CN200976108Y - Small-size unmanned helicopter is flight control system independently - Google Patents
Small-size unmanned helicopter is flight control system independently Download PDFInfo
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Abstract
一种小型无人直升机自主飞行控制系统，包括机载控制系统，其中机载计算机通过串口获取各传感器信号，且通过机载及地面无线以太网接入点与地面计算机进行数据交换；机载计算机与数字信号处理器进行串行通信，来控制无人直升机的舵机组；遥控信号接收机输出至数字信号处理器，再通过串口与机载计算机相连，将自主控制信号与地面遥控信号累加，得当前舵机控制信号；地面控制系统，其中地面计算机向机载计算机发送飞行控制指令及接收飞行数据并记录；操作地面飞机遥控器、可通过无线射频信号向机载遥控信号接收机发射手动遥控指令。本实用新型能提高小型无人直升机的自主能力，增强系统的可靠性，扩展无人直升机的应用范围，在超视距范围内完成给定任务。
A small unmanned helicopter autonomous flight control system includes an airborne control system, wherein the airborne computer obtains the signals of each sensor through a serial port, and exchanges data with a ground computer through airborne and ground wireless Ethernet access points; the airborne computer communicates serially with a digital signal processor to control the steering gear group of the unmanned helicopter; the remote control signal receiver outputs to the digital signal processor, and then connects to the airborne computer through a serial port, accumulates the autonomous control signal and the ground remote control signal to obtain the current steering gear control signal; the ground control system, wherein the ground computer sends flight control instructions to the airborne computer and receives and records flight data; the ground aircraft remote controller is operated, and manual remote control instructions can be sent to the airborne remote control signal receiver through wireless radio frequency signals. The utility model can improve the autonomous ability of a small unmanned helicopter, enhance the reliability of the system, expand the application range of the unmanned helicopter, and complete a given task within the beyond visual range range.
Description
Technical field
The utility model relates to the independent flight control system of a kind of control technology of aircraft, particularly a kind of small-sized depopulated helicopter.
Technical background
Unmanned vehicle (UAV, Unmanned Aerial Vehicle) is along with the development of Autonomous Control technology, begun to have launched all over the world extensive studies.Depopulated helicopter has more the not available a lot of advantages of unmanned fixed wing aircraft, has unique flying quality and use value.No one was injured for it, volume is little, cost is low, battlefield survival is strong; Aspect military, depopulated helicopter can be carried out various non-lethal tasks, can carry out the lethal task of various soft or hards again, comprises scouting, supervision, target acquisition, bait, attack, communication repeating etc.; Aspect civilian, depopulated helicopter take photo by plane, aspect such as atmospheric surveillance, traffic monitoring, resource exploration, electric inspection process, forest fire protection, agricultural is with a wide range of applications.
Depopulated helicopter has the common advantage of unmanned plane and helicopter, can finish fixed wing aircraft the task of can not finishing, but compare with fixed wing aircraft, realize that autonomous flight control has big difficulty.The unmanned helicopter flight control system is a typical nonlinear, strong coupling, multivariate, owes driving control system.The depopulated helicopter control variable has main oar always distance, horizontal feathering, vertical feathering, the total distance of tail-rotor and gyroplane rotate speed etc., each control variable all has a direct impact flight attitude, heading, the flying speed of depopulated helicopter, intercoupling effect between each control variable is fairly obvious, for example controls that aircraft can lose height when flying before the helicopter.Depopulated helicopter is a kind of typical time-variant control system, and the stability boundaris of control system with the flying condition variation change very greatly takes place.From the characteristic of unmanned plane, great changes have taken place with the variation of flying condition for its characteristic parameter, especially when flying speed and flight attitude change.In addition, the flight environment of vehicle of helicopter is understood irregular change owing to being subjected to the atmospheric conditions influence.Depopulated helicopter is a system with positive limit as controlled device, is quiet unsettled, and when it remained unchanged at each rudder face, it is stable that aircraft can not keep, and the continuous manipulation that must rely on control system constantly to regulate each rudder face makes it to keep servo-actuated stable.The character of helicopter itself has also determined its flight attitude change can make the engine loading power condition of helicopter that very big change takes place, need to guarantee that engine keeps the output shaft invariablenes turning speed under various bearing power states, make helicopter main rotor invariablenes turning speed under various state of flights.Helicopter is one of control theory difficult point as the design of Controller of controlled device, and this has also determined it to study the possibility of outstanding platform as control theory.In recent years, along with small-sized depopulated helicopter has obtained increasing application, just becoming an international research focus.
