Plasma propulsion control system based on PWM (Pulse Width Modulation)

Abstract

The invention discloses a plasma propulsion control system based on PWM (pulse width modulation), and relates to the technical field of power propulsion unmanned aerial vehicles, the system comprises a power supply module, a voltage stabilization module, a control module, a driving module, a feedback module and an execution module, the voltage stabilization module is used for supplying stable voltage and outputting the stable voltage to the control module and the feedback module; the control module is used for resolving attitude sensor data, the driving module converts low-voltage signals into high-voltage signals by changing on-off of a high-voltage dry reed relay, the feedback module is used for collecting acceleration and angular speed of the plasma unmanned aerial vehicle and providing attitude feedback for the control module, and the execution module is used for generating ion wind and providing power for the plasma unmanned aerial vehicle. The power supply module is connected with the voltage stabilization module, the driving module and the execution module, the voltage stabilization module is connected with the control module and the feedback module, and the plasma propulsion control system provided by the invention can realize attitude control of the plasma unmanned aerial vehicle and five-degree-of-freedom pose cascade control without yaw control.

Description

Technical Field

[0001] The invention relates to the technical field of power-propelled unmanned aerial vehicles, in particular to a plasma propulsion control system based on PWM pulse width modulation. Background Art

[0002] The flying principle of plasma drones is to use an asymmetric high-voltage electrode group corona discharge to ionize the air, and to accelerate the ions through a high-voltage electric field, exchanging momentum with air molecules to generate ion wind, thereby generating thrust to propel the drone to fly or lift for vertical takeoff and landing. Compared with traditional drones, plasma drones have the advantages of lower mechanical fatigue, low flight noise, and high energy efficiency. As a new concept aircraft, the ultra-quiet characteristics of plasma drones mean that they will be suitable for future urban inspections, freight transportation, and other tasks, reducing urban noise; the advantage of having no mechanical moving parts means that it will most likely replace flight control surfaces in the future, further simplifying the aircraft structure, extending the aircraft's service life, and reducing maintenance costs.

[0003] Plasma drones are still in the theoretical research stage, and the main research focuses on the electroaerodynamics of plasma propulsion devices. There is currently no solution for controlled flight. In terms of flight control systems, fixed-wing plasma drones are quite different from traditional fixed-wing and vertical take-off plasma drones and rotary-wing drones. It is difficult to directly apply the flight control system of traditional drones to control plasma drones. At the same time, the interference of the electromagnetic field generated by the plasma thruster on the control signal is also an unavoidable consideration.

[0004] Therefore, there is an urgent need for a plasma propulsion control system based on PWM pulse width modulation to solve the above problems. Summary of the invention

[0005] To solve the above problems, the present application provides a plasma propulsion control system based on PWM pulse width modulation, which realizes the purpose of 5-DOF attitude cascade control without yaw control, and aims to realize the attitude control of plasma drones, including the following modules:

[0006] A voltage stabilizing module, which is used to supply a stable voltage and output it to the control module and the feedback module;

[0007] A control module, the control module is used to calculate the attitude sensor data and output 4-way PWM control signals according to PID control;

[0008] A driving module, wherein the driving module converts a low voltage signal into a high voltage signal by changing the on-off state of a high voltage reed relay;

[0009] A feedback module, which is used to collect the acceleration and angular velocity of the plasma drone and provide attitude feedback to the control module;

[0010] An execution module is used to generate ion wind to provide power for the plasma drone.

[0011] Preferably, a power supply module is used to supply voltage to the system and store electric energy. The power supply module includes one power supply and two power supplies. One power supply is a high-voltage power supply output to the execution module, and the second power supply is a low-voltage power supply output to other modules.

[0012] The high voltage power supply is a lithium polymer battery, which is connected to a high voltage power converter to increase the voltage and rectify it.

[0013] The low-voltage power supply is a lithium battery, which is used to power the drive module, the voltage stabilization module, the feedback module and the control module.

