CN110806754A - Four-rotor aircraft attitude correction control system and method - Google Patents
Four-rotor aircraft attitude correction control system and method Download PDFInfo
- Publication number
- CN110806754A CN110806754A CN201911192420.3A CN201911192420A CN110806754A CN 110806754 A CN110806754 A CN 110806754A CN 201911192420 A CN201911192420 A CN 201911192420A CN 110806754 A CN110806754 A CN 110806754A
- Authority
- CN
- China
- Prior art keywords
- module
- attitude
- control system
- data
- aircraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012937 correction Methods 0.000 title claims abstract description 19
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 25
- 230000008859 change Effects 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 11
- 230000000295 complement effect Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 230000036544 posture Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 230000009123 feedback regulation Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 239000013598 vector Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000003079 width control Methods 0.000 description 2
- 238000012369 In process control Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000010965 in-process control Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 210000001258 synovial membrane Anatomy 0.000 description 1
Images
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
Landscapes
- 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 invention discloses a four-rotor aircraft attitude correction control system and a method, wherein the control system comprises a flight control main controller, a flight attitude acquisition module, a driving module, a wireless communication module, a GPS module, a power management module and a camera module; the flight attitude acquisition module, the driving module, the wireless communication module, the GPS module, the power management module and the camera module are connected with the flight control main controller. The unmanned aerial vehicle attitude control system comprises a sensor data resolving processing system, a motor rotating speed control system and a wireless data communication system. The invention carries out cascade PID closed-loop control on the attitude of the four-rotor aircraft so as to adjust the PWM duty ratio of the rotating speed of the control motor, and simultaneously, the four-rotor aircraft feeds back the position information obtained from the GPS module and the attitude data of the current aircraft to the remote control end through the wireless transceiving module so that an operator can check the current flight state of the aircraft in real time, and the aircraft descending treatment is carried out in time when the flight state is abnormal so as to reduce the loss to the minimum.
Description
Technical Field
The invention relates to a comprehensive control system for flight attitudes of a four-rotor aircraft, in particular to a control method for comprehensively feeding attitude data back to four motors of the four rotors to adjust the rotating speed after the four-rotor aircraft collects and processes the data.
Background
Among the four-rotor aircraft technologies, the design of flight control systems has been one of the concerns of many researchers in the control field. The position change of the four-rotor aircraft needs to be obtained through attitude adjustment, the attitude and the position have a strong coupling relation, the control design of the position and the speed of the four-rotor aircraft needs to be carried out, and the accuracy of attitude control needs to be improved in the first place, so that the attitude control is a core part of the system design of the four-rotor aircraft and determines the flying state and the flying performance of the four-rotor aircraft. At present, the most common control system is based on three algorithms of PID, inversion control and sliding mode control, the traditional PID control can carry out stable control on the attitude of the quad-rotor unmanned aerial vehicle during suspension, but the disturbance resistance control of the quad-rotor unmanned aerial vehicle which cannot be well realized when disturbance exists outside is realized, the robustness is poor, the inversion control method can realize the attitude following control of the quad-rotor unmanned aerial vehicle more stably, and meanwhile, the inversion control method also has certain anti-interference capability, but the hovering effect is poor. The synovial membrane control method can very stable control four rotor unmanned aerial vehicle's gesture, but owing to can constantly take place to change at flight in-process control structure, this kind of change can bring high frequency disturbance, makes control effect become very poor on the contrary. Current closed loop automatic control techniques are all based on the concept of feedback to reduce uncertainty. The PID controller has the advantages that an accurate model of a controlled object is not needed during control, the control is easy to understand and master, and the PID controller can be well applied to the controlled object as long as corresponding parameters are well debugged in the using process.
The method is evolved on the basis of traditional classical PID control, the interference resistance is improved on the basis of the combination of the advantages of the traditional PID, the wind resistance performance index of the quad-rotor unmanned aerial vehicle is improved to a certain degree, the problem that the existing small unmanned aerial vehicle has relatively strict requirements on the flight environment is solved, the attitude of the quad-rotor unmanned aerial vehicle is input by four motors, the change of the motor rotating speed can drive the change of the attitude, the output of six degrees of freedom is realized, the control process relates to the position, the attitude, the speed, the roll angle, the pitch angle and the yaw angle, and the method belongs to a multivariable underactuated system. In addition, the lift force and the rotating speed of the motor belong to a nonlinear relation, the system also has strong coupling, and the change of the rotating speed of one motor can cause the change of three output degrees of freedom. In order to enable the aircraft to fly according to an expected flying attitude, a six-axis sensor ICM20602 is adopted to carry out data acquisition on the acceleration and the angular velocity of the aircraft, a magnetometer is adopted to collect the magnetic field data of the aircraft, then the attitude data of the four-rotor aircraft is filtered, the attitude data is resolved, and finally the motor rotating speed of the four-rotor aircraft is controlled through a cascade PID control algorithm to finally achieve the purpose of controlling the attitude of the four-rotor aircraft.