Yet, in the prior art, depopulated helicopter has been realized pre-programmed stabilized flight, but compares with remote-controlled model aircraft with manned aircraft, its maneuverability that can realize is very limited, still do not possess independently finish the work, the ability of military mission particularly.Therefore, the capacity of will of depopulated helicopter, the reliability of system can not meet the demands at present, and being of limited application of depopulated helicopter makes it can not finish given task in the over the horizon scope.
The utility model content
The purpose of this utility model is to provide a kind of self-control system and control method thereof of depopulated helicopter, adopt the utility model can improve the capacity of will of small-sized depopulated helicopter, the reliability of enhanced system, the range of application of expansion depopulated helicopter makes it finish given task in the over the horizon scope.
In order to achieve the above object, the technical solution of the utility model comprises aircraft mounted control system and ground control system two parts, wherein:
Aircraft mounted control system, by airborne supply module power supply, comprise the airborne computer, airborne sensor group, digital signal processor, airborne wireless Ethernet access point, remote control signal receiver, the steering wheel group that there are airborne computer flight control program, airborne computer obtains each sensor signal by serial communication interface, and link to each other with terrestrial wireless Ethernet access point by airborne wireless Ethernet access point, carry out exchanges data by 802.11g procotol and ground control system; Airborne computer and digital signal processor carry out serial communication, digital signal processor is connected with velocity gauge, receive the output signal of remote control signal receiver, link to each other with airborne computer by serial ports again, Autonomous Control signal and ground remote control signal are added up, obtain current steering wheel control signal and export digital signal processor to and control the steering wheel group; Wherein said digital signal processor has the DSP CONTROL program;
Ground control system, power by ground power supply system, comprise the ground-based computer that has ground-based computer flight control program, wherein ground-based computer connects terrestrial wireless Ethernet access point, sends the flight control instruction and receives flying quality and record to airborne computer by ground-based computer flight control program;
Described ground control system also comprises the ground plane telepilot, operate ground aircraft telepilot, launches manual telecommand by radio frequency signal to airborne remote control signal receiver.
The utility model compared with prior art has following conspicuous outstanding feature and remarkable advantage:
In the control system of the utility model design, airborne computer is to manual ground remote control signal, Autonomous Control generation control signal is carried out " seamless " and is added up, seamlessly transit during from a kind of state exchange to another kind of state, not having obvious attitude changes, reached full Autonomous Control pattern, half Autonomous Control pattern and the manually switching of taking advantage of a situation of control model, as running on full autonomous flight pattern when depopulated helicopter, the sensor groups flight attitude that ground-based computer is passed back airborne computer, position signalling and steering wheel control signal are analyzed, if be judged as the system failure, self-control system can not stably be controlled depopulated helicopter, then ground-based computer sends instruction to flight computer, it is zero that airborne computer smoothly weakens to digital signal processor transmission steering wheel control signal, and after this steering wheel control signal is passed through the DSP CONTROL depopulated helicopter by ground remote control fully; Can make it according to the set condition autonomous flight by ground-based computer setting in advance on the map interface or in flight course, setting way point in real time, finish preplanned mission; Can obtain the total state flying quality on ground by the wireless ethernet access point, for control theory research provides support; Depopulated helicopter can directly manually be controlled by the wireless remote control signal in ground, improves system reliability.The utility model makes depopulated helicopter realize full autonomous flight ability, makes depopulated helicopter to finish given task in the over the horizon scope, has expanded the range of application of depopulated helicopter.
Description of drawings
Fig. 1 is the system construction drawing of an embodiment of the utility model.
Fig. 2 is Fig. 1 digital signal processor architecture figure.
Fig. 3 is Fig. 1 aircraft mounted control system control program process flow diagram.
Fig. 4 is Fig. 1 DSP CONTROL program flow diagram.
Fig. 5 is a ground-based computer flight control program flow diagram.
