CN108357671A - A kind of fixed-wing unmanned vehicle and its control method - Google Patents
A kind of fixed-wing unmanned vehicle and its control method Download PDFInfo
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- CN108357671A CN108357671A CN201810195936.2A CN201810195936A CN108357671A CN 108357671 A CN108357671 A CN 108357671A CN 201810195936 A CN201810195936 A CN 201810195936A CN 108357671 A CN108357671 A CN 108357671A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000009790 rate-determining step (RDS) Methods 0.000 claims abstract description 15
- 230000001174 ascending effect Effects 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
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Classifications
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- 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
- B64U10/25—Fixed-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
-
- 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
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention belongs to unmanned vehicle technical field, disclose a kind of fixed-wing unmanned vehicle, including fuselage, control device, be arranged fuselage both sides host wing and the empennage in afterbody is set；The top surface of the empennage gradually tilts upwards from front to back；It is respectively provided with motor on the host wing of the fuselage both sides；The motor of fuselage both sides is symmetrical arranged with respect to fuselage；The output end of motor is connected with propeller；Control device controls the ascending, descending and turning action that the motor acceleration or deceleration realizes fuselage.The invention also discloses a kind of control methods of control fixed-wing unmanned vehicle, including pitch angle rate-determining steps and yaw angle rate-determining steps.The present invention in fuselage both sides by being arranged the symmetrical motor of opposite fuselage, and the rotating speed of control device control motor is set, to change the thrust that propeller is applied to fuselage, the ascending, descending and turning action of fuselage are realized, simplify the mechanical structure and control structure of unmanned vehicle.
Description
Technical field
The invention belongs to unmanned vehicle technical fields, and in particular to a kind of fixed-wing unmanned vehicle and its controlling party
Method.
Background technology
Unmanned vehicle refers to unmanned, autonomous propulsion, is controlled by wireless remotecontrol or itself program, utilizes sky
The aircraft of aerodynamic force carrying flight and recyclable recycling.It relies on the advantage and characteristic of itself, is obtained in multiple fields
Obtained extensive use.Include ground battle reconnaissance, obtain enemy intelligence, is close in the main application of military aspect, unmanned vehicle
Distance controlling patrol, monitoring, electronic warfare and ground communication etc.；It is also quite wide in the use scope of civilian aspect, unmanned vehicle
It is general, such as take photo by plane and image transmitting, patrol monitoring and target following, natural calamity occur after search and rescue, high-voltage line,
The inspection etc. in section after bridge, dam and earthquake.Unmanned vehicle according to the type of its wing can be divided into fixed-wing nobody fly
Row device and rotary wind type unmanned vehicle.
But existing fixed-wing unmanned vehicle is typically employed in the host wing of unmanned vehicle and empennage install respectively it is more
The mode of a steering engine is all more complicated to realize the lifting and turning of unmanned vehicle, mechanical structure and control structure.
Invention content
In order to solve the above problem of the existing technology, present invention aims at provide a kind of fixed-wing unmanned vehicle
And control the control method of the fixed-wing unmanned vehicle；The present invention is symmetrically electric by the way that opposite fuselage is arranged in fuselage both sides
Machine, and be arranged control device control motor rotating speed, to change the thrust that propeller is applied to fuselage, realize fuselage liter,
Drop and turning action, simplify the mechanical structure and control structure of unmanned vehicle.
The technical solution adopted in the present invention is：
Including fuselage, control device, be arranged fuselage both sides host wing and the empennage in afterbody is set；The tail
The top surface of the wing gradually tilts upwards from front to back；It is respectively provided with motor on the host wing of the fuselage both sides；Fuselage both sides
Motor with respect to fuselage be symmetrical arranged；The output end of motor is connected with propeller；The propeller of fuselage both sides is applied to fuselage
Thrust is directed to the head of fuselage；In terms of from the tail portion of fuselage to the head of fuselage, it is located at the propeller on the left of fuselage around parallel
It is rotated counterclockwise in the axis of the longitudinal axis of body axis coordinate system, the propeller on the right side of fuselage is around being parallel to body axial coordinate
The axis both clockwise of the longitudinal axis of system rotates；Control device controls the ascending, descending and turning that the motor acceleration or deceleration realizes fuselage
Action.