Disclosure of Invention
The invention aims to solve the problem that the four-rotor aircraft is easy to be interfered by external force due to unstable flight attitude in the flight attitude control process. When the loop control is carried out on the aircraft after the quaternion of the aircraft is converted into the Euler angle, although the stable flight of the four-choice aircraft in a static state can be kept, the aircraft is difficult to return to a balance position after an external force is applied, and the four-rotor aircraft cascade PID control system provided by the invention can inherit the original traditional control hardware platform, has strong practicability, is simple in control operation and has a remarkable control effect. The four-rotor aircraft attitude correction device can correct the attitude of the four-rotor aircraft in time when the four-rotor aircraft is under the action of external force, and ensures the normal and stable flight of the aircraft. The invention can be applied to the maintenance of large mechanical equipment, and has very practical characteristics in aerial photography at high altitude.
In a first aspect, the invention provides a posture correction control system for a four-rotor aircraft, which comprises a flight control main controller, a flight posture acquisition module, a driving module, a wireless communication module, a GPS module, a power management module and a camera module, wherein the flight posture acquisition module, the driving module, the wireless communication module, the GPS module, the power management module and the camera module are connected with the flight control main controller.
The flight attitude acquisition module is used for acquiring real-time attitude data of the four-rotor aircraft in real time and feeding the real-time attitude data back to the main controller, and is used for solving the flight attitude of the four-rotor aircraft in real time.
The camera module is used for acquiring the peripheral geographic environment information of the four-rotor aircraft.
The GPS module is used for navigation of the four-rotor aircraft, and can collect position information of the aircraft in real time and feed the position information back to the main controller.
The driving module comprises four motors and a driving management circuit of the motors, and the postures of the four-rotor aircraft are adjusted by driving the rotating speed of the motors in real time.
Preferably, the wireless communication module is used for carrying out data communication with the remote controller, and receiving control instructions of the remote controller, wherein the control instructions comprise pitching motion instructions, rolling motion instructions and yawing motion instructions of the quadrotor aircraft; the signal amplification circuit is used for amplifying the power of the wireless signal, so that the transmission distance of the wireless signal is greatly increased; the filter circuit is used for filtering noise and clutter signals in wireless signals, and can effectively improve the quality of wireless communication signals.
Preferably, the power management module comprises a lithium battery, a power management circuit and a key control circuit; the power management circuit is connected with the lithium battery and is connected with the flight control main controller, the flight attitude acquisition module, the driving module, the wireless communication module, the GPS module and the camera module; the power supply management circuit is used for converting the voltage of the lithium battery into working voltage required by each module of the four-rotor aircraft to ensure the normal operation of the whole flight control system; the key control circuit is used for controlling a power supply main switch of the whole control system and an onboard operation circuit of the aircraft system for executing functions of one-key takeoff and landing, firmware upgrading, one-key self-checking and the like.
In a second aspect, the invention further provides an unmanned aerial vehicle attitude control system, which comprises a sensor data resolving processing system, a motor rotating speed control system and a wireless data communication system. The data calculation processing system, the motor rotating speed control system and the wireless data communication system respectively carry out specific operation and realization on each basic function of the attitude control of the four-rotor aircraft.
The sensor data resolving and processing system is used for resolving and processing real-time acceleration, angular velocity and magnetometer data of the four-rotor aircraft, and resolving the attitude by using a quaternion method, so that real-time Euler angle data of the aircraft are obtained.
The motor speed control system applies a closed-loop PID feedback regulation principle, applies an advanced cascade PID controller, takes the angle feedback of the four-rotor aircraft as outer loop control, takes the angular velocity feedback as inner loop control, and finally combines the output quantity of the controller and the PID output quantity of the aircraft in the Z-axis direction, and outputs PWM signals with certain frequency change duty ratio through the flight control main controller after a series of calculations to drive the four motors of the four-rotor aircraft to rotate.
