CN103057712A - Integration flight control system for miniature flying robot - Google Patents
Integration flight control system for miniature flying robot Download PDFInfo
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Abstract
The invention discloses an integration flight control system for a miniature flying robot. The integration flight control system comprises a miniature central processing module, a positioning module, an inertia measurement module, an intelligent early warning module, a driving module, a wireless communication module, a data storage module and a power management module, wherein the miniature central processing module is in charge of management of each module and running of a control algorithm; the positioning module is used for measuring position and speed information of the flying robot and transmitting the information to the miniature central processing module; the inertia measurement module is used for measuring gesture and angular speed information of the flying robot; the intelligent early warning module monitors a flight state of the flying robot so as to timely send out early warning; the driving module drives actuation of the flying robot according to instructions of the miniature central processing module; the wireless communication module is in charge of data communication between the flying robot and a ground station system; the data storage module is in charge of storage of data in the flight process; and the power management module is in charge of power supply to the whole system. The integration flight control system can integrate guidance and attitude control functions, has the advantages of being high in integration, light in weight, small in size and strong in functions and the like, and can effectively improve thrust-weight ratio and efficiency of the miniature flying robot.
Description
Technical field
The present invention relates to control technology, guidance technology, sensing technology and wireless communication field, relate in particular to a kind of microminiature flying robot's flight control system.
Background technology
At present, many applications all require aircraft can carry out the flight of low-altitude low-speed, hang down idle job, and good manoevreability and disguise are arranged.Microminiature flying robot is the good platform of realizing above-mentioned functions.But microminiature flying robot has the advantages such as manoevreability, the good vertical takeoff and landing of alerting ability, good concealment, is the platform of a good observation and contact environment.Can expect that microminiature flying robot will have very wide application prospect.
Microminiature flying robot's flight control system should so that the flying robot along the flight of given track.Flight control system control flying robot's attitude and position allow robot finish the instruction campaign of expectation.Microminiature flying robot's flight control system is the core of its practical function and performance, and the performance of flight control system will directly affect flying robot's airworthiness and quality.Flight control system generally comprises two parts of guidance and attitude control, controls respectively flying robot's position and attitude, and traditional flying robot's control system generally will be guided with attitude control and is divided into two modules.Each module realizes a kind of function.This design can be so that guide module processed adopts different hardware and software systems from the attitude control module, be convenient to realize, but this mentality of designing has increased the complexity of whole flight control system, so that the increase of the indexs such as the volume of overall system control, weight, thereby so that its carrier---microminiature flying robot's load-carrying surplus reduces.
For making the microminiature flying robot can adapt to better outdoor complex environment, the structure of flight control system forms should be more simple and reliable, weight is lighter.For realizing this purpose, the integrated flight control system that collection guidance and attitude are controlled to be one is a kind of trend in flying robot's evolution.
Summary of the invention
For problems of the prior art, the present invention proposes a kind of integrated flight control system that can be applicable to the microminiature flying robot, design for the microminiature rotor flying robot, take into full account microminiature rotary wind type flying robot's characteristics, so that this integrated flight control system can realize the several functions such as guidance and attitude control, can substitute two modules of traditional guidance and attitude control, thereby reduced to be formed by two modules the complexity of system, reduced the weight and volume of whole flight control system, for the thrust-weight ratio that improves the microminiature flying robot, efficient etc. have certain effect, and meet the integrated development tendency of robot.
The integrated flight control system of microminiature flying robot that the present invention proposes, mainly comprise miniature central processing module, locating module, inertia measuring module, intelligent early-warning module, driver module, wireless communication module, data memory module, and power management module.