Further, the control device includes flying vehicles control device；Flying vehicles control device includes flying vehicles control
The device and angle detection module being connect with controller of aircraft, the first power module and IGBT module；Motor passes through IGBT moulds
Block is connect with the first power module.
Further, the output end of first power module has been sequentially connected in series booster circuit and regulator circuit；Voltage stabilizing electricity
The output end on road is connect with controller of aircraft.
Further, the controller of aircraft communication link is connected to remote control control device；Remote control control device includes
With the remote-controller controller of controller of aircraft communication connection and the key circuit being connect with remote-controller controller, first
Rocking bar circuit, the second rocking bar circuit and second power supply module.
Further, the controller of aircraft is connected with the first telecommunication circuit；It is logical that remote-controller controller is connected with second
Believe circuit；Second telecommunication circuit is communicated to connect with the first telecommunication circuit.
A kind of control method of fixed-wing unmanned vehicle, including pitch angle rate-determining steps and yaw angle rate-determining steps；Institute
It includes step to state pitch angle rate-determining steps：
S100：Judge whether practical pitch angle is equal to target pitch angle：
It is to keep the rotating speed of all motors constant；
It is no, enter step S200；
S200：Judge whether practical pitch angle is more than target pitch angle：
It is that the rotating speed of all motors increases, subsequently into step S100；
No, the rotating speed of all motors reduces, subsequently into step S100.
Further, the yaw angle rate-determining steps include step：
P100：Judge whether practical yaw angle is equal to target yaw angle：
It is to keep the rotating speed of all motors constant；
It is no, enter step P200；
P200：Judge whether practical yaw angle is more than target yaw angle：
It is that the rotating speed of left motor increases, the rotating speed of right motor reduces；Subsequently into step P100；
No, the rotating speed of left motor reduces, and the rotating speed of right motor increases；Subsequently into step P100.
Further, the step S100 and S200 detects practical pitch angle by MPU6050 sensors.
Further, the step P100 and P200 detects practical yaw angle by MPU6050 sensors.
Further, the control device controls the rotating speed of the motor using PWM mode.
Beneficial effects of the present invention are：
(1) present invention in fuselage both sides by being arranged the symmetrical motor of opposite fuselage, and control device control motor is arranged
Rotating speed realize the ascending, descending and turning action of fuselage to change the thrust that propeller is applied to fuselage；
(2) present invention is detected the pitch angle and yaw angle of fuselage by the way that angle detection module is arranged, to be winged
Row device control device controls motor speed and provides foundation；
(3) present invention stablizes the first power module output electricity by the way that concatenated booster circuit and regulator circuit, realization is arranged
The effect of pressure；
(4) present invention realizes the effect of remote control fuselage by the way that remote control control device is arranged；
(5) present invention controls motor speed by PWM mode, realizes the effect of simplify control apparatus structure, and anti-noise
Performance is strong, and degree of regulation is high.
Description of the drawings
Fig. 1 is a kind of fixed-wing unmanned vehicle structural schematic diagram of the present invention；
Fig. 2 is a kind of side view of fixed-wing unmanned vehicle shown in FIG. 1；
Fig. 3 is the flow of the pitch angle rate-determining steps in a kind of control method of fixed-wing unmanned vehicle of the present invention
Figure；
Fig. 4 is the flow of the yaw angle rate-determining steps in a kind of control method of fixed-wing unmanned vehicle of the present invention
Figure；
Fig. 5 is the structural schematic diagram of the control device in a kind of fixed-wing unmanned vehicle shown in FIG. 1；
Fig. 6 is booster circuit figure；
Fig. 7 is regulator circuit figure；
Fig. 8 is motor circuit figure；
Fig. 9 is indicator light circuit figure；
Figure 10 is angle detection module circuit diagram；
Figure 11 is controller of aircraft circuit diagram；
Figure 12 is remote-controller controller circuit diagram；
Figure 13 is key circuit figure；
Figure 14 is the first distant bar circuit diagram；
Figure 15 is the second distant bar circuit diagram；
In figure：1- fuselages；2- host wings；3- propellers；4- empennages；5- motors.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment does further explaination to the present invention.