The wireless data communication system is used for receiving wireless data sent by a manual operation remote controller, the working frequency band is 2.4GHz, and the received control signals are fed back to the flight control main controller through serial port communication.
In the third aspect, the data processing algorithm is further fused during the original data processing, the data processing algorithm comprises a Newton interpolation algorithm and a complementary filtering algorithm, in the prior art, only simple zero drift processing and temperature drift processing are carried out on the original data of the attitude sensor, and compared with the prior art, the control of the aircraft control system is more accurate after the data processing algorithm is fused, so that the four-rotor aircraft is more stable and efficient during the attitude correction.
The Newton interpolation algorithm is used for increasing the data acquisition density of the attitude acquisition sensor of the four-rotor aircraft, so that the data is smoother, the trend of the data can be predicted, the flight control main controller is smoother when PWM output is controlled, and the control of the four-rotor aircraft is more stable when the rotating speed of the four motors is controlled to change.
The complementary filtering algorithm is used for eliminating low-frequency accumulated error interference and high-frequency noise interference of the attitude acquisition sensor, so that the accuracy of the original data acquired by the four-rotor aircraft is ensured to ensure the correct adjustment of the rear attitude.
Compared with the prior art, the unmanned aerial vehicle attitude control system and the data processing algorithm provided by the invention, by having the processor perform attitude data acquisition on the quad-rotor aircraft at fixed time intervals, then the acquired data is corrected and then subjected to interpolation and filtering processing, then the flight control main controller is used for resolving the real-time attitude data, and the wireless control signals given by the remote control end are combined, the attitude of the four-rotor aircraft is subjected to cascade PID closed-loop control so as to regulate the PWM duty ratio of the rotating speed of the control motor, meanwhile, the four-rotor aircraft can feed back the position information obtained from the GPS module and the attitude data of the current aircraft to the remote control end through the wireless transceiving module so that an operator can check the current flight state of the aircraft in real time and can timely perform landing processing to reduce the loss to the minimum when the flight state is abnormal.
Drawings
Fig. 1 is a block diagram of an embodiment of an unmanned aerial vehicle according to the present invention;
fig. 2 is a block diagram of an attitude control system of an embodiment of the unmanned aerial vehicle according to the present invention;
fig. 3 is a block diagram of a motor speed adjusting system according to an embodiment of the unmanned aerial vehicle of the present invention;
fig. 4 is a flowchart of a data attitude update procedure of an embodiment of the unmanned aerial vehicle according to the present invention;
fig. 5 is a flowchart of a system procedure of an embodiment of the drone of the present invention;
Detailed Description
The detailed features and advantages of the present invention are described in detail in the following embodiments, which are sufficient for anyone skilled in the art to understand the technical content of the present invention and to implement the present invention, and the related objects and advantages of the present invention can be easily understood by anyone skilled in the art from the disclosure of the present specification, the claims and the accompanying drawings. The following examples are intended to illustrate the aspects of the present invention in further detail, but are not intended to limit the scope of the present invention in any way.
Referring to fig. 1, fig. 1 is a block diagram of an embodiment of the unmanned aerial vehicle of the present invention.
As shown in fig. 1, the unmanned aerial vehicle of the present invention includes a driving module 100, a flight control main controller 200, a camera module 300, a wireless communication module 400, an attitude acquisition module 500, a power module 600, and a GPS module 700; drive module 100, camera module 300, wireless communication module 400, gesture collection module 500, power module 600 and GPS module 700 all are connected with flight control main control unit 200, and flight control main control unit 200 is unmanned aerial vehicle's little the control unit, and drive module 100 can be the motor, and camera module 300 is the camera. The wireless communication module 400 establishes communication with the remote controller; the driving module 100 is used for driving the unmanned aerial vehicle to fly; the camera module 300 is used for collecting picture information; the attitude acquisition module 500 is used for acquiring the original data of the real-time attitude of the unmanned aerial vehicle; the power module 600 provides power guarantee for the whole system; the GPS module 700 is configured to obtain location information of the drone; the flight control main controller 200 is used for processing data and issuing corresponding action commands executed by each module, so as to ensure that the whole flight attitude correction control system can normally and continuously operate.
