art, conventional multi-rotor aerocraft mainly adopts multiple identical independent driving device to drive, and such as: for six rotorcraft, adopt the rotor driving that six identical, and six rotors is distributed on around aircraft body.The effect being arranged in the rotor around aircraft body comprises provides lift and gesture stability two aspect.
Due to many-side restriction, the multi-rotor aerocraft of above-mentioned normal arrangement has the lower deficiency of flight efficiency, cannot ensure the flight of multi-rotor aerocraft long-term stability.
Utility model content
For the defect that prior art exists, the utility model provides a kind of many power being applied to micro air vehicle to merge flight control system, multi-rotor aerocraft layout and flight control system are improved simultaneously, thus effectively improve aircraft flight efficiency, ensure the flight of aircraft long-term stability.
The technical solution adopted in the utility model is as follows:
The utility model provides a kind of many power being applied to micro air vehicle to merge flight control system, comprises flight control computer, flight parameter sensor, PID controller, driftage oar power system, attitude oar power system and main oar power system;
Wherein, described main oar power system is used for providing power for main oar, and described main oar refers to the screw propeller being laid in aircraft center; Described attitude oar power system is used for providing power for attitude oar, the unique corresponding described attitude oar power system of each attitude oar; The magnitude setting of described attitude oar is multiple, and its arrangement is: extend several horns from the outside divergent shape in aircraft center, arranges a described attitude oar at the end of each horn; Described driftage oar power system is used for for driftage oar provides power, the unique corresponding described driftage oar power system of each described driftage oar; The magnitude setting of described driftage oar is multiple, and its arrangement is: for being positioned at collinear two horns, be designated as the 1st horn and the 2nd horn respectively, installs a described driftage oar respectively in the symmetric position of described 1st horn and described 2nd horn;
The output terminal of described flight parameter sensor is connected to the input end of described flight control computer, and the output terminal of described flight control computer is connected respectively to described driftage oar power system, described attitude oar power system and described main oar power system by described PID controller.
Preferably, described flight parameter sensor comprises: gyroscope, accelerometer and barometric altimeter etc.
Preferably, described attitude oar is pitching/rolling screw propeller.
Preferably, described flight control computer is also connected with GPS locating device and storer; Described flight control computer is also connected with land station by data communication equipment (DCE).
Many power of what the utility model provided be applied to micro air vehicle merge flight control systems and have the following advantages:
(1) adopt the layout type of main oar, attitude oar and driftage oar, provide prevailing lift by main oar; Secondary lift is provided by attitude oar, owing to jointly providing lift needed for aircraft flight by main oar and attitude oar, therefore, attitude oar load in flight course can be effectively reduced in, thus effective promote Power System of Flight Vehicle efficiency, promote aircraft cruising time.
(2) fused controlling is carried out to aircraft many covers power system, solve the problem of this aircraft main oar lift instability and main oar reactive torque balance, finally realize the autonomous flight of this new layout multi-rotor aerocraft.
Accompanying drawing explanation
Fig. 1 merges the schematic layout pattern of the aircraft corresponding to flight control systems for many power that the utility model provides;
The hardware configuration schematic diagram of many power fusion flight control systems that Fig. 2 provides for the utility model.
Embodiment
The technical matters solved to make the utility model, technical scheme and beneficial effect are clearly understood, below in conjunction with drawings and Examples, are further elaborated to the utility model.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
The utility model discloses a kind of many power being applied to micro air vehicle and merge flight control system, many power merges flight control system and has three cover power systems, is respectively driftage oar power system, attitude oar power system and main oar power system; Wherein, main oar power system is connected with main oar, and main oar adopts large scale, the main oar of high-level efficiency, for generation of prevailing lift, improves full machine flight efficiency, makes it reach longer cruising time; Attitude oar power system is connected with oar state oar, maintains attitude of flight vehicle stablize for generation of the required secondary lift of flight, and it is motor-driven to coordinate main oar to carry out necessity; Driftage oar power system is connected with driftage oar, for offsetting the reactive torque of main oar, keeps vector to stablize.Many power designed by the utility model merge flight control system, carry out fused controlling, solve the technical matterss such as aircraft main oar lift instability and main oar opposing torque balance, achieve stability contorting, and can carry out autonomous flight three cover power systems; In addition, also effectively improve aircraft flight efficiency, ensure the flight of aircraft long-term stability.
Composition graphs 1 and Fig. 2, the utility model provides a kind of many power being applied to micro air vehicle to merge flight control system, comprises flight control computer, flight parameter sensor, PID controller, driftage oar power system, attitude oar power system and main oar power system;
Wherein, flight control computer adopts the STM32F427 processor of STMicw Electronics, and this processor is with Float Point Unit, and can carry out rapid computations to a large amount of sensing data, computational accuracy is high, can improve attitude algorithm level and control output accuracy.In addition, this processor is also integrated with abundant Peripheral Interface, facilitates the data transmission of sensor.
Flight parameter sensor comprises: gyroscope, accelerometer and barometric altimeter, for gathering aircraft real-time flight parameter comprehensively, all can adopt MEMS sensor, greatly reduces weight and the size of flight control system.Wherein, gyroscope uses MPU6050, can export in a digital manner 6 axles or 9 axis rotation matrixs, hypercomplex number, Eulerian angle form attitude merge calculation data.Barometric altimeter uses high-resolution MS5611, has temperature compensation function, makes resolution reach 10cm.