Embodiment 1：
As shown in Figs. 1-2, the present embodiment provides a kind of fixed-wing unmanned vehicles, including fuselage 1, control device, setting
1 both sides of fuselage host wing 2 and the empennage 4 in 1 tail portion of fuselage is set；The top surface of the empennage 4 is gradually upward from front to back
It tilts；It is respectively provided with motor 5 on the host wing 2 of 1 both sides of the fuselage；The motor 5 of 1 both sides of fuselage is symmetrical with respect to fuselage 1
Setting；The output end of motor 5 is connected with propeller 3；The thrust that the propeller 3 of 1 both sides of fuselage is applied to fuselage 1 is directed to fuselage
1 head；In terms of from the tail portion of fuselage 1 to the head of fuselage 1, the propeller 3 positioned at 1 left side of fuselage is sat around axis is parallel to
The axis for marking the longitudinal axis of system rotates counterclockwise, and the propeller 3 positioned at 1 right side of fuselage is around the longitudinal axis for being parallel to body axis coordinate system
Axis both clockwise rotation；Control device controls the ascending, descending and turning action that 5 acceleration or deceleration of the motor realizes fuselage 1.Tail
The top surface of the wing 4 gradually tilts upwards from front to back, thus when motor 5 drives fuselage 1 quickly to travel forward, air pressure effect
In the top surface of empennage 4, a torque being rotated up is provided to fuselage 1, to realize fuselage 1 take off and vertical motion.Machine
When body 1 needs turning, as long as changing the rotating speed of the motor 5 of 1 both sides of fuselage, because change the motor 5 of 1 both sides of fuselage
Rotating speed can make the thrust of 1 both sides of fuselage different, to make fuselage 1 turn.To instead of traditional fixed-wing unmanned vehicle
Using the steering of steering engine structure control fuselage 1.It should be noted that the body axis coordinate system and the longitudinal axis are according to GB/
The definition of T16638.2-2008.The direction of rotation of propeller 3 is determined by the rotation direction of motor 5, therefore, is located at 1 liang of fuselage
3 rotation direction of propeller that 1 both sides of fuselage can be realized in 5 wiring of motor of side on the contrary is opposite.As shown in figure 8, being located at 1 liang of fuselage
Two circuit diagrams shown in Fig. 8, which are respectively adopted, in the motor 5 of side can make the direction of rotation of the motor 5 of 1 both sides of fuselage opposite.Due to
The rotation direction of the propeller 3 of 1 both sides of fuselage is on the contrary, therefore the direction of the installation of propeller 3 of both sides is also on the contrary, to make both sides
Propeller 3 forward thrust can be provided.As shown in Figure 1, positioned at the left side of fuselage 1 propeller 3 around being parallel to axis
The axis of the longitudinal axis of coordinate system rotates counterclockwise, and the propeller 3 positioned at the right side of fuselage 1 is around being parallel to the vertical of body axis coordinate system
The axis both clockwise of axis rotates；When yaw angle to make change fuselage 1, roll angle can be adapted with yaw angle, convenient for machine
The control of body 1.
Control device may be used the prior art and realize, in the present embodiment, as shown in figure 5, control device includes aircraft
Control device and the remote control control device communicated to connect with flying vehicles control device, specifically, flying vehicles control device includes
The controller of aircraft and angle detection module being connect with controller of aircraft, the first power module and IGBT module；Motor 5
It is connect with the first power module by IGBT module.Remote control control device includes being communicated to connect with the controller of aircraft
Remote-controller controller and the key circuit being connect with remote-controller controller, the first rocking bar circuit, the second rocking bar circuit and second
Power module.First power module is realized using the prior art, and in the present embodiment, the first power module is realized using lithium battery.
Preferably, in order to stablize the output voltage of the first power module, in the present embodiment, the output end of the first power module is sequentially connected in series
There are booster circuit and regulator circuit；The output end of regulator circuit is connect with controller of aircraft.In the present embodiment, using model
The boost chip of SX1308, which is realized, boosts to the first power module, and physical circuit is as shown in Figure 6.In the present embodiment, voltage stabilizing uses
The voltage stabilizing chip of model HT7833 realizes that physical circuit is as shown in Figure 7.