Described miniature central processing module is comprised of central process unit and its peripheral circuit, and radical function is other module of management, sends order, obtaining information to other modules; Obtain position and attitude sensory information, comprise the location information of locating module transmission and the attitude information that inertia measuring module sends; Management intelligent early-warning module and wireless communication module judge whether and give the alarm; The director data operation Flight Control Algorithm that the sensing data that collects according to locating module and inertia measuring module and ground station transmit and the driving instruction that sends actuator to driver module; The data storage work of management data memory module.Central process unit in the central processing module can adopt according to the size of realization of functions and memory data output the various Computer Processing chips with calculation function and data storage function such as common micro controller system, ARM embedded chip, dsp chip.For managing a plurality of modules, can embedded OS be installed as required in the central process unit, such as (SuSE) Linux OS.
Described locating module collection comprises GPS locating module, accelerometer, barometric altimeter, and processor A.Locating module sends flying robot's location information and the velocity information that collects to miniature central processing module.Processor A in the locating module is with the latitude and longitude coordinates information of GPS locating module output, the acceleration information of accelerometer output, the elevation information of barometric altimeter output carries out data fusion, obtains more accurately position and velocity information, and to the miniature central processing module of sending.Can adopt several different methods to carry out Multi-Sensor Data Fusion, such as Kalman filtering algorithm.
Described inertia measuring module comprises gyroscope, magnetometer, and processor B.Inertia measuring module sends the flying robot's that collection calculates attitude and angular velocity data to miniature central processing module.Processor B operation information blending algorithm in the inertia measuring module merges the angular velocity information of gyroscope output and the azimuth information of magnetometer output, obtains more accurately attitude and angular velocity data information, for miniature central processing module.
Described intelligent early-warning module is finished the automatic early-warning function of whole flying machine robot system, the data monitoring flying robot's who transmits according to miniature central processing module running state, if there is error state, then remind the current emergency of miniature central processing module, and by miniature central processing module by the intelligence communication locating module directly earthward the station system send corresponding mis-information and the current state of flying robot, thereby be convenient to take the manpower intervention mode to process emergency.
Described intelligent early-warning module is comprised of buzzer phone, reset circuit, error judging circuit etc.The intelligent early-warning module receives position, speed, cireular frequency and the attitude angle data of miniature central processing module, and flying robot's mode of operation is judged.
Described driver module will drive microminiature flying robot's actuator motion, such as rotor motor or steering wheel etc., make the microminiature flying robot carry out corresponding instruction.Driver module is by motor or servo driving the electric circuit constitute.The signal of driver module derives from the control algorithm operation result of miniature central processing module, according to the type output PWM ripple of motor or steering wheel or the rotating speed of Digital Signals motor or steering wheel.
Described wireless communication module is comprised of the wireless communication data chain, is responsible for communicating by letter between microminiature flying robot and other microminiature flying robot or the ground station.Wireless communication module is managed by miniature central processing module, and the data of sending and receiving are determined by central processing module.The wireless communication data chain can provide the data communication of point-to-point or networking mode.
Described data memory module is responsible for storing the status data of flying robot in flight course, is comprised of flash storage chip and peripheral circuit.Data memory module is by miniature central processing module managed storage flying robot's status data, comprise the position, the attitude command data that receive, and flying robot's actual position, speed, attitude angle, the angular velocity data of locating module and inertia measuring module output.
Described power management module provides power supply for whole flight control system, and power management module provides different Voltage-outputs for disparate modules.
The present invention has following beneficial effect:
1, the invention provides microminiature flying robot's flight control system of a Highgrade integration, can control, monitor the flying robot by this integrated flight control system.Described integrated flight control system has the functions such as guidance and attitude control simultaneously.
2, the present invention can realize intelligent early-warning and communication function, has guaranteed that the flying robot can in time notify the ground staff under abnormal operating state, so that by manpower intervention.
3, by the present invention, can in conjunction with network technology, set up flying robot's population system.
4, the present invention has integrated height, lightweight, the advantage such as function is strong, is convenient to promote flying robot's thrust-weight ratio and efficient.