Embodiment
Describe the utility model in detail below in conjunction with drawings and Examples:
Referring to Fig. 1, the depopulated helicopter independent flight system comprises aircraft mounted control system and ground control system two parts, wherein:
Aircraft mounted control system 2, by airborne computer 8 (adopting the PC-104 industrial computer), the airborne sensor group, digital signal processor (DSP), airborne wireless Ethernet access point (Access Point) AP1, remote control signal receiver, supply module, the steering wheel group is formed, airborne computer obtains each sensor signal by the RS-232 serial communication interface, and link to each other with terrestrial wireless Ethernet access point AP2 by airborne wireless Ethernet access point AP1 that (airborne computer is as the core of airborne portion, played data acquisition, data processing, the effect of data storage, carry out exchanges data by the 802.11g procotol by wireless aps and ground control system, thereby reach the purpose with ground communication); Airborne computer carries out serial communication by RS-232 agreement and digital signal processor, and digital signal processor is connected with the velocity gauge that is connected in aircraft master oar main shaft, by five steering wheels of DSP CONTROL helicopter, thereby aircraft is controlled; The pwm signal capturing unit that exports digital signal processor to of remote control signal receiver, link to each other with airborne computer by serial ports again, Autonomous Control signal and ground remote control signal are added up, obtain current steering wheel control signal and send to digital signal processor by serial ports and export the steering wheel group to;
Described airborne sensor group comprises Inertial Measurement Unit 4 (can survey six degree of freedom), digital compass 6 (adopting three number of axle word compass of compensation with angle), high-altitude barometric altimeter 7-1, low latitude sonar altitude gauge 7-2, high precision Global Positioning System (GPS) (GPS) 3 and velocity gauge 9; Wherein: Global Positioning System (GPS) 3 adopts the OEM15 type GPS of Hemisphere company, it is output as the CMOS level of high level 3.3V, by the MAX3232 interface conversion is the acceptable RS-232 level of airborne computer, inserts serial ports 1 passage of airborne computer; Inertial Measurement Unit 4 adopts the IMU of CrossBow company, measures tri-axis angular rate and three axis accelerometers, and it is output as the RS-232 level, directly inserts serial ports 2 passages of airborne computer; Digital compass 6 adopts the HMR3000 of HoneyWell companies, measure crab angle and ± luffing angle and roll angle in 40 degree, it is output as the RS-232 level, inserts serial ports 3 passages of airborne computer; Low latitude sonar altitude gauge 7-2 adopts a pair of sonar sensor, the sonar signal processing device of its signal process BrainStem company, and, insert airborne computer serial ports 4 passages with 50Hz frequency output altitude signal; High-altitude barometric altimeter 7-1 is the HPB series absolute manometer of HoneyWell company, and the air pressure signal of measurement is converted to the RS-232 digital signal through its treatment circuit that carries, and inserts serial ports 5 passages of airborne computer; Velocity gauge 9 adopts 5140 scramblers of Maxon company, be installed on the main oar main shaft of depopulated helicopter, it is output as square-wave signal, be connected to digital signal processor 11, the rotating speed square-wave signal drives universal counter counting in the digital signal processor, be recorded in 50 milliseconds of inside counting devices counting numbers divided by counter frequency divided by writing time, can obtain tach signal.
Described remote control signal receiver 12 is Futaba company 6 passage receivers, receives ground remote control personnel remote signal, is input to digital signal processor 11.
Described airborne supply module is an airborne computer standard interface voltage transformation module, is input as 9-40V, is output as 3.3V, 5V and 12V, and has overcurrent protection, and battery provides the input of 19V voltage.
Described digital signal processor 11 is the TDS320F2812DSP of TI company, and its function is for catching the remote control signal receiver signal, and sends pwm control signal according to Fig. 3 airborne computer control output and the stack of ground remote control control signal to the steering wheel group; Digital signal processor comprises central processing unit U1, pwm signal capturing unit, pwm signal generation unit, tachometric survey unit, serial port driving unit, flash memory FLASH and dynamic RAM, adopt double 40 standard socket, link to each other with remote control signal receiver and steering wheel by aviation plug, and adopt accurate socket of single four pin marks and airborne computer to carry out serial communication.Serial port driving unit, pwm signal capturing unit, tachometric survey unit link to each other with central processing unit U1, and have the level holding circuit, guarantee that extraneous input signal is not higher than the maximum level 3.3V that central processing unit U1 can bear.Flash memory FLASH links to each other with central processing unit U1 by bus, is used to store digital signal processor program, and outage back program still can be stored in wherein; Dynamic RAM links to each other with central processing unit U1 by bus, is used for the temporary storage of its program run, and read or write speed is better than flash memory FLASH.
Described steering wheel group 10 is made up of five steering wheels, and except that tail vane control steering wheel was high speed Futaba9253 numeral steering wheel, all the other four steering wheels were Futaba9206 numeral steering wheel.
