CN108803635A - A kind of flight assisting system of fixed-wing unmanned plane - Google Patents
A kind of flight assisting system of fixed-wing unmanned plane Download PDFInfo
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- CN108803635A CN108803635A CN201710300239.4A CN201710300239A CN108803635A CN 108803635 A CN108803635 A CN 108803635A CN 201710300239 A CN201710300239 A CN 201710300239A CN 108803635 A CN108803635 A CN 108803635A
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- unmanned plane
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- induction module
- steering engine
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- 230000006698 induction Effects 0.000 claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 230000033228 biological regulation Effects 0.000 claims abstract description 4
- 230000005611 electricity Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 claims description 2
- 230000004927 fusion Effects 0.000 claims description 2
- 238000011160 research Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of flight assisting system of fixed-wing unmanned plane.State of flight and degree of stability including monitoring unmanned plane, establish the Controlling model of no-manned plane three-dimensional flight, and data from the stabilized flight of master regulation unmanned plane and are returned to ground by realization in real time.Described device includes mainly main control module, posture induction module, pressure altitude induction module, air speed induction module, signal condition and interface module, steering engine module, wireless module and power module.Posture induction module, pressure altitude induction module, air speed induction module monitor unmanned plane during flying state, height and air speed in real time, and it transmits data to main control module and is handled and resolved, main control module output order is to executing agency, motor and steering engine are controlled to change the pitch angle, roll angle, yaw angle of unmanned plane, wireless module send information to ground control terminal simultaneously, and merge remote information and monitor in real time and unmanned plane is assisted to make its stabilized flight, so that unmanned plane is applied to all various aspects.
Description
Technical field
The present invention relates to a kind of flight assisting systems of fixed-wing unmanned plane, while being included in remote controlled drone, detection
The state of flight and degree of stability of unmanned plane, realize makes its stabilized flight from master regulation unmanned plane in real time, and returns to ground by data
Face.
Background technology
With the progress of the reach of science and epoch, no matter fixed-wing unmanned plane has extensively in military or civil field
Application prospect.In recent years, the attention of domestic and international major research institution has been obtained to the research in unmanned plane field, it is especially small-sized solid
The research for determining wing unmanned plane is grown rapidly, and military surveillance, high-altitude shooting, traffic monitoring and natural calamity are can be widely applied to
Prospecting etc., therefore realize that the stabilized flight of small-sized fixed-wing unmanned plane has important practical significance.
However, realizing that unmanned plane during flying is inevitably related to the control of attitude of flight vehicle, speed, position etc.
Operation.Most of airplane hobbyists can not make the model plane stabilized flight of oneself, one of reason be only to manipulate model plane with remote controler
Flight, it is easy to it is influenced by weather, manipulator's gimmick is unskilled in addition, and secondly the variation human eye of wind direction and wind speed can not be discovered,
There is no the time quickly to be controlled, it is uneven to form flight strength so that up and down, left and right rolling become common phenomenon, in addition, boat
Mould lacks flight stability auxiliary system, and aircraft is unable to reach autonomous or semi-autonomous flight.
Based on this, small-sized fixed-wing unmanned plane needs a flight assisting system that it is made to avoid these drawbacks, reaches steady
Surely the purpose flown simultaneously controls it.
Invention content
Present invention mainly solves be：A kind of flight assisting system of fixed-wing unmanned plane is provided, unmanned function is made to connect
While receiving remote information, the state of flight and degree of stability of unmanned plane are monitored, so that it is automatically adjusted, and data are returned
Ground.
The technical solution adopted in the present invention is：A kind of flight assisting system of fixed-wing unmanned plane, is set using modularization
Meter includes mainly main control module, posture induction module, pressure altitude induction module, air speed induction module, signal condition and is connect
Mouth mold block, steering engine module, wireless module.The main control module respectively with posture induction module, pressure altitude induction module,
Air speed induction module, signal condition and interface module, steering engine module, wireless module, power module are connected；The posture induction
Module is by MEMS
Three axis Together, digital gyroscopes and three number of axle word mems accelerometers composition, for monitoring unmanned plane during flying posture and will survey
It obtains data and returns to host computer, wherein MPU6050 gyroscopes use I2It is communicated between C buses and MCU；The pressure altitude sense
It is MS5611-01BA baroceptors to answer module, for detecting flying height；The air speed induction module is 4525D0 air pressures
Sensor, for detecting flying speed；The steering engine module is by steering wheel, position feedback potentiometer, train of reduction gears, direct current
Machine and control circuit composition；Host computer receives data by the way of DMA in the master control system；The wireless module
It is the NRF2401 modules based on 2.4G frequency ranges, it can be achieved that unmanned plane during flying data return and receive telecommand.