Description of drawings
Fig. 1: the system architecture diagram of the integrated flight control system of a kind of microminiature flying robot of the present invention;
Fig. 2: locating module and inertia measuring module specific implementation figure in the integrated flight control system of a kind of microminiature flying robot of the present invention;
Fig. 3: the integrated guidance that moves in the miniature central processing module in the integrated flight control system of a kind of microminiature flying robot of the present invention and attitude control algorithm scheme drawing;
Fig. 4: the workflow scheme drawing of the intelligent early-warning module in the integrated flight control system of a kind of microminiature flying robot of the present invention;
Fig. 5: the general work schematic flow sheet in the integrated flight control system of a kind of microminiature flying robot of the present invention.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The integrated flight control system of microminiature flying robot that the present invention proposes, as shown in Figure 1, mainly comprise miniature central processing module 1, locating module 2, inertia measuring module 4, intelligent early-warning module 3, driver module 5, wireless communication module 6, data memory module 7, and power management module 8.
Described miniature central processing module 1 is comprised of central process unit and its peripheral circuit, radical function is other locating module 2 of management, inertia measuring module 4, intelligent early-warning module 3, driver module 5, wireless communication module 6, data memory module 7, and power management module 8, send order or obtaining information to these modules; Obtain position and attitude sensory information, comprise the location information of locating module 2 transmission and the attitude information that inertia measuring module 4 sends; Management intelligent early-warning module 3 and wireless communication module 6 judge whether and give the alarm; The director data operation Flight Control Algorithm that the sensing data that collects according to locating module 2 and inertia measuring module 4 and ground station transmit and the driving instruction that sends actuators to driver module 5; The data storage work of management data memory module 7.Central process unit in the miniature central processing module 1 can adopt according to the size of realization of functions and memory data output the various Computer Processing chips with calculation function and data storage function such as common micro controller system, ARM embedded chip, dsp chip.For the management modules, can embedded OS be installed as required in the central process unit, such as (SuSE) Linux OS.
Described locating module 2 comprises GPS locating module 202, accelerometer 204, barometric altimeter 203 and processor A 201.Locating module 2 is used for sending flying robot's location information and the velocity information that collects to miniature central processing module 1.Processor A 201 in the locating module 2 carries out data fusion with the latitude and longitude coordinates information of GPS locating module 202 outputs, the acceleration information of accelerometer 204 outputs, the elevation information of barometric altimeter 203 outputs, obtain more accurately position and velocity information, and to the miniature central processing module 1 of sending.Can adopt several different methods to carry out Multi-Sensor Data Fusion, such as Kalman filtering algorithm.
Described inertia measuring module 4 comprises gyroscope 403, magnetometer 402, and processor B 401.Inertia measuring module 4 sends the flying robot's that collection calculates attitude and angular velocity data to miniature central processing module 1.Processor B 401 operation information blending algorithms in the inertia measuring module 4, the angular velocity information of gyroscope 403 outputs and the azimuth information of magnetometer 402 outputs are merged, obtain more accurately attitude and angular velocity data information, for miniature central processing module 1.
Be illustrated in figure 2 as the concrete scheme drawing that is connected between locating module 2, inertia measuring module 4 and the miniature central processing module 1.Processor A 201 in the locating module 2, the processor B in the moment of inertia module 4 401 are connected with miniature central processing module 1 by the SPI interface and mutual the transmission of data.In inertia measuring module 4, gyroscope 403, magnetometer 402 are connected with processor B 401 by the UART interface.In locating module 2, GPS locating module 202, accelerometer 204, barometric altimeter 203 also are connected with processor A 201 by the UART interface respectively.