When using unmanned aerial vehicle to shoot, user's accessible remote controller sends flight control instruction to unmanned aerial vehicle's flight control main control unit 200, and this flight control instruction includes flight start instruction, image acquisition instruction, positioning information acquisition instruction, a key landing instruction, aircraft pitching motion, roll motion, driftage motion instruction. When receiving the flight control instruction, the flight control main controller 200 analyzes the instruction and performs corresponding operations.
When the flight control main controller 200 receives the flight starting instruction, the one-key landing instruction, the pitching motion, the rolling motion and the yawing motion instruction of the aircraft, the aircraft can control the rotating speed of the motor to enable the aircraft to make corresponding actions.
When receiving the image acquisition command, the flight control main controller 200 outputs a camera photographing instruction to the camera module 300, the camera module 300 performs real-time photographing and acquisition on the surrounding environment image according to the flight control instruction, sends the obtained picture information to the flight control main controller 200, and then the flight control main controller 200 transmits the information to the remote control end.
When receiving the position acquisition command, the flight control main controller 200 outputs a position acquisition command to the GPS module 700, and the GPS module 700 acquires current position information in real time according to the flight control command, transmits the acquired position information to the flight control main controller 200, and transmits the information to the remote control terminal by the flight control main controller 200.
When receiving the attitude acquisition command, the flight control main controller 200 directly sends the latest attitude information acquired by the attitude acquisition module 500 to the flight control main controller 200, and the flight control main controller 200 transmits the information to the remote control terminal.
Referring to fig. 2 again, fig. 2 is a block diagram of an attitude control system of an embodiment of the unmanned aerial vehicle of the present invention.
Specifically, as shown in fig. 2, the attitude control system further includes a power management system 201, a master control system 202, a wireless communication system 203, a motor control system 204, and a data acquisition system 205. The power management system provides stable working voltage for the whole unmanned aerial vehicle control system so as to ensure normal operation of the whole system and low-power alarm; the main control system 202 processes and calculates the data of the whole system and realizes data communication with the power management system 201, the wireless communication system 203, the motor control system 204 and the data acquisition system 205; the wireless communication system 203 is used for carrying out data and command transmission communication with a remote control terminal; the motor control system 204 is used for controlling the rotation speed adjustment of four motors so as to ensure the normal operation of the aircraft attitude; the data acquisition system 205 is used to acquire acceleration, angular velocity, and magnetometer information of the quad-rotor aircraft in real time.
Referring to fig. 3 again, fig. 3 is a block diagram of a structure of a motor speed adjusting system of an embodiment of the unmanned aerial vehicle of the present invention.
Specifically, as shown in fig. 3, the structural block diagram of the motor speed regulation system further includes a desired euler angle 101, an angle PID control 102, an angular velocity PID control 103, a motor speed control 104, gyroscope data 105, and an euler angle calculation 106. The expected Euler angle 101 is the expected attitude angle of the four-rotor aircraft, and is a preset Euler angle in advance; the angle PID control 102 is an outer ring angle PID control of the four-rotor aircraft, the input end of the angle PID control is the deviation amount of the expected value and the actual value of the attitude angle, and the output value is an expected angular speed value; the angular velocity PID control 103 is an inner ring angular velocity PID control of the four-rotor aircraft, the input end of the inner ring angular velocity PID control is the output end of the angle PID control 102, and the output value can be used as a control quantity for controlling the PWM duty ratio of the rotating speed of the motor; the motor rotating speed control 104 is used for converting the output quantity of the angular speed PID control into the regulating quantity for controlling the rotating speed of the motor so as to drive the motor to operate and achieve the purpose of controlling the posture of the four-rotor aircraft; the sum gyroscope data 105 is the angular velocity information of the quad-rotor aircraft collected by the attitude collection module, which is the real-time angular velocity of the aircraft and is the feedback input of the angular velocity PID control 103; the euler angle solution 106 is used to solve for the attitude angle of the quad-rotor aircraft in real time and is a feedback input to the angle PID control 102.
In this embodiment, the euler angle calculation 106 uses a quaternion method to calculate the attitude, the component of gravity in the equivalent cosine matrix of the quaternion needs to be extracted, then the component is normalized and then cross product of the vector is performed, that is, the integral error of the gyroscope can be solved, then the attitude error is compensated to the angular velocity by using a complementary filtering method, the integral drift of the angular velocity is corrected, the quaternion is updated by using a first-order longstota method after the accurate angular velocity is obtained, and the euler angle can be converted after the quaternion is normalized.