The present invention monitors flying for unmanned plane due to using the above structure, making unmanned function while receiving remote information
Row state and degree of stability, make it be automatically adjusted, and data are returned to ground, can largely evade unmanned plane and boat
The flight shakiness problem of mould makes unmanned plane realize autonomous or semi-autonomous flight, so as to be widely used in all various aspects, such as
Military surveillance, high-altitude shooting, traffic monitoring, natural calamity prospecting, model plane make, unmanned plane express delivery is delivered goods to the customers and rain making
Deng having a wide range of applications and market prospects.
Description of the drawings
Fig. 1 is system global structure figure
Fig. 2 is system basic flow chart
Specific implementation mode
Specific embodiment is provided below in conjunction with the accompanying drawings, is further illustrated the present invention and how to be realized.
As shown in Figure 1, a kind of flight assisting system of fixed-wing unmanned plane includes mainly master control using modularized design
Molding block, posture induction module, pressure altitude induction module, air speed induction module, signal condition and interface module, steering engine mould
Block, wireless module.The main control module respectively with posture induction module, pressure altitude induction module, air speed induction module,
Signal condition and interface module, steering engine module, wireless module, power module are connected；The posture induction module is by MEMS tri-
Axis Together, digital gyroscope and three number of axle word mems accelerometers composition, for monitoring unmanned plane during flying posture and returning to data measured
To host computer, wherein MPU6050 gyroscopes use I2It is communicated between C buses and MCU；The pressure altitude induction module is
MS5611-01BA baroceptors, for detecting flying height；The air speed induction module is 4525D0 baroceptors,
For detecting flying speed；The steering engine module is by steering wheel, position feedback potentiometer, train of reduction gears, direct current generator and control
Circuit composition processed；Host computer receives data by the way of DMA in the master control system；The wireless module is
NRF2401 modules based on 2.4G frequency ranges are, it can be achieved that unmanned plane during flying data return and receive telecommand.
As shown in Figure 1, system powers to it using electric power network identical with master control system, while 0.1UF electricity is added
Appearance is filtered, in conjunction with the Data fusion technique of gyro sensor, using adaptive algorithm, brshless DC motor and electricity adjust by
Position-sensor-free BLDC controls based on counter electromotive force method, NRF2.4G are using 3.3V powered, wireless modules, by controlling electricity
Machine and steering engine realize unmanned plane from master regulation.
As shown in Figure 1, the MS5611-01BA baroceptors that we are applied to are a SPI and I2C bus interface it is new
Generation high-resolution baroceptor, the sensor assembly include the pressure sensor and a super low-power consumption of a high linearity
Analog-digital converter.The main sensing element of MS5611-01BA baroceptors is one to the strong and weak sensitive film and one of air pressure
A thimble opens control, it is connected to a flexible resistor in terms of circuit.When tested air pressure change, deformation of thin membrane drives top
Needle, while the resistance value of resistor changes, and the signal voltage of 0-5V is obtained from sensing element, is converted by data collector by A/D
It receives, then passes to master control system in a suitable form.
As shown in Figure 1, air speed induction module utilizes differential pressure pickup, ram pressure is introduced by an impulse by Pitot tube
Hole, another tracting pressuring hole accesses static pressure, by can be obtained by air speed to the measurement of pressure difference.
As shown in Figure 1, steering engine module is by steering wheel, position feedback potentiometer, train of reduction gears, direct current generator and control circuit
Composition, train of reduction gears are driven by direct current generator, and output revolving shaft drives a position feedback electricity with linear scale characteristic
Position device is as position detection.The feedback voltage of potentiometer is compared by controller with external input control pulse, generates driving
Pulse, controls and driving motor forward or reverse, the position and desired value for so that reduction gearing is exported are consistent, reach and accurately control
The purpose of steering angle.
As shown in Fig. 2, MCU control signal acquiring systems resolve sensor institute measured data back to main control chip,
Main control chip carries out feature extraction and pattern-recognition to received signal again, then transmits control command to the electricity in execution part
Unmanned plane working condition is returned to MCU with digital signal again, to realize feedback regulation, made by machine and steering engine etc., execution part
Unmanned aerial vehicle (UAV) control is more accurate, may finally stabilized flight.