Described airborne supply module comprises 19V 78WH lithium battery and airborne computer standard interface voltage transformation module, is input as 9-40V, is output as 3.3V, 5V and 12V, and has overcurrent protection.
Described ground-based computer 15 shows state of flight and record in real time.Ground depopulated helicopter terrestrial operation person is according to current task planning and state of flight decision change offline mode, and may command ground flight remote controller 13 sends to airborne wireless remote control signal receiver 12 by independent wireless radiofrequency transmission channel.
Referring to Fig. 2, central processing unit U1 is the F2812 of a TI company type 150MHz processor, links to each other with flash memory FLASH and dynamic RAM with data bus by address bus.Flash memory FLASH and dynamic RAM are integrated on the dsp processor chip storage and with extraneous swap data.Serial port driving unit, pwm signal capturing unit, tachometric survey unit have the level holding circuit; when being higher than the 3.3V level that digital signal processor can bear, serial ports input signal, PWM lock-on signal or tach signal level force to 3.3V level conversion; to guarantee that the voltage that enters digital signal processor 11 is no more than its permission voltage; they and pwm signal output unit and central processing unit are made on the same printed circuit board, have strengthened the function of processor.The pwm signal output unit produces the PWM square-wave signal by hardware timer the steering wheel group is controlled, and this interface connection layout 1 steering wheel group 10, dutycycle are the 0-180 degree that the respectively corresponding steering wheel of 10%-20% rotates.The pwm signal capturing unit links to each other with central processing unit U1, can obtain current PWM pwm value by the mistiming of writing down current high level negative edge and rising edge, and then catch the signal of remote control signal receiver 12.The tachometric survey unit is the tachometric survey module, the square wave tach signal that two-way is differed from 1/4 phase bit strip rotary speed direction information is imported wherein, digital signal processor 11 can be first with counter frequency by the counting number of tach signal actuation counter in writing down 50 milliseconds, obtain rotating speed and turn signal divided by the counter time, this signalling channel connects the velocity gauge 9 that places aircraft master oar main shaft and measures main oar rotating speed.Serial port driving unit links to each other with central processing unit U1 communication interface, can carry out the RS232/RS422/RS485 data communication with the external world, and this interface is connected in Fig. 1 airborne computer serial line interface passage.
Fig. 3 has provided this depopulated helicopter control system airborne computer flight control program flow diagram.After program is carried out initialization, create sub-thread of sensor acquisition and the sub-thread of control algolithm and open up an extendible public memory space being used for storing interior flying quality of up-to-date time.The sub-thread of sensor data acquisition is the down trigger pattern, sub-thread is carrying out entering circular wait after serial ports and respective sensor are provided with initialization, utilize the interrupt service routine of airborne computer 8 to handle the Global Positioning System (GPS) of importing into through serial ports 3, Inertial Measurement Unit 4, digital compass 6, low latitude sonar altitude gauge 7-1, high-altitude barometric altimeter 7-2, the signal of velocity gauge 8 and digital signal processor 11, after the sub-thread of any sensor data acquisition enters interrupt service routine, other OIER set, do not allow to interrupt entering, gather current sensor data.Current thread withdraws from other OIER zero setting of back, and latest data is stored to public memory space, reenters circular wait.The sub-thread of control algolithm at first carries out the initialization of memory headroom and serial ports register, enter the timer circular wait then, timer time interrupts being set to 50 milliseconds, be that per 50 milliseconds of these threads obtain up-to-date sensing data from public memory space, according to hyperchannel Decoupling PID Control algorithm (with the depopulated helicopter course, roll, pitching, highly, decoupling zero is carried out in the control of five passages of engine speed, regard them as independently control channel, respectively five passages are controlled according to the PID control method) current sensor data is analyzed, calculate, thereby obtain the due state of a control of current aircraft, send steering wheel group 10 control signals by serial communication to digital signal processor 11, reenter timer and interrupt circulation, wait for that next cycle interrupts.
