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Ground control system applicable to rotor-wing unmanned aerial vehicle

A technology of unmanned rotor and ground control, applied in the direction of attitude control, etc., can solve the problems of strong nonlinearity, difficulty in determining the dynamic model of small rotor UAV, and high self-coupling, so as to reduce the interference of the control system and shorten the debugging Cycle, the effect of eliminating high-frequency vibration

Inactive Publication Date: 2012-04-25
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the structural characteristics of the rotor UAV itself, such as small size, high self-coupling, strong nonlinearity, etc., it is difficult to determine the dynamic model of the small rotor UAV, which leads to the control parameters of the rotor UAV. Uncertainty

Method used

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  • Ground control system applicable to rotor-wing unmanned aerial vehicle
  • Ground control system applicable to rotor-wing unmanned aerial vehicle
  • Ground control system applicable to rotor-wing unmanned aerial vehicle

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Embodiment Construction

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0017] see figure 1 As shown, a ground control system applicable to a rotor UAV of the present invention includes a PC 4 , a real-time attitude controller 2 , an SPI communication collector 3 and a driver 1 . On the one hand, the driver 1 receives the motion command Din output by the real-time attitude controller 2, and on the other hand, according to the motion command Din, respectively outputs the motor control signal D2 to drive the motor 12 to move, the A-th steering gear signal DA to drive the A steering gear 13 to move, The B-th steering gear signal DB drives the B steering gear 14 to move, the C-th steering gear signal DC drives the C steering gear 15 to move, and the D-th steering gear signal DD drives the D steering gear 16 to move; the SPI communication collector 3 collects on the one hand The parameter information D1 measured by the inertial measu...

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Abstract

The invention discloses a ground control system applicable to a rotor-wing unmanned aerial vehicle. The ground control system comprises a personal computer (PC) (4), a real-time attitude controller (2), a serial peripheral interface (SPI) communication acquirer (3) and a driver (1), wherein the driver (1) receives a movement instruction Din which is output by the real-time attitude controller (2), and according to the movement instruction Din, the driver (1) outputs a motor control signal D2 to drive a motor (12) to move, outputs an A-th path of steering engine signal DA to drive an A steering engine (13) to move, outputs a B-th path of steering engine signal DB to drive a B steering engine (14) to move, outputs a C-th path of steering engine signal DC to drive a C steering engine (15) tomove and outputs a D-th path of steering engine signal DD to drive a D steering engine (16) to move; the SPI communication acquirer (3) acquires parameter information D1 which is measured by an inertia measurement unit (11) on the rotor-wing unmanned aerial vehicle and outputs linear acceleration signals alpha and angular speed signals omega of three degrees of freedom of the rotor-wing unmanned aerial vehicle to the real-time attitude controller (2); and the PC (4) communicates with the real-time attitude controller (2) through a transmission control protocol (TCP) / internet protocol (IP) and provides a friendly human-computer interface for an operator.

Description

technical field [0001] The invention relates to a ground control system suitable for a rotary-wing unmanned aerial vehicle. The ground control system is connected with an actuator and a sensor on the rotary-wing unmanned aerial vehicle in a wired manner. Background technique [0002] Rotor UAV has the characteristics of flexible use, low cost, and zero casualties, and has been widely used in both modern military and civilian applications. Rotary-wing UAVs have special functions of vertical take-off and landing and hovering, but compared with fixed-wing UAVs, their stability and wind resistance are weaker, and autonomous control is more complicated. At present, there are three main ground control methods for rotor UAVs: manual remote control, autonomous / semi-autonomous control, and a combination of over-the-horizon remote control and autonomous control. [0003] The autonomous / semi-autonomous type is used for rotor UAVs operating outside the line of sight (long distance) und...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 富立张春雷王玲玲
Owner BEIHANG UNIV
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