[0014] Preferably, the voltage stabilizing module includes a voltage stabilizer U1, a capacitor C1, a capacitor C2 and a capacitor C3, the ground end of the voltage stabilizer U1 is grounded, the input end of the voltage stabilizer U1 is connected to the lithium battery port and one end of the capacitor C1 and the capacitor C2, the output end of the voltage stabilizer U1 is connected to one end of the capacitor C3 and the control module, and the other ends of the capacitors C1, C2 and C3 are grounded.

[0015] Preferably, the control module is a single chip microcomputer and its peripheral circuits, and the output pins of PWM are respectively PA0 pin, PA1 pin, PA2 pin and PA3 pin.

[0016] Preferably, the driving module includes a plurality of MOS tubes, a plurality of signal indicator lights and a plurality of high-voltage reed relays;

[0017] The MOS tubes are numbered Q1, Q2, Q3...Qn, the high-voltage reed relays are numbered JDQ1, JDQ2, JDQ3...JDQn, the LED lamps are numbered LED1, LED2, LED3...LEDn, and the current-limiting resistors are numbered R1, R2, R3...Rn.

[0018] One end of the MOS tube is connected to the low voltage power supply output, and the other end is connected to the relay control input;

[0019] The control end of the high-voltage reed relay is connected to the PWM output pin of the control module, and the control output end of the high-voltage reed relay is grounded;

[0020] The high-voltage input port of the high-voltage reed relay is connected to the high-voltage output of the power supply module, and the high-voltage output port of the high-voltage reed relay is connected to the emitter of the execution module;

[0021] One end of the LED lamp is connected to the PWM output pin of the control module, and one end is connected to a current limiting resistor, and the other end of the current limiting resistor is grounded.

[0022] Preferably, the feedback module includes an accelerometer and a gyroscope.

[0023] Preferably, the execution module is a multi-stage plasma propulsion electrode group of several partitions and its supporting structure;

[0024] The partitions are upper and lower three-stage propulsion electrode groups. Each stage of the multi-stage plasma propulsion electrode group includes a number of parallel plasma propulsion units. Each of the plasma propulsion units includes an emitting electrode and a collecting electrode. The emitting electrode is arranged at the horizontal center position of the two collecting electrodes, and the emitting electrode and the collecting electrode are staggered.

[0025] Preferably, the emitter electrode is a tungsten wire or a copper wire with a diameter of 25 to 80 μm, and the collector electrode is made of wing-shaped balsa wood covered with aluminum foil;

[0026] The emitting electrode is connected to the output port of the high voltage reed relay, and the collecting electrode is grounded.

[0027] Preferably, the power supply module is connected to the voltage stabilizing module, the driving module and the execution module, and the voltage stabilizing module is connected to the control module and the feedback module.

[0028] To summarize, compared with traditional power propulsion UAV technology, the plasma propulsion control system based on PWM pulse width modulation of the present invention utilizes the corona discharge principle to generate ion wind propulsion force for a plasma propulsion UAV. A controllable flight scheme is designed for a plasma UAV with multiple partitioned propulsion electrode groups to achieve attitude control of the plasma UAV. For the partitioned plasma propulsion electrode group, 5-degree-of-freedom attitude cascade control without yaw control can be achieved.

[0029] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a module schematic diagram of a plasma propulsion control system based on PWM pulse width modulation of the present invention;

[0031] Figure 2 This is a circuit diagram of a voltage stabilizing module of a plasma propulsion control system based on PWM pulse width modulation according to the present invention;

[0032] Figure 3 This is a circuit diagram of a driving module of a plasma propulsion control system based on PWM pulse width modulation of the present invention;

[0033] Figure 4 This is a schematic diagram of an execution module of a plasma propulsion control system based on PWM pulse width modulation of the present invention, wherein 1 is zone 1, 2 is zone 2, 3 is zone 3, and 4 is zone 4. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below by means of the accompanying drawings and embodiments. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​described in these embodiments do not limit the scope of the present application.

