Measurement and control system of quad-rotor unmanned aerial vehicle scientific research and teaching test bench

A four-rotor UAV, measurement and control system technology, applied in the field of UAV, can solve problems such as inability to in-depth and innovative research, difficult to know the specific parameters of mathematical models and internal flight control mechanism, etc., to achieve the effect of easy learning and mastery

Inactive Publication Date: 2018-12-04
NORTHWEST A & F UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that it is difficult to know the specific parameters of the mathematical model and the internal flight control mechanism encountered in the current

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  • Measurement and control system of quad-rotor unmanned aerial vehicle scientific research and teaching test bench
  • Measurement and control system of quad-rotor unmanned aerial vehicle scientific research and teaching test bench
  • Measurement and control system of quad-rotor unmanned aerial vehicle scientific research and teaching test bench

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Embodiment Construction

[0019] The technical solution of the present invention will be further elaborated below in conjunction with the accompanying drawings.

[0020] Such as figure 1 As shown, in order to adjust the attitude of the quadrotor UAV, the roll angle of the UAV must be controlled. Through the gyroscope and sensor, the actual attitude calculated by the attitude of the quadrotor UAV is compared with the expected attitude given by the remote control and the roll angle measurement and control software, and the PID follow-up control is performed to adjust the attitude of the UAV.

[0021] Such as figure 2 As shown, the hardware circuit includes an angle encoder, a main control chip, a decoder board, a gyroscope, a sensor, a remote control, and an attitude adjustment mechanism. The main control chip receives instructions from the remote control through wireless transmission, and at the same time obtains the real-time attitude detected by the gyroscope. The main control chip compares and cal...

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Abstract

The invention discloses the measurement and control system of a quad-rotor unmanned aerial vehicle scientific research and teaching test bench. The system is formed by a hardware circuit and measurement and control software. The hardware circuit is formed by an angle encoder, a main control chip, a decoding board, a gyroscope, a sensor, a remote controller, and an attitude adjustment mechanism. Anunmanned aerial vehicle rolling signal is transmitted to rolling angle control software via the angle encoder and the decoding board, and an attitude response curve is displayed and a corresponding PID parameter is adjusted according to a curve change trend. The software is used to feed back a parameter modification instruction to the main control chip, and simultaneously, the desired posture ofa remote control instruction is compared with the real-time posture monitored by the gyroscope, and a result is used as a control input. Through the main control chip, two input instructions are operated and processed, and then a corresponding control command is output. Through the organic combination of the software and hardware, the smooth flight of the single degree of freedom of an unmanned aerial vehicle is realized. The system has guiding significance for studying the control mechanism of a rotor unmanned aerial vehicle, and has an important reference value for the development of an unmanned aerial vehicle control system.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a measurement and control system for a four-rotor unmanned aerial vehicle scientific research and teaching test bench. Background technique [0002] The research on rotorcraft has a long history. Non-coaxial twin-rotor helicopters belong to the earliest research among modern helicopters. At present, the United States has the most solid research accumulation in the field of non-coaxial twin-rotor helicopters. Although there are many companies in our country that are developing rotary-wing UAVs, there is no innovation in the core technology, and most of them are profiling designs. The core technology of UAVs is the flight control of UAVs, and imitation is impossible. Master the core technology. Although the current four-rotor UAV technology is relatively mature, most of the technology is kept secret. For the users of UAVs, or the basic teaching in our country, only one of th...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 杨福增王强刘谦文
Owner NORTHWEST A & F UNIV
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