Ground measurement and control system for multi-rotor aircraft with rotor speed detection function

Abstract

The invention provides a multi-rotor aircraft ground measurement and control system having a function of detecting the rotating speeds of the rotors, which belongs to the technical field of aircraft control. The multi-rotor aircraft ground measurement and control system comprises a pitch angle and roll angle measurement circuit, a rotor rotating speed measurement circuit, an azimuth angle measurement circuit, a wireless communication unit, a pulse-width modulation (PWM) control circuit and a main controller circuit; and the main controller circuit is connected with the pitch angle and roll angle measurement circuit, the rotor rotating speed measurement circuit, the azimuth angle measurement circuit, the wireless communication unit and the PWM control circuit respectively and used for transmitting a rotor rotating speed, an inclination angle and a rotating angular speed so as to control current posture data and a PWM rotating speed control signal. The multi-rotor aircraft ground measurement and control system is low in use price and high in cost performance; an eight-bit micro control unit (MCU) having an Internet service provider (ISP) function is used as a control chip; the rotating speeds of four rotors are measured by a hall chip; a biaxial angle sensor measures a pitch angle and a roll angle; a digital compass measures an azimuth angle; and a wireless transmission chip performs high-speed wireless communication.

Description

technical field [0001] The invention relates to a device in the field of aircraft control technology, in particular to a multi-rotor aircraft ground measurement and control system with a rotor speed detection function. Background technique [0002] The aircraft with four-rotor structure has become the hottest topic in the field of automatic control and intelligence at home and abroad because of its flight stability, simplicity of control system design, flexibility of flight path, ability to hover at a fixed point, orientation and height, and no need for a dedicated runway. One of the research objects and platforms. [0003] After searching the literature of the existing technology, it was found that "Design and Realization of Real-time Embedded Control System for Miniature Quadrotor UAV" published by Liu Xiaojie et al. In this paper, three single-axis gyro sensor chips ADXRS613 and one two-axis acceleration sensor chip ADXL203 are used to form the IMU unit, the Xbee Pro mod...

AI Technical Summary

Problems solved by technology

But there are the following problems: 1) Although the BLDC brushless DC motor speed measurement system is used, it is not reflected in the helicopter control equation established by Newtonian mechanics; 2) Xbee Pro module uses Zigbee communication mode, the data capacity is limited and the distance is relatively short , 3) The IMU unit needs to obtain the pitch angle and roll angle of the helicopter through integral calculation, which requires a large amount of calculation and has a large integral error. 4) The MCF51QE12832 MCU processor chip is expensive, does not have ISP functions, and software upgrades are more troublesome

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