In the present embodiment, angle detection module realizes that physical circuit uses Figure 10 using the sensor of model MPU6050
Shown in circuit realize, MPU6050 is integrated with three axis accelerometer and three-axis gyroscope, by adding to three axis in MPU6050
The operation that the data of speedometer detection carry out antitrigonometric function obtains an angle, then is examined to the three-axis gyroscope in MPU6050
The data of survey carry out integral operation and obtain an angle, the two angle fusions can be obtained the accurate of fuselage 1 using filtering
Pitch angle and yaw angle.Reliable input data is provided to control motor 5 for controller of aircraft.
In the present embodiment, controller of aircraft is realized using the chip of model NFR24LE1, is connected on NFR24LE1
First telecommunication circuit, as shown in figure 9, for being communicated with remote-controller controller.Preferably, the first telecommunication circuit is wirelessly to penetrate
Frequency circuit, as shown in Figure 9.Preferably, NFR24LE1 controls the circuit of motor 5 using circuit shown in fig. 6 realization；Aircraft control
Device processed is by sending out pwm signal, to accurately be adjusted to the rotating speed of motor 5.
As shown in figs. 5 and 9, it observes in order to facilitate the operation, in the present embodiment, flying vehicles control device is additionally provided with the first finger
Show lamp, the second indicator light and third indicator light, wherein the first indicator light is power supply indicator, is used to indicate in the present embodiment
Whether unmanned vehicle is powered.Second indicator light and third indicator light are used for state instruction, are electrically connected with controller of aircraft.
In the present embodiment, as shown in figure 12, remote-controller controller is realized using the chip of model NFR24LE1, remote controler
Controller is communicated by the second telecommunication circuit with controller of aircraft.Preferably, in the present embodiment, the second telecommunication circuit is also
Power amplifier is set, to increase communication distance and receiving sensitivity.As shown in figure 12, in the present embodiment, power is put
Big device is realized using the power amplifier of model RFX2401C.
In the present embodiment, as shown in figs. 12-15, remote-controller controller receives key circuit, the first rocking bar circuit and second
The input signal of rocking bar circuit is transferred to controller of aircraft, to make controller of aircraft to electricity by the second telecommunication circuit
Machine 5 is controlled.
In the present embodiment, key circuit is realized using circuit shown in Figure 13, it is preferable that confirms press in order to facilitate the operation
Key is effective, and remote-controller controller is also associated with key indicator lamp, as shown in figure 13.
A kind of control method of fixed-wing unmanned vehicle in the present embodiment, as shown in Figure 3-4, including pitch angle control
Step and yaw angle rate-determining steps；The pitch angle rate-determining steps include step：
S100：Judge whether practical pitch angle is equal to target pitch angle：
It is to keep the rotating speed of all motors 5 constant；
It is no, enter step S200；
S200：Judge whether practical pitch angle is more than target pitch angle：
It is that the rotating speed of all motors 5 increases, subsequently into step S100；
No, the rotating speed of all motors 5 reduces, subsequently into step S100.
Further, the yaw angle rate-determining steps include step：
P100：Judge whether practical yaw angle is equal to target yaw angle：
It is to keep the rotating speed of all motors 5 constant；
It is no, enter step P200；
P200：Judge whether practical yaw angle is more than target yaw angle：
It is that the rotating speed of left motor 5 increases, the rotating speed of right motor 5 reduces；Subsequently into step P100；
No, the rotating speed of left motor 5 reduces, and the rotating speed of right motor 5 increases；Subsequently into step P100.
Further, the step S100 and S200 detects practical pitch angle by MPU6050 sensors.
Further, the step P100 and P200 detects practical yaw angle by MPU6050 sensors.
Further, the control device controls the rotating speed of the motor 5 using PWM mode.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are each under the inspiration of the present invention
The product of kind form.Above-mentioned specific implementation mode should not be understood the limitation of pairs of protection scope of the present invention, protection of the invention
Range should be subject to be defined in claims, and specification can be used for interpreting the claims.