Claims (3)
1. a kind of flight assisting system of fixed-wing unmanned plane includes mainly main control module, posture sense using modularized design
Answer module, pressure altitude induction module, air speed induction module, signal condition and interface module, steering engine module, wireless module.Institute
The main control module stated respectively with posture induction module, pressure altitude induction module, air speed induction module, signal condition and interface
Module, steering engine module, wireless module, power module are connected；The posture induction module by tri- axis Together, digital gyroscopes of MEMS and
Three number of axle word mems accelerometers form, for monitoring unmanned plane during flying posture and data measured being returned to host computer, wherein
MPU6050 gyroscopes use I2It is communicated between C buses and MCU；The pressure altitude induction module is MS5611-01BA air pressures
Sensor, for detecting flying height；The air speed induction module is 4525D0 baroceptors, for detecting flight speed
Degree；The steering engine module is made of steering wheel, position feedback potentiometer, train of reduction gears, direct current generator and control circuit；It is described
Master control system in host computer data are received by the way of DMA；The wireless module is based on 2.4G frequency ranges
NRF2401 modules are, it can be achieved that unmanned plane during flying data return and receive telecommand.
2. a kind of flight assisting system of fixed-wing unmanned plane according to claim 1, it is characterised in that can be remotely controlled
While unmanned plane, the state of flight and degree of stability of unmanned plane are detected, is automatically adjusted, and data are returned into ground.
3. a kind of flight assisting system of fixed-wing unmanned plane according to claim 1, which is characterized in that brushless direct-current
Motor and electricity are adjusted by the position-sensor-free BLDC controls based on counter electromotive force method, and NRF2.4G is using 3.3V powered, wireless moulds
Block, system powers to it using electric power network identical with master control system, while 0.1UF capacitances are added and are filtered.In conjunction with
The Data fusion technique of gyro sensor realizes the autonomous of unmanned plane using adaptive algorithm by controlling motor and steering engine
Regulation and control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710300239.4A CN108803635A (en) | 2017-04-27 | 2017-04-27 | A kind of flight assisting system of fixed-wing unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710300239.4A CN108803635A (en) | 2017-04-27 | 2017-04-27 | A kind of flight assisting system of fixed-wing unmanned plane |
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| CN108803635A true CN108803635A (en) | 2018-11-13 |
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| CN201710300239.4A Pending CN108803635A (en) | 2017-04-27 | 2017-04-27 | A kind of flight assisting system of fixed-wing unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113268069A (en) * | 2020-02-17 | 2021-08-17 | 经纬航太科技股份有限公司 | Unmanned aerial vehicle with night navigation operation auxiliary function |
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|---|---|---|---|---|
| CN201551845U (en) * | 2009-09-05 | 2010-08-18 | 魏承赟 | Flight assisting system for model airplane with fixed wings |
| CN103294064A (en) * | 2013-06-07 | 2013-09-11 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN203372389U (en) * | 2013-06-07 | 2014-01-01 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN204790578U (en) * | 2015-07-27 | 2015-11-18 | 中恒天信（天津）航空科技有限公司 | General automatic pilot of unmanned vehicles |
| CN105404308A (en) * | 2015-11-24 | 2016-03-16 | 中国电子科技集团公司第二十七研究所 | Flight control unit for parafoil type unmanned plane |
| KR20160068260A (en) * | 2014-12-05 | 2016-06-15 | 부산대학교 산학협력단 | Attitude stabilization and altitude control of a quad-rotor type unmanned aerial vehicle in an indoor environment |
| CN106249747A (en) * | 2016-08-17 | 2016-12-21 | 邹霞 | Intelligent UAS |
-
2017
- 2017-04-27 CN CN201710300239.4A patent/CN108803635A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201551845U (en) * | 2009-09-05 | 2010-08-18 | 魏承赟 | Flight assisting system for model airplane with fixed wings |
| CN103294064A (en) * | 2013-06-07 | 2013-09-11 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN203372389U (en) * | 2013-06-07 | 2014-01-01 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| KR20160068260A (en) * | 2014-12-05 | 2016-06-15 | 부산대학교 산학협력단 | Attitude stabilization and altitude control of a quad-rotor type unmanned aerial vehicle in an indoor environment |
| CN204790578U (en) * | 2015-07-27 | 2015-11-18 | 中恒天信（天津）航空科技有限公司 | General automatic pilot of unmanned vehicles |
| CN105404308A (en) * | 2015-11-24 | 2016-03-16 | 中国电子科技集团公司第二十七研究所 | Flight control unit for parafoil type unmanned plane |
| CN106249747A (en) * | 2016-08-17 | 2016-12-21 | 邹霞 | Intelligent UAS |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113268069A (en) * | 2020-02-17 | 2021-08-17 | 经纬航太科技股份有限公司 | Unmanned aerial vehicle with night navigation operation auxiliary function |
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Application publication date: 20181113 |