[0035] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0036] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0037] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0038] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0039] like Figure 1 As shown, the present invention provides a plasma propulsion control system based on PWM pulse width modulation, including a power supply module, a voltage stabilization module, a control module, a drive module, a feedback module and an execution module. Specifically, the power supply module is used to supply voltage to the system and store electrical energy.

[0040] The power supply module includes one-way power supply and two-way power supply. One-way power supply is high-voltage power supply output to the execution module, and the two-way power supply is low-voltage power supply output to other modules.

[0041] The high-voltage power supply is a lithium polymer battery with an output voltage range of 200V to 225V. It is connected to a high-voltage power converter to increase the voltage and rectify it, and can provide a high-voltage power of up to 40kV.

[0042] The low-voltage power supply is a 12V lithium battery, which is used to power the drive module, voltage regulator module, feedback module and control module.

[0043] like Figure 2 The voltage stabilizing module shown is used to supply a stable voltage, which is output to the control module and the feedback module.

[0044] The voltage regulator module is a 12V to 3.3V voltage regulator circuit, including a voltage regulator U1, a capacitor C1, a capacitor C2 and a capacitor C3. The ground terminal of the voltage regulator U1 is grounded, the input terminal of the voltage regulator U1 is connected to the lithium battery port and one end of the capacitor C1 and the capacitor C2, the output terminal of the voltage regulator U1 is connected to one end of the capacitor C3 and the control module, and the other ends of the capacitors C1, C2 and C3 are grounded. AMS1117-3.3 is a linear voltage regulator chip used to reduce the input voltage to a stable output voltage. It has high stability and reliability and can provide a relatively stable output voltage, thereby protecting the normal operation of subsequent circuits.

[0045] The single-chip microcomputer model of the control module is STM32F103C8T6, which is a microcontroller chip launched by STMicroelectronics (STMicroelectronics). It belongs to the STM32F1 series, runs based on the ARM Cortex-M3 core, and has rich peripherals and functions. It is widely used in embedded system development, industrial control and automation fields. In the present invention, this chip is used as a controller, which is not the focus of the present invention, but it is not repeated.

[0046] Furthermore, the control module is used to resolve the attitude sensor data and output 4 PWM control signals according to the PID control. The control module is a single-chip microcomputer and its peripheral circuits, and the PWM output pins are PA0 pin, PA1 pin, PA2 pin and PA3 pin respectively.

[0047] like Figure 3 As shown, the drive module converts the low voltage signal into a high voltage signal by changing the on and off state of the high voltage reed relay.

[0048] The drive module includes several N-channel MOS tubes, several signal indicator lights and several high-voltage reed relays, which are used to convert low-voltage signals into high-voltage signals by changing the on-off state of the high-voltage reed relays.

[0049] The MOS tube position numbers are Q1, Q2, Q3...Qn, the high-voltage reed relay position numbers are JDQ1, JDQ2, JDQ3...JDQn, the LED lamp position numbers are LED1, LED2, LED3...LEDn, and the current limiting resistor position numbers are R1, R2, R3...Rn.

[0050] One end of the MOS tube is connected to the low-voltage 12V power supply output, and the other end is connected to the relay control input.

[0051] According to an embodiment of the present invention, the MOS transistor is an N-channel MOS transistor, and the channel is an N-type semiconductor material, which is electrically insulated and isolated by an oxide layer. The control gate electrode is used to control the flow of current in the channel. When a positive voltage is applied to the control gate electrode, an electric field is formed to make the channel conductive, thereby allowing current to pass. Conversely, when a negative voltage is applied to the control gate electrode or it is turned off, the channel will be disconnected and the current will stop flowing.

[0052] The control end of the high-voltage reed relay is connected to the PWM output pin of the control module, and the control output end of the high-voltage reed relay is grounded.