Claims (10)
1. a kind of fixed-wing unmanned vehicle, including fuselage (1), control device, setting fuselage (1) both sides host wing (2)
Empennage (4) with setting in fuselage (1) tail portion；It is characterized in that：The top surface of the empennage (4) is from front to back gradually to updip
Tiltedly；It is respectively provided with motor (5) on the host wing (2) of fuselage (1) both sides；The motor (5) of fuselage (1) both sides is with respect to machine
Body (1) is symmetrical arranged；The output end of motor (5) is connected with propeller (3)；The propeller (3) of fuselage (1) both sides is applied to fuselage
(1) thrust is directed to the head of fuselage (1)；In terms of from the tail portion of fuselage (1) to the head of fuselage (1), it is located on the left of fuselage (1)
Propeller (3) rotated counterclockwise around the axis for the longitudinal axis for being parallel to body axis coordinate system, be located at fuselage (1) on the right side of spiral
Paddle (3) is rotated around the axis both clockwise for the longitudinal axis for being parallel to body axis coordinate system；Control device controls fuselage (1) both sides
Motor (5) acceleration or deceleration realize fuselage (1) ascending, descending and turning action.
2. a kind of fixed-wing unmanned vehicle according to claim 1, it is characterised in that：The control device includes flight
Device control device；Flying vehicles control device includes controller of aircraft and the angle being connect with controller of aircraft detection mould
Block, the first power module and IGBT module；Motor (5) is connect by IGBT module with the first power module.
3. a kind of fixed-wing unmanned vehicle according to claim 2, it is characterised in that：First power module it is defeated
Outlet has been sequentially connected in series booster circuit and regulator circuit；The output end of regulator circuit is connect with controller of aircraft.
4. a kind of fixed-wing unmanned vehicle according to claim 2, it is characterised in that：The controller of aircraft communication
It is connected with remote control control device；Remote control control device includes the remote control control communicated to connect with the controller of aircraft
Device and the key circuit being connect with remote-controller controller, the first rocking bar circuit, the second rocking bar circuit and second power supply module.
5. a kind of fixed-wing unmanned vehicle according to claim 4, it is characterised in that：The controller of aircraft connection
There is the first telecommunication circuit；Remote-controller controller is connected with the second telecommunication circuit；Second telecommunication circuit is communicated with the first telecommunication circuit
Connection.
6. the control method of the fixed-wing unmanned vehicle described in a kind of claim 2 or 4, it is characterised in that：Including pitch angle
Rate-determining steps and yaw angle rate-determining steps；The pitch angle rate-determining steps include step：
S100：Judge whether practical pitch angle is equal to target pitch angle：
It is to keep the rotating speed of all motors (5) constant；
It is no, enter step S200；
S200：Judge whether practical pitch angle is more than target pitch angle：
It is that the rotating speed of all motors (5) increases, subsequently into step S100；
No, the rotating speed of all motors (5) reduces, subsequently into step S100.
7. a kind of control method of fixed-wing unmanned vehicle according to claim 6, it is characterised in that：The yaw angle
Rate-determining steps include step：
P100：Judge whether practical yaw angle is equal to target yaw angle：
It is to keep the rotating speed of all motors (5) constant；
It is no, enter step P200；
P200：Judge whether practical yaw angle is more than target yaw angle：
It is that the rotating speed of left motor (5) increases, the rotating speed of right motor (5) reduces；Subsequently into step P100；
No, the rotating speed of left motor (5) reduces, and the rotating speed of right motor (5) increases；Subsequently into step P100.
8. a kind of control method of fixed-wing unmanned vehicle according to claim 6, it is characterised in that：The step
S100 and S200 detects practical pitch angle by MPU6050 sensors.
9. a kind of control method of fixed-wing unmanned vehicle according to claim 7, it is characterised in that：The step
P100 and P200 detects practical yaw angle by MPU6050 sensors.
10. a kind of control method of fixed-wing unmanned vehicle according to claim 6, it is characterised in that：The control
Device controls the rotating speed of the motor (5) using PWM mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810195936.2A CN108357671A (en) | 2018-03-09 | 2018-03-09 | A kind of fixed-wing unmanned vehicle and its control method |
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| CN201810195936.2A CN108357671A (en) | 2018-03-09 | 2018-03-09 | A kind of fixed-wing unmanned vehicle and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576965A (en) * | 2019-09-23 | 2019-12-17 | 西北工业大学 | Unmanned aerial vehicle layout with least control surface configuration and control method thereof |
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| CN207932005U (en) * | 2018-03-09 | 2018-10-02 | 四川大学 | A kind of fixed-wing unmanned vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576965A (en) * | 2019-09-23 | 2019-12-17 | 西北工业大学 | Unmanned aerial vehicle layout with least control surface configuration and control method thereof |
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