In the solution of the integral error of the gyroscope, four elements of quaternions q0, q1, q2 and q3 are set, vectors are set as VX, VY and VZ respectively, the cosine between the axis of the carrier coordinate system X, Y, Z and the axis of the reference coordinate system Z is the gravity vector converted by the integral of the gyroscope, the gravity vector of the geographic coordinate is converted to the body coordinate system according to the definition of the cosine matrix and the euler angle, and the cosine vector between the axis of the reference coordinate system Z and the axis of the carrier coordinate system X, Y, Z is three elements of the third column of the direction cosine matrix converted by the quaternion. The values of VX, VY, VZ can be obtained by the following formulas 1 to 3.
VX＝2(q1q3+q0q2) (1)
VY＝2(q2q3-q0q1) (2)
Let ax, ay, az be the gravitational acceleration component measured by the accelerometer, the cross product of the vectors represents the error between the vectors, let ex, ey, ez the error between the gravity vector converted by the gyroscope integral and the gravitational acceleration component measured by the accelerometer, and obtain the gyroscope integral error through the formulas 4 to 6.
ex＝(ayVZ-azVY) (4)
ey＝(azVX-axVZ) (5)
ez＝(axVy+ayVX) (6)
Setting exlnt, eylnt and ezlnt as the result of error integration, Ki as the error integration coefficient, gx, gy and gz as the angular velocity measured by the gyroscope, and Kp as the proportional coefficient of the error, and obtaining the angular velocity value after complementary filtering through the formulas 7 to 9.
gx＝gx+Kpex+exlnt (7)
gy＝gy+Kpey+eyln t (8)
gz＝gz+Kpez+ezln t (9)
After the angular velocity value after the complementary filtering is obtained, the quaternion is updated by using a first-order Runge Kutta method, and then the Euler angles pitch, yaw and roll are obtained by converting the formula 10 to the formula 12 through the quaternion Euler angles.
pitch＝arcsin(2(q2q3+q0q1)) (10)
Referring to fig. 4 again, fig. 4 is a flowchart of a data attitude updating procedure of the unmanned aerial vehicle according to an embodiment of the present invention.
Referring to step S2 of fig. 4, in step S2, the attitude update section is hardware-initialized, including initialization of the sampling timer, initialization of the external sampling sensor, and initialization of some parameters of the attitude update.
Referring to steps S4 and S6 of fig. 4, in step S4, it is detected whether a timer interrupt is triggered, if the interrupt is triggered, the main controller issues a sampling command to the attitude sensor, and then step S6 is executed, the attitude sensor samples the original attitude data and feeds the attitude data back to the main controller, and if the timer interrupt is not triggered, the main controller returns to continuously determine whether the timer interrupt is triggered.
Referring to steps S10 and S14 of fig. 4, in step S10, the main controller performs zero offset compensation correction on the original attitude data to eliminate static errors of the attitude sensor to ensure accuracy of the data, in step S14, Newton interpolation operation is performed on the attitude data that has been subjected to zero offset compensation correction, and measured values output by the attitude sensor are discrete data points, and due to the number of the discrete data points, the system cannot give stable and smooth output, in which case, the data points are added by using an interpolation algorithm to make the measured data more encrypted and smooth. According to the invention, a Newton interpolation formula with three-order mean-difference is adopted to optimize the output data of the sensor, and the Newton interpolation formula is shown by a formula 13, so that the change of the rotating speed of the control motor is more stable and smooth when feedback control is carried out.
f(x)＝f(0)-x[f(0)-f(1)]+0.5x(x-1)(x-2)[f(0)-2f(1)+f(2)]-x(x-1)(x-2)(x-3)[f(0)-3f(1)+3f(2)-f(3)]/6
(13)
Referring to steps S12 and S8 of fig. 4, in step S12, the raw data are subjected to complementary filtering fusion operation, so as to effectively reduce the accumulated error of the gyroscope, increase the dynamic response characteristics of the accelerometer and the magnetometer, and improve the dynamic characteristics and the measurement accuracy of the system. Quaternion updating of the quad-rotor aircraft is performed in step S8 and converted to outer loop input feedback euler angle values required for cascade PID control in the motor speed regulation system.