Figure 3 shows that integrated guidance and the attitude control algorithm scheme drawing of operation in the miniature central processing module 1.Miniature central processing module 1 receives position measurements, velocity measurement, attitude measurement value and the angular velocity measurement value that transmits from locating module 2 and inertia measuring module 4.Lead ring processed adopts guidance algorithm by relatively expecting Position And Velocity observed reading and position measurements, and output expectation force vector is through guiding the control allocation algorithm, output expectation attitude.The attitude control loop is by relatively expecting attitude and angular velocity measurement value and attitude measurement value, and the body control torque of output expectation, and process attitude control allocation algorithm are exported the instruction of the actuator such as each motor or steering wheel to driver module 5.
Described intelligent early-warning module 3 is finished the automatic early-warning function of whole flying machine robot system, the data monitoring flying robot's who transmits according to miniature central processing module 1 running state, if there is error state, then remind the current emergency of miniature central processing module 1, and by miniature central processing module 1 by wireless communication module 6 directly earthward the station systems send corresponding mis-information and the current state of flying robot, thereby be convenient to take the manpower intervention mode to process emergency.
Described intelligent early-warning module 3 is comprised of buzzer phone 301, reset circuit 302, error judging circuit 303 etc.As shown in Figure 4, intelligent early-warning module 3 receives position, speed, cireular frequency and the attitude angle data that miniature central processing module 1 transmits, and judges whether the flying robot is in normal working, and carries out following work:
(1) intelligent early-warning module 3 receives after the data of miniature central processing module 1 transmission, begins to enter sense cycle, if do not have reset signal this moment, then turns (2), otherwise turns (5);
(2) error judging circuit 303 is according to position, speed, cireular frequency and the attitude angle data etc. of miniature central processing module 1 transmission, the operation logic program judges whether the flying robot is in normal working, if be in normal working, then turn (1), otherwise turn (3);
(3) intelligent early-warning module 3 feeds back to miniature central processing module 1 with mis-information, and at this moment, intelligent early-warning module 3 enters the emergency response program, and again detect whether reset signal is arranged this moment, if the reset signal of detecting then turns (5), otherwise turns (4);
(4) triggering buzzer phone 301 gives the alarm, start simultaneously the intelligence communication function, send mis-information to miniature central processing module 1, miniature central processing module 1 notice wireless communication module 6 earthward station system sends mis-information and current state of flight;
(5) if reset signal is arranged, namely within the regular hour, eliminated mistake behind the manpower intervention, then intelligent early-warning module 3 starts the mode of operation that resets, reset circuit 302 resetting systems automatically.Otherwise buzzer phone 301 will continue to give the alarm, and wireless communication module 6 also will continue to send mis-information.Reset circuit also can be used for manual operation, in order to reset intelligent early-warning module 3.
Described driver module 5 will drive microminiature flying robot's actuator motion, such as rotor motor or steering wheel etc., make the microminiature flying robot carry out corresponding instruction.Driver module 5 is by motor or servo driving the electric circuit constitute.The signal of driver module 5 derives from the control algorithm operation result of miniature central processing module 1, according to the type output PWM ripple of motor or steering wheel or the rotating speed of Digital Signals motor or steering wheel.
Described wireless communication module 6 is comprised of the wireless communication data chain, is responsible for communicating by letter between microminiature flying robot and other microminiature flying robot or the ground station.Wireless communication module 6 is by miniature central processing module 1 management, and the data of sending and receiving are determined by miniature central processing module 1.The wireless communication data chain can provide the data communication of point-to-point or networking mode.
Described data memory module 7 is responsible for the status data of storage flying robot in flight course, is comprised of flash storage chip and peripheral circuit.Data memory module 7 is by miniature central processing module 1 managed storage flying robot's status data, comprise the position, the attitude command data that receive, and locating module 2 and inertia measuring module 4 measure, and the flying robot's actual position, speed, attitude angle, the angular velocity data that are transmitted by miniature central processing module 1.
