Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter

An unmanned helicopter, attitude control technology, applied in attitude control and other directions, can solve the problems of fixed control mode, close circuit coupling, and complex debugging.

Inactive Publication Date: 2010-09-15
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In order to improve the shortcomings of close coupling of various parts of the circuit in analog control, complex debugging, inaccurate parameters, fixed control mode, etc., the present invention adopts full digital control

Method used

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  • Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter
  • Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter
  • Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter

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Embodiment Construction

[0063] (1) see figure 1 , a kind of coaxial unmanned helicopter dual-redundancy attitude control system of the present invention, it is made up of parts such as serial port communication module A, PCM decoding module B, AD acquisition module C, PWM output module D and CPU control module E. The logical relationship between them is: serial port communication module A, PCM decoding module B, and AD acquisition module C are used as system input, and the improved digital PID control is performed by the CPU control module E, which is output by the PWM output module D in the form of PWM pulses. With the cooperation of simple peripheral logic circuits, the control of the subsequent high-power tubes is realized; at the same time, the main functions of the CPU control module E also include mutual monitoring, backup and switching of dual CPUs, thereby realizing "dual redundancy" control.

[0064]Described serial port communication module is: realize by the serial port controller (UART un...

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Abstract

The invention discloses a dual-redundancy attitude control system of a coaxial unmanned helicopter, which consists of a serial communication module, a PCM (Pulse-Code Modulation) decoding module, an AD acquisition module, a PWM (Pulse-Width Modulation) output module and a CPU control module. The serial communication module, the PCM decoding module and the AD acquisition module are used as system input, the CUP control module carries out improved digital PID control, and the PWM output module carries out output in the form of PWM pulses, and thus, the control of a backward-stage high power valve is realized. A debug method comprises the following fives steps of: firstly, connecting a defined I/O port to a high or low-level end according to a parameter debug object; secondly, adjusting a potentiometer to provide initial parameters for Kp and Kd and controlling the backward-stage high power valve; thirdly, keeping a neutral position of Futaba unchangeable, adjusting the potentiometer so that a steering engine achieves a critical state of self-excitation vibration; fourthly, operating the Futaba to output a signal exceeding a pulse threshold; and fifthly, operating the Futaba to return to a central position. The method realizes the debug and the storage of relevant parameters, decreases interference and improves the system stability and the response speed.

Description

(1) Technical field [0001] The invention relates to an aircraft attitude control system, in particular to a dual-redundancy attitude control system and a debugging method for a coaxial unmanned helicopter, belonging to the technical field of unmanned aerial vehicle control. (2) Background technology [0002] The attitude control system of the coaxial helicopter is mainly used to improve the stability and operability of the flight process, which can be realized by analog control or digital control. In order to improve the shortcomings of close coupling of various parts of the circuit in analog control, complex debugging, inaccurate parameters, fixed control mode, etc., the present invention adopts full digital control. At the same time, the use of digital control can make the system have good inheritability, and is conducive to system upgrades, improving the flexibility of control and the reusability of functional modules. [0003] Since the stability of the helicopter is ve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 吴智杰赵琦王修桐胡继忠
Owner BEIHANG UNIV
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