Referring to fig. 5 again, fig. 5 is a flowchart of a system procedure of the embodiment of the unmanned aerial vehicle of the invention.
Referring to step S22 of fig. 5, initialization of the aircraft system, including configuration of the underlying drivers such as various peripheral interface system internal timers, is performed in step S22.
Referring to steps S24 and S26 of fig. 5, in step S24, the detection of each peripheral module, including the attitude sensor self-check, the GPS module detection, the camera module detection and the power module detection, is performed, if the detection is passed, the next execution operation is performed, and if the peripheral abnormality is detected, step S26 is performed to flash the LED alarm corresponding to the abnormality of each peripheral to prompt the operator that the peripheral has a fault, so as to perform inspection and maintenance, and prevent the operator from continuing to operate and generate unnecessary loss.
Referring to step S28 of fig. 5, in step S28, system parameters are set to facilitate processing and optimization of various data by the master controller and control of the quadrotor aircraft during control operations.
Referring to steps S30, S34, and S38 of fig. 5, the wireless command is received in step S30, the main controller resolves the received wireless command in step S34, and controls the quadrotor to further operate according to the instruction, and the main controller feeds back the processing completion data to the remote control terminal to respond in step S38.
Referring to steps S32, S36, and S40 of fig. 5, in step S32, the attitude of the quadrotor is calculated and updated, and the calculated euler angle is sent to step S36 to perform cascade PID control operation, where the output quantity of the cascade PID control operation is the adjustment quantity of the PWM pulse widths of the quadrotor in the three angular directions. But the rotation speed of the motor is driven based on a certain throttle input quantity, the throttle input quantity is Thr, and p is setk、rk、ykFor the adjustment amount of the PWM pulse widths in the three angular directions at the time k, it is assumed that the motors 1, 2, 3 and 4 are PWM pulse width control amounts of the rotation of the four motors, respectively, and the PWM pulse width control amounts during the rotation of the motors can be obtained by resolving the rotation speeds of the four motors, which is specifically realized by the formulas 14 to 17.
motor1＝Thr+pk-rk-yk(14)
motor2＝Thr-pk-rk+yk(15)
motor3＝Thr-pk+rk+yk(16)
motor4＝Thr+pk+rk-yk(17)
Referring to steps S42 and S44 of fig. 5, after touchdown detection is performed in step S42, the main routine proceeds to step S44 to turn off the power supply to the motor when touchdown of the quadrotor is detected, which indicates that the quadrotor is successfully landed, and returns to the main routine to continue attitude adjustment control if touchdown is not detected.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structures and flow changes made by using the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. Four rotor craft gesture correction control system, its characterized in that: the control system comprises a flight control main controller, a flight attitude acquisition module, a driving module, a wireless communication module, a GPS module, a power management module and a camera module, wherein the flight attitude acquisition module, the driving module, the wireless communication module, the GPS module, the power management module and the camera module are connected with the flight control main controller;
the flight attitude acquisition module is used for acquiring real-time attitude data of the four-rotor aircraft in real time, feeding the real-time attitude data back to the main controller and solving the flight attitude of the four-rotor aircraft in real time;
the camera module is used for acquiring the peripheral geographic environment information of the four-rotor aircraft;
the GPS module is used for navigation of the four-rotor aircraft and can acquire position information of the aircraft in real time and feed the position information back to the main controller;
the driving module comprises four motors and a driving management circuit of the motors, and the postures of the four-rotor aircraft are adjusted by driving the rotating speed of the motors in real time.
2. The quadrotor attitude correction control system of claim 1, wherein: the wireless communication module is used for carrying out data communication with the remote controller, receiving control instructions of the remote controller, and transmitting the instructions to the main controller for settlement of the instructions and processing of the instructions, wherein the instructions comprise pitching motion instructions, rolling motion instructions and yawing motion instructions of the quadrotor aircraft; the signal amplification circuit is used for amplifying the power of the wireless signal, so that the transmission distance of the wireless signal is greatly increased; the filter circuit is used for filtering noise and clutter signals in wireless signals, and the quality of wireless communication signals is effectively improved.