Main oar power system is used for providing power for main oar, and main oar refers to the screw propeller being laid in aircraft center;
Attitude oar power system is used for providing power for attitude oar, and attitude oar is pitching/rolling screw propeller, the unique corresponding attitude oar power system of each attitude oar; The magnitude setting of attitude oar is multiple, and its arrangement is: extend several horns from the outside divergent shape in aircraft center, arranges an attitude oar at the end of each horn;
Driftage oar power system is used for for driftage oar provides power, the unique corresponding driftage oar power system of each driftage oar; The magnitude setting of driftage oar is multiple, and its arrangement is: for being positioned at collinear two horns, being designated as the 1st horn and the 2nd horn respectively, installing a driftage oar respectively in the symmetric position of the 1st horn and the 2nd horn;
In FIG, main oar numeral 1 represents; Attitude oar numeral 2 represents; Driftage oar numeral 3 represents; In FIG, have 1 main oar, 4 attitude oars and 2 driftage oars.
By adopting the layout type of above-mentioned main oar, attitude oar and driftage oar, provide prevailing lift by main oar; Secondary lift is provided by attitude oar, owing to jointly providing lift needed for aircraft flight by main oar and attitude oar, therefore, attitude oar load in flight course can be effectively reduced in, thus effective promote Power System of Flight Vehicle efficiency, promote aircraft cruising time.In addition, by the setting of oar of going off course, offset the moment of torsion that main oar produces, ensure the operation of aircraft normal table.
The output terminal of flight parameter sensor is connected to the input end of flight control computer, and the output terminal of flight control computer is connected respectively to driftage oar power system, attitude oar power system and main oar power system by PID controller.
Visible, in the utility model, flight control computer, according to practical flight parameter, controls driftage oar, attitude oar and main oar respectively in real time, can ensure the operation of aircraft long-term stability, have high flight efficiency.
In addition, in practical application, flight control computer is also connected with GPS locating device and storer.Storer can adopt SD card, can carry out record to the Air Diary of aircraft, by the data in Air Diary, can carry out playback to the flight course of aircraft, can provide foundation for parameter adjustment simultaneously.
The employing of GPS locating device is low in energy consumption, precision is high, supports the locating device of multiple navigational system, uses I2C mode to communicate with flight control computer, provides aircraft current location information, for aircraft navigation provides reference.
Flight control computer is also connected with land station by data communication equipment (DCE).
Every data of aircraft are carried out wireless transmission by UART interface by data communication equipment (DCE), to be gone forward side by side row relax by ground station reception.
In practical application, flight parameter sensor, GPS locating device, storer and data communication interface are integrated on 1 piece of pcb board.
At present, the multiple identical power system drive of the many employings of conventional multi-rotor aerocraft, and each power system is distributed on around fuselage.And the multi-rotor aerocraft of the new topological design that the utility model provides, be provided with main oar in center and prevailing lift is provided, the reactive torque of the main oar of driftage paddle balance is set in horn side, adopt unsymmetric structure and have and overlap power system more.The utility model devises a kind of control algolithm of many power fusions for this new layout multi-rotor aerocraft, utilize flight control computer, fusion calculation is carried out to the data of each sensor and the telecommand of operator, obtain the output quantity of each power system, realize the stability contorting to aircraft.
As can be seen here, many power of what the utility model provided be applied to micro air vehicle merge flight control systems, have the following advantages:
(1) adopt the layout type of main oar, attitude oar and driftage oar, provide prevailing lift by main oar; Secondary lift is provided by attitude oar, owing to jointly providing lift needed for aircraft flight by main oar and attitude oar, therefore, attitude oar load in flight course can be effectively reduced in, thus effective promote Power System of Flight Vehicle efficiency, promote aircraft cruising time.
(2) fused controlling is carried out to aircraft many covers power system, solve the problem of this aircraft main oar lift instability and main oar reactive torque balance, finally realize the autonomous flight of this new layout multi-rotor aerocraft.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should look protection domain of the present utility model.
Claims (4)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521098235.5U CN205229808U (en) | 2015-12-25 | 2015-12-25 | Integration of many power flies accuse system for little small aircraft |
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| CN201521098235.5U CN205229808U (en) | 2015-12-25 | 2015-12-25 | Integration of many power flies accuse system for little small aircraft |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105468009A (en) * | 2015-12-25 | 2016-04-06 | 西北工业大学 | System and method for multi-power integrated flight control applied in micro air vehicle |
| CN110217384A (en) * | 2018-03-01 | 2019-09-10 | 贝尔直升机德事隆公司 | Propulsion system for rotor craft |
| CN111061281A (en) * | 2018-10-16 | 2020-04-24 | 海鹰航空通用装备有限责任公司 | Aircraft flight scheme generation method and system and aircraft with aircraft flight scheme generation system |
-
2015
- 2015-12-25 CN CN201521098235.5U patent/CN205229808U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105468009A (en) * | 2015-12-25 | 2016-04-06 | 西北工业大学 | System and method for multi-power integrated flight control applied in micro air vehicle |
| CN110217384A (en) * | 2018-03-01 | 2019-09-10 | 贝尔直升机德事隆公司 | Propulsion system for rotor craft |
| CN110217384B (en) * | 2018-03-01 | 2023-04-07 | 德事隆创新公司 | Propulsion system for a rotorcraft |
| US11718390B2 (en) | 2018-03-01 | 2023-08-08 | Textron Innovations Inc. | Propulsion systems for rotorcraft |
| CN111061281A (en) * | 2018-10-16 | 2020-04-24 | 海鹰航空通用装备有限责任公司 | Aircraft flight scheme generation method and system and aircraft with aircraft flight scheme generation system |
| CN111061281B (en) * | 2018-10-16 | 2023-08-15 | 海鹰航空通用装备有限责任公司 | Aircraft flight scheme generation method and generation system and aircraft with same |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160511 Termination date: 20201225 |