[0053] According to one embodiment of the present invention, a high-voltage reed relay is an electrical switching device that uses a reed switch as a key component to shut down the circuit with an electric shock. It is usually used in circuits that require operation of high voltage (hundreds of volts to thousands of volts) and high current (tens of milliamperes to several amperes). The working principle is to use the parallel magnetic fields on two conductive metal sheets to generate magnetic attraction, close the two metal sheets and complete the circuit closure. The rated voltage of the high-voltage reed relay coil in the present invention is 12V, the maximum coil voltage is 15.6V, the coil resistance is 200Ω, the coil current is 60mA, the release voltage is 10% of the rated voltage, and the pull-in voltage is 80% of the rated voltage.

[0054] Further, the high voltage input port of the high voltage reed relay is connected to the high voltage output of the power supply module, and the high voltage output port of the high voltage reed relay is connected to the emitter of the execution module.

[0055] One end of the LED lamp is connected to the PWM output pin of the control module, one end is connected to the current limiting resistor, and the other end of the current limiting resistor is grounded.

[0056] Furthermore, the feedback module is used to collect the acceleration and angular velocity of the plasma drone and provide attitude feedback to the control module. The feedback module includes an accelerometer and a gyroscope.

[0057] According to one embodiment of the present invention, the feedback module is an MPU6050 chip, which is a six-axis motion tracker that integrates a three-axis accelerometer and a three-axis gyroscope, and captures the motion state of an object by sensing its acceleration and angular velocity. The accelerometer can measure the linear acceleration of an object, while the gyroscope can measure the angular velocity of an object. In the present invention, it communicates with the control module via an I2C interface.

[0058] like Figure 4 As shown, the execution module is used to generate ion wind to provide power for the plasma drone.

[0059] The execution module is a multi-stage plasma propulsion electrode group consisting of several partitions and its supporting structure.

[0060] The plasma drone propulsion electrode group is divided into 4 zones named Zone 1, Zone 2, Zone 3, and Zone 4. Each zone is divided into three levels of propulsion electrode groups, each of which includes 12 parallel plasma propulsion units. Each plasma propulsion unit includes an upper emitter electrode and two lower horizontally placed collecting electrodes. The emitter electrode is set at the horizontal center of the two collecting electrodes, and the emitter electrode and the collecting electrode are staggered. The purpose of the grading is to increase the propulsion force generated by the ion wind, thereby increasing the control torque required to control the attitude.

[0061] The emitting electrode is a tungsten wire or copper wire with a diameter of 25 to 80 μm, and the collecting electrode is made of wing-shaped balsa wood covered with aluminum foil.

[0062] The transmitting electrode is connected to the output port of the high voltage reed relay, and the collecting electrode is grounded.

[0063] According to an embodiment of the present invention, staggered distribution of emitting electrodes and collecting electrodes can improve the flow characteristics of ion wind and reduce resistance.

[0064] The power supply module is connected to the voltage stabilizing module, the driving module and the execution module, and the voltage stabilizing module is connected to the control module and the feedback module.

[0065] According to one embodiment of the present invention, the basic principle of the present invention is to output a PWM pulse width modulation waveform based on the PID control law in the control module through the attitude feedback of the feedback module sensor, control the on-off of the MOS tube channel, and then control the on-off of the high-voltage reed relay, so as to distribute and adjust the thrust of the plasma propulsion electrode groups in different partitions, so as to achieve the purpose of controlling the attitude and position of the plasma UAV.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A plasma propulsion control system based on PWM pulse width modulation, It is characterized in that Includes the following modules: A voltage stabilizing module, which is used to supply a stable voltage and output it to the control module and the feedback module; A control module, the control module is used to calculate the attitude sensor data and output 4-way PWM control signals according to PID control; A driving module, wherein the driving module converts a low voltage signal into a high voltage signal by changing the on-off state of a high voltage reed relay; A feedback module, which is used to collect the acceleration and angular velocity of the plasma drone and provide attitude feedback to the control module; An execution module is used to generate ion wind to provide power for the plasma drone.

