A dual-axis stability-increasing controller and control method for aeromodelling aircraft

Abstract

The invention discloses an auxiliary flight control device of a model aircraft and a control method of the device, in particular to a dual-axis stabilization augmentation controller and a control method of a model aircraft. At present, model aircraft mostly use stabilization gyroscopes to increase stability, but the existing stabilization gyroscopes on the market have poor stability, heavy weight and large calculation errors. The invention provides a dual-axis stabilization controller and a control method for a model aircraft, comprising a single-chip microcomputer, a four-way function selection switch, a two-way sensitivity adjustment potentiometer and a dual-axis angular rate sensor. The single-chip microcomputer performs temperature drift compensation calculation on the angular rate signal according to the temperature compensation law, fits the temperature offset of the angular rate into a function related to time, calculates the control amount through the improved PID algorithm, and the single-chip PWM module converts the control amount into PWM. The signal output drives the steering gear to rotate. The invention improves the stability of the model aircraft.

Description

technical field [0001] The invention relates to an auxiliary flight control device for a model airplane, in particular to a dual-axis stabilization controller and a control method for a model airplane. Background technique [0002] At present, flying toys and aviation models are becoming more and more popular at home and abroad because of their small size, low cost, low requirements for flying sites, and low flying risks. As the size of model aircraft becomes smaller, the aerodynamic damping decreases, the Reynolds number decreases, the unsteady aerodynamic force weakens, the static stability performance is low, and the control performance is poor, which increases the difficulty of entry-level flight and seriously affects the aerobatics. Action quality. [0003] In order to increase the stability of small model airplanes, most of the current technologies use stabilization gyroscopes to increase the stability of model airplanes. Most of the hardware uses piezoelectric crysta...

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Problems solved by technology

[0004] The present invention aims at the problems that the piezoelectric crystal angular rate sensor is large in size and heavy in mass, and the control algorithm of the software is not accurate enough for the control of model airplanes, and thus provides a dual-axis stability-increasing controller and control method for model airplanes, including two-axis The angular rate sensor 4 is used to output the X-axis angular rate signal, the Y-axis angular rate signal and the sensor temperature signal, and is connected to the second I / O interface of the single-chip microcomputer 1; the four-way function selection switch 2 that outputs the two-speed signal of on and off is connected to The first I / O interface of the single-chip microcomputer 1; the two-way sensitivity adjustment potentiometer 3 is connected to the third I / O interface of the single-chip microcomputer 1; the single-chip microcomputer 1 converts the received analog signal into a digital signal through the A / D converter, and the The processor of 1 performs calculations according to the program, and calculates the temperature drift compensation of the angular rate signal according to the given temperature compensation law, calculates the temperature deviation, and fits the temperature deviation of the angular rate into a time-related function. The control quantity is calculated by the improved PID algorithm, and the control quantity is input into the PWM module of the single chip microcomputer 1, which is converted into a PWM signal output through the PWM (Pulse Width Modulation) module, which is used to drive the rudder surface of the aircraft model aircraft steering gear Deflection to generate aerodynamic steering moment to control model aircraft

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