3. The quadrotor attitude correction control system of claim 1, wherein: the power management module comprises a lithium battery, a power management circuit and a key control circuit; the power management circuit is connected with the lithium battery and is connected with the flight control main controller, the flight attitude acquisition module, the driving module, the wireless communication module, the GPS module and the camera module; the power supply management circuit is used for converting the voltage of the lithium battery into working voltage required by each module of the four-rotor aircraft to ensure the normal operation of the whole flight control system; the key control circuit is used for controlling a power supply main switch of the whole control system and an onboard operation circuit of the aircraft system for executing one-key takeoff and landing, firmware upgrading and one-key self-checking functions.
4. The quadrotor attitude correction control system of claim 1, wherein: the unmanned aerial vehicle attitude control system comprises a sensor data resolving processing system, a motor rotating speed control system and a wireless data communication system; the data calculation processing system, the motor rotating speed control system and the wireless data communication system respectively carry out specific operation and realization on each basic function of the attitude control of the four-rotor aircraft.
5. The quadrotor attitude correction control system of claim 4, wherein: the sensor data resolving and processing system is used for resolving and processing real-time acceleration, angular velocity and magnetometer data of the four-rotor aircraft, and resolving the attitude by using a quaternion method, so that real-time Euler angle data of the aircraft are obtained.
6. The quadrotor attitude correction control system of claim 4, wherein: the motor speed control system applies a closed-loop PID feedback regulation principle, applies an advanced cascade PID controller, takes the angle feedback of the four-rotor aircraft as outer loop control, takes the angular velocity feedback as inner loop control, and finally combines the output quantity of the controller and the PID output quantity of the aircraft in the Z-axis direction, and outputs PWM signals with certain frequency change duty ratio through the flight control main controller after a series of calculations to drive the four motors of the four-rotor aircraft to rotate.
7. The quadrotor attitude correction control system of claim 4, wherein: the wireless data communication system is used for receiving wireless data sent by a manual operation remote controller, the working frequency band is 2.4GHz, and the received control signals are fed back to the flight control main controller through serial port communication.
8. The quadrotor attitude correction control system of claim 1, wherein: and a data processing algorithm is also fused during the original data processing, and the data processing algorithm comprises a Newton interpolation algorithm and a complementary filtering algorithm.
9. The quadrotor attitude correction control system of claim 8, wherein: the Newton interpolation algorithm is used for increasing the data acquisition density of the attitude acquisition sensor of the four-rotor aircraft, so that the data is smoother, the trend of the data can be predicted, the flight control main controller is smoother when PWM output is controlled, and the control of the four-rotor aircraft is more stable when the rotating speed of the four motors is controlled to change.
10. The quadrotor attitude correction control system of claim 8, wherein: the complementary filtering algorithm is used for eliminating low-frequency accumulated error interference and high-frequency noise interference of the attitude acquisition sensor, so that the accuracy of the original data acquired by the four-rotor aircraft is ensured to ensure the correct adjustment of the rear attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911192420.3A CN110806754A (en) | 2019-11-28 | 2019-11-28 | Four-rotor aircraft attitude correction control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911192420.3A CN110806754A (en) | 2019-11-28 | 2019-11-28 | Four-rotor aircraft attitude correction control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110806754A true CN110806754A (en) | 2020-02-18 |
Family
ID=69491951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911192420.3A Pending CN110806754A (en) | 2019-11-28 | 2019-11-28 | Four-rotor aircraft attitude correction control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110806754A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111506111A (en) * | 2020-05-07 | 2020-08-07 | 蔡荣华 | Multi-platform intelligent programming unmanned aerial vehicle |