Referring to Fig. 4, the DSP CONTROL program circuit is: process enables interrupt request after carrying out system and program initialization, waits for external interrupt, enters respective interrupt when interrupting flag register set; Two main interruptions are respectively timer interruption and serial ports input interruption in the program; If timer interrupts, then enter the timer interrupt service routine, timer cycle break period is a control cycle, present embodiment is set to 50 milliseconds, will shield other interrupt request after entering this interrupt service routine, withdraws from until current interrupt service routine; Calculate the aircraft master oar speed of mainshaft after the underway disconnected service routine initialization, be recorded in 50 milliseconds of inside counting devices counting numbers divided by counter frequency divided by writing time, can obtain rotating speed and turn signal.5 road steering wheel control signals get according to pwm value and the airborne computer control set-point accumulation calculating of catching of pwm signal capturing unit, send ground remote control and tach signal and enable other interruptions to airborne computer by serial line interface subsequently, reenter circular wait; If the serial ports input interrupts then entering serial ports input interrupt service routine, when having the data input, serial ports enters interruption, shield other interrupt service routines immediately; This serial ports is input as the steering wheel group control signal that airborne computer shown in Figure 3 sends to digital signal processor by serial ports, and digital signal processor obtains actual steering wheel control signal after the steering wheel group control signal that receives and ground remote control signal are added up.
Referring to Fig. 5, ground-based computer flight control program circuit is: program is at first carried out network and control interface initialization, communicate by letter with airborne computer immediately and judge whether network is communicated with, then carry out the control model selection, select the flight control pattern by ground-based computer if be communicated with.If selected Full remote controlled flight control pattern, then transmit the Full remote controlled mode instruction to airborne computer by airborne wireless Ethernet access point AP1 and terrestrial wireless Ethernet access point AP2, make airborne computer run on the Full remote controlled mode state, carry out the sensor groups data collection task; Be shown on the ground-based computer operation interface after obtaining depopulated helicopter sensor groups attitude and position data by ground-based computer by airborne wireless Ethernet access point AP1 and terrestrial wireless Ethernet access point AP1, if no offline mode change then continues to enter this mode cycle, if the offline mode half autonomous flight control pattern that changes to is then transmitted half autonomous flight mode instruction to airborne computer, obtain depopulated helicopter attitude and position transducer group data by airborne wireless Ethernet access point AP1 and terrestrial wireless Ethernet access point AP2, and it is shown on the ground-based computer operation interface, the standby mode change continues to work with the current flight control model; The flight control pattern is if change full Autonomous Control pattern into, then ground-based computer obtains the airbound target point that is marked on the ground-based computer control interface, transmit full autonomous flight mode instruction and airbound target dot information and obtain the depopulated helicopter attitude and position transducer group data to airborne computer subsequently, be shown on the ground-based computer control interface, ground-based computer is analyzed flying quality, offline mode changes to the Full remote controlled offline mode if mobile system breaks down, if do not see fault then the standby mode change, continue to work with the current flight control model.
To sum up, the utility model can satisfy the multiple requirement of user for system applies, and wherein said three kinds of control models are:
1. Full remote controlled flight control pattern.Remote control signal receiver receives the telecommand of ground remote control device, the function of digital signal processor pwm signal capturing unit is that each channel signal is discerned, by DSP CONTROL five tunnel control steering wheel signals, reach the purpose of control flight attitude.This pattern be applied to the inaccessible high maneuvering flight state of autonomous flight and (be interfered, the GPS positioning signal is invalid, the airborne computer fault etc.) condition that breaks down in the Autonomous Control pattern as communication instruction under safety reclaim, signal flow only is present in the digital signal processor, airborne computer is record flight data only, can safe operation under the airborne computer failure condition, improved the control system reliability.
2. half autonomous flight control pattern.Half autonomous flight control pattern is the enforced stability flight control pattern, be on the basis of remote control distributor control model, to introduce depopulated helicopter attitude closed loop, digital signal processor pwm signal generation unit adds up the ground remote control device control signal that closed loop input signal and DSP catch, and obtains steering wheel control signal control flight attitude.This pattern has improved the stability of depopulated helicopter, and it is easier that the remote controlled floor operator is handled, and is applied to RC Goblin terrestrial operation person training and unskilled depopulated helicopter terrestrial operation person and finishes the unmanned helicopter flight task.
3. full autonomous flight control pattern.Go out way point by ground-based computer at the screen map subscript, airborne flight computer carries out path and attitude trajectory planning according to given way point, utilize the feedback of position, attitude and height sensor (as high-altitude barometric altimeter, low latitude sonar altitude gauge), finish the operation of given way point, reach the purpose of full autonomous flight.This pattern is applied to over the horizon flight, i.e. given task is finished in unmanned plane during flying person's sighting distance inaccessible zone flight, and the given signal of ground remote control this moment is a null value.
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