2. A plasma propulsion control system based on PWM pulse width modulation according to claim 1, It is characterized in that Also includes: A power supply module, which is used to supply voltage to the system and store electrical energy; The power supply module includes one power supply and two power supplies, one power supply is a high voltage power supply output to the execution module, and the two power supplies are a low voltage power supply output to other modules; The high voltage power supply is a lithium polymer battery, which is connected to a high voltage power converter to increase the voltage and rectify it; The low-voltage power supply is a lithium battery, which is used to power the drive module, the voltage stabilization module, the feedback module and the control module.

3. A plasma propulsion control system based on PWM pulse width modulation according to claim 1, It is characterized in that The voltage stabilizing module includes a voltage stabilizer U1, a capacitor C1, a capacitor C2 and a capacitor C3. The ground end of the voltage stabilizer U1 is grounded, the input end of the voltage stabilizer U1 is connected to the lithium battery port and one end of the capacitor C1 and the capacitor C2, the output end of the voltage stabilizer U1 is connected to one end of the capacitor C3 and the control module, and the other ends of the capacitors C1, C2 and C3 are grounded.

4. A plasma propulsion control system based on PWM pulse width modulation according to claim 1, It is characterized in that The control module is a single chip microcomputer and its peripheral circuits, and the output pins of PWM are respectively PA0 pin, PA1 pin, PA2 pin and PA3 pin.

5. A plasma propulsion control system based on PWM pulse width modulation according to claim 1, It is characterized in that The driving module includes a plurality of MOS tubes, a plurality of signal indicator lights and a plurality of high-voltage reed relays; The MOS tubes are numbered Q1, Q2, Q3...Qn, the high-voltage reed relays are numbered JDQ1, JDQ2, JDQ3...JDQn, the LED lamps are numbered LED1, LED2, LED3...LEDn, and the current-limiting resistors are numbered R1, R2, R3...Rn. One end of the MOS tube is connected to the low voltage power supply output, and the other end is connected to the relay control input; The control end of the high-voltage reed relay is connected to the PWM output pin of the control module, and the control output end of the high-voltage reed relay is grounded; The high-voltage input port of the high-voltage reed relay is connected to the high-voltage output of the power supply module, and the high-voltage output port of the high-voltage reed relay is connected to the emitter of the execution module; One end of the LED lamp is connected to the PWM output pin of the control module, and one end is connected to a current limiting resistor, and the other end of the current limiting resistor is grounded.

6. A plasma propulsion control system based on PWM pulse width modulation according to claim 1, It is characterized in that The feedback module includes an accelerometer and a gyroscope.

7. A plasma propulsion control system based on PWM pulse width modulation according to claim 1, It is characterized in that The execution module is a multi-stage plasma propulsion electrode group with several partitions and its supporting structure; The partitions are upper and lower three-stage propulsion electrode groups. Each plasma propulsion electrode group of the multi-stage plasma propulsion electrode group includes a number of parallel plasma propulsion units. Each of the multi-stage plasma propulsion units includes an emitting electrode and a collecting electrode. The emitting electrode is arranged at the horizontal center position of the two collecting electrodes, and the emitting electrode and the collecting electrode are staggered.

8. A plasma propulsion control system based on PWM pulse width modulation according to claim 7, It is characterized in that The emitter electrode is a tungsten wire or a copper wire with a diameter of 25 to 80 μm, and the collector electrode is made of wing-shaped balsa wood covered with aluminum foil; The emitting electrode is connected to the output port of the high voltage reed relay, and the collecting electrode is grounded.

9. A plasma propulsion control system based on PWM pulse width modulation according to claim 1, It is characterized in that The power supply module is connected to the voltage stabilizing module, the driving module and the execution module, and the voltage stabilizing module is connected to the control module and the feedback module.

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