| CN112180915A (en) * | 2020-09-16 | 2021-01-05 | 哈尔滨工业大学（威海） | ROS-based double-thrust unmanned ship motion control system and control method |
| CN112947514A (en) * | 2021-01-27 | 2021-06-11 | 西北工业大学深圳研究院 | Spacecraft attitude control method based on event-driven supercoiling algorithm |
| CN113138577A (en) * | 2021-05-14 | 2021-07-20 | 北京理工大学 | Overload feedback control method for vertical channel of quad-rotor unmanned aerial vehicle |
| CN114967716A (en) * | 2022-04-02 | 2022-08-30 | 中国人民解放军海军航空大学 | Fixed-wing aircraft attitude control method based on quaternion spherical linear interpolation |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190158716A1 (en) * | 2018-12-28 | 2019-05-23 | Intel Corporation | Method and system of geolocation and attitude correction for mobile rolling shutter cameras |
-
2019
- 2019-11-28 CN CN201911192420.3A patent/CN110806754A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190158716A1 (en) * | 2018-12-28 | 2019-05-23 | Intel Corporation | Method and system of geolocation and attitude correction for mobile rolling shutter cameras |
Non-Patent Citations (4)
| Title |
|---|
| 乌仁别丽克: "基于串级PID控制算法的四旋翼无人机控制系统设计与实现", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 伏家杰 等: "基于四元数二阶互补滤波的四旋翼姿态解算", 《电气与自动化》 * |
| 王俊 等: "对四轴飞行器基于姿态算法的分析与实现", 《河南科技》 * |
| 靳亚磊 等: "四旋翼飞行器串级PID 控制设计与实现", 《太原科技大学学报》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111506111A (en) * | 2020-05-07 | 2020-08-07 | 蔡荣华 | Multi-platform intelligent programming unmanned aerial vehicle |
| CN112180915A (en) * | 2020-09-16 | 2021-01-05 | 哈尔滨工业大学（威海） | ROS-based double-thrust unmanned ship motion control system and control method |
| CN112947514A (en) * | 2021-01-27 | 2021-06-11 | 西北工业大学深圳研究院 | Spacecraft attitude control method based on event-driven supercoiling algorithm |
| CN113138577A (en) * | 2021-05-14 | 2021-07-20 | 北京理工大学 | Overload feedback control method for vertical channel of quad-rotor unmanned aerial vehicle |
| CN113138577B (en) * | 2021-05-14 | 2022-05-20 | 北京理工大学 | Overload feedback control method for vertical channel of quad-rotor unmanned aerial vehicle |
| CN114967716A (en) * | 2022-04-02 | 2022-08-30 | 中国人民解放军海军航空大学 | Fixed-wing aircraft attitude control method based on quaternion spherical linear interpolation |
| CN114967716B (en) * | 2022-04-02 | 2024-05-03 | 中国人民解放军海军航空大学 | Fixed wing aircraft attitude control method based on quaternion spherical linear interpolation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110806754A (en) | Four-rotor aircraft attitude correction control system and method | |
| US20210191426A1 (en) | Aircraft attitude control methods | |
| CN204440169U (en) | The control system of the multi-modal autonomous flight of Miniature Unmanned Helicopter | |
| CN104656660A (en) | Control system for micro-unmanned helicopter multi-mode autonomous flight and method thereof | |
| CN204178240U (en) | UAV flight control system | |
| CN102508493B (en) | Flight control method for small unmanned aerial vehicle | |
| US20220326720A1 (en) | Method and system for hovering control of unmanned aerial vehicle in tunnel | |
| CN103611324A (en) | Unmanned helicopter flight control system and control method thereof | |
| CN104597912A (en) | Tracking flying control system and method of six-rotor unmanned helicopter | |
| JP2004256022A (en) | Autonomous control method for small size unmanned helicopter | |
| CN102426457A (en) | Flight control navigation system of miniature flapping-wing aircraft | |
| Achtelik et al. | Inversion based direct position control and trajectory following for micro aerial vehicles | |
| CN110824524B (en) | Satellite video transmission system based on airborne Ka wave band | |
| CN118226884B (en) | Method for controlling precise cruising of flying robot in air | |
| CN106292297B (en) | Attitude control method based on PID controller and L1 adaptive controller | |
| CN110673623A (en) | Quad-rotor unmanned aerial vehicle landing method based on dual-ring PD control algorithm control | |
| CN111176311A (en) | Sliding mode delay estimation control method for attitude of quad-rotor unmanned aerial vehicle and storage medium | |
| CN202939490U (en) | Autopilot for unmanned aerial vehicles | |
| Bayisa et al. | Controlling quadcopter altitude using PID-control system | |
| CN117452859B (en) | Control system and method for autonomous flight aircraft | |
| Mirtaba et al. | Design and implementation of a low-complexity flight controller for a quadrotor UAV | |
| CN111947654A (en) | Navigation and control integrated chip and control method thereof | |
| Zhan et al. | Control system design and experiments of a quadrotor | |
| RU137814U1 (en) | AUTOMOTIVE CONTROL SYSTEM FOR UNMANNED AIRCRAFT | |
| Cai et al. | Design of STM32-based Quadrotor UAV Control System. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200218 |
|
| RJ01 | Rejection of invention patent application after publication |