Based on the integrated flight control system of above-mentioned microminiature flying robot, be at a certain time interval periodic duty control algorithm and auxiliary routine, time gap depends on microminiature flying robot's response characteristic etc., generally take millisecond as unit.Its general workflow is as shown in Figure 5, and is specific as follows:
(1) in each execution cycle, miniature central processing module 1 receives the information that intelligent early-warning module 3 transmits, and judges according to the information that receives whether the work of system is normal;
(2) if the information that intelligent early-warning module 3 transmits shows that system is not in normal condition, miniature central processing module 1 sends mis-information and flying quality to data memory module 7, so that data memory can be recorded corresponding error source and flying quality;
(3) if the information that intelligent early-warning module 3 transmits shows that system is in normal working, miniature central processing module 1 operation integrated guidance and attitude control algorithm (six degree of freedom Flight Control Law) as shown in Figure 3 then, computing draws the instruction that should send driver module 5 to;
(4) miniature central processing module 1 sends the instruction that should send driver module 5 to that computing obtains to driver module 5, driver module 5 is according to corresponding motor and steering wheel etc. among the order-driven microminiature flying robot who receives, control microminiature flying robot's running;
(5) miniature central processing module 1 sends the corresponding integrated guidance in this process and the data in the control algorithm and director data to data memory module 7, with the flying quality storage of correspondence.
Claims (10)
1. integrated flight control system of microminiature flying robot, it is characterized in that: comprise miniature central processing module, locating module, inertia measuring module, intelligent early-warning module, driver module, wireless communication module, data memory module, and power management module; Miniature central processing module is in charge of the modules of flight control system and is moved integrated guidance and the attitude control algorithm; Locating module is used for measuring flying robot's position and velocity information and sending miniature central processing module to; Inertia measuring module is used for measuring flying robot's attitude and angular velocity information; Intelligent early-warning module monitors flying robot's state of flight is in order in time send early warning; Driver module is according to the order-driven flying robot's of miniature central processing module actuator; Wireless communication module is responsible for the data communication of flying robot and ground station; Data memory module is responsible for storing the data in the flight course; Power management module is responsible for powering to whole system.
2. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described integrated guidance and attitude control algorithm are specially:
Miniature central processing module receives position measurements, velocity measurement, attitude measurement value and the angular velocity measurement value from locating module and inertia measuring module transmission; Lead ring processed is by comparing desired locations, and the force vector of output expectation is controlled allocation algorithm through guidance, output expectation attitude; The attitude control loop is by relatively expecting attitude, and the body control torque of output expectation, and process attitude control allocation algorithm are exported the instruction of each corresponding module to driver module.
3. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described intelligent early-warning module, finish the automatic early-warning function of whole flying robot's integrated control system, the data monitoring flying robot's who transmits according to miniature central processing module running state, if there is error state, then remind the current emergency of miniature central processing module, and by miniature central processing module by the intelligence communication locating module directly earthward the station send corresponding mis-information and the current state of flying robot, thereby be convenient to take the manpower intervention mode to process emergency.
4. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described miniature central processing module is comprised of central process unit and peripheral circuit thereof, and central process unit adopts common micro controller system, ARM embedded chip or dsp chip according to the size of realization of functions and memory data output.
5. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described data memory module is responsible for storing the status data of flying robot in flight course, is comprised of flash storage chip and peripheral circuit; Data memory module is by miniature central processing module managed storage flying robot's status data, comprise the position, the attitude command data that receive, and flying robot's actual position, speed, attitude angle, the angular velocity data of locating module and inertia measuring module output.
6. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described locating module collection comprises GPS locating module, accelerometer, barometric altimeter, and processor A; Locating module sends flying robot's location information and the velocity information that collects to miniature central processing module, processor A in the locating module is with the latitude and longitude coordinates information of GPS locating module output, the acceleration information of accelerometer output, the elevation information of barometric altimeter output carries out data fusion, obtain more accurately position and velocity information, and to the miniature central processing module of sending.
7. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described inertia measuring module comprises gyroscope, magnetometer, and processor B; Inertia measuring module sends the flying robot's that collection calculates attitude and angular velocity data to miniature central processing module; Processor B operation information blending algorithm merges the angular velocity information of gyroscope output and the azimuth information of magnetometer output, obtains more accurately attitude and angular velocity data information, for miniature central processing module.
8. the integrated flight control system of microminiature flying robot according to claim 1, it is characterized in that: described intelligent early-warning module is finished the automatic early-warning function of whole flying machine robot system; Described intelligent early-warning module is comprised of buzzer phone, reset circuit and error judging circuit, and the intelligent early-warning module receives position, speed, cireular frequency and the attitude angle data of miniature central processing module, and flying robot's mode of operation is judged.
9. the integrated flight control system of microminiature flying robot according to claim 8 is characterized in that: described flying robot's mode of operation is judged, be specially:
(1) the intelligent early-warning module receives after the data of miniature central processing module transmission, begins to enter sense cycle, if do not have reset signal this moment, then turns (2), otherwise turns (5);
(2) error judging circuit is according to position, speed, cireular frequency and the attitude angle data etc. of miniature central processing module transmission, the operation logic program judges whether the flying robot is in normal working, if be in normal working, then turn (1), otherwise turn (3);
(3) the intelligent early-warning module feeds back to miniature central processing module with mis-information, and at this moment, the intelligent early-warning module enters the emergency response program, and again detect whether reset signal is arranged this moment, if the reset signal of detecting then turns (5), otherwise turns (4);
(4) trigger buzzer phone and give the alarm, start simultaneously the intelligence communication function, send mis-information to miniature central processing module, miniature central processing module notice wireless communication module earthward station system sends mis-information and current state of flight;
(5) if reset signal is arranged, namely within the regular hour, eliminated mistake behind the manpower intervention, then the intelligent early-warning module starts the mode of operation that resets, reset circuit resetting system automatically; Otherwise buzzer phone will continue to give the alarm, and wireless communication module also will continue to send mis-information.
10. the integrated flight control system of microminiature flying robot according to claim 1 is characterized in that: the workflow of the integrated flight control system of described microminiature flying robot, specific as follows:
(1) in each execution cycle, miniature central processing module receives the information that the intelligent early-warning module transmits, and judges according to the information that receives whether the work of system is normal;
(2) if the information that the intelligent early-warning module transmits shows that system is not in normal condition, miniature central processing module sends mis-information and flying quality to data memory module, so that data memory can be recorded corresponding error source and flying quality;
(3) if the information that the intelligent early-warning module transmits shows that system is in normal working, then miniature central processing module moves integrated guidance and attitude control algorithm, draws the instruction that should send driver module to;
(4) miniature central processing module sends the instruction that should send driver module to that computing obtains to driver module, driver module is controlled microminiature flying robot's running according to corresponding motor and steering wheel among the order-driven microminiature flying robot who receives;
(5) miniature central processing module sends the data in integrated guidance and the control algorithm and director data to data memory module, with the flying quality storage of correspondence.
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| CN104590557B (en) * | 2015-02-05 | 2016-10-26 | 中电科（德阳广汉）特种飞机系统工程有限公司 | A kind of many rotors and the flight control method of fixed-wing composite aircraft and device |
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| CN107000851A (en) * | 2015-08-20 | 2017-08-01 | 深圳市大疆创新科技有限公司 | The automatic dead stick control system of unmanned plane, control method and unmanned plane |
| CN105182875A (en) * | 2015-09-11 | 2015-12-23 | 卢致辉 | UAV fall monitoring device and method based on ARM and MEMS |
| CN105350464A (en) * | 2015-12-08 | 2016-02-24 | 刘亚敏 | Unmanned aerial vehicle parking station |
| CN106323279A (en) * | 2016-08-16 | 2017-01-11 | 上海交通大学 | Moving object wireless posture monitoring system |
| WO2018121727A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市优必选科技有限公司 | Drive control circuit and robot |
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