Small comprehensive control system

Abstract

A small comprehensive control system provided by the present invention comprises a cabin section, and a servo assembly and an electronic integrated device which are fixed on the cabin section, and the electronic integrated device comprises a main control assembly, a communication assembly, a power supply assembly, an IMU assembly, an AD acquisition assembly, a steering engine driving assembly, a switching value input assembly, a switching value output assembly and a connection assembly. All components of the electronic integrated device are respectively carried on four PCBs packaged by bare cores, the four PCBs are divided into a power management board, a power driving board, an IMU board and a main control board, the power management board, the power driving board and the IMU board are respectively connected with the main control board, the IMU board is axially fixed on the cabin section perpendicular to the cabin section, and the power driving board and the IMU board are respectively connected with the main control board. And the power management board, the power driving board and the main control board are axially fixed on the cabin section in parallel to the cabin section. The invention provides a small comprehensive control system, which is used for solving the problem that an existing control system is not matched with aircraft miniaturization, high control precision and quick response.

Description

Technical Field

[0001] The present invention relates to the field of aircraft technology, and in particular to a small integrated control system. Background Art

[0002] The control system is the core component of the aircraft, which is mainly used to interact with other subsystems in the aircraft and control the work of other subsystems to complete the flight mission of the aircraft. The control system includes controllers, inertial navigation (IMU) components, servo components, power management components, bus communication, input and output interfaces, etc. It is a complex system with high functional integration. It has a very large demand in the civil field and is a hot topic for design and development at home and abroad.

[0003] The current aircraft are increasingly pursuing miniaturization, high-precision control and fast response, while the common control system technical indicators and control strategies are more suitable for traditional aircraft. At the same time, the trend of "miniaturization" of aircraft also makes the design of various subsystems in aircraft, especially control systems, more difficult and complex. Summary of the invention

[0004] The present invention provides a small integrated control system to solve the problem that the existing control system is not compatible with the pursuit of miniaturization, high control precision and rapid response of aircraft.

[0005] The present invention provides a small integrated control system, comprising a cabin and a servo component and an electronic integrated device fixed on the cabin, wherein the electronic integrated device comprises a main control component, a communication component, a power component, an IMU component, an AD acquisition component, a steering gear drive component, a switch quantity input component, a switch quantity output component and a connection component, wherein the components of the electronic integrated device are respectively mounted on four PCB boards of a bare core package, wherein the four PCB boards are divided into a power management board, a power drive board, an IMU board and a main control board, wherein the power management board, the power drive board and the IMU board are respectively connected to the main control board, wherein the IMU board is axially fixed on the cabin perpendicular to the cabin, and the power management board, the power drive board and the main control board are axially fixed on the cabin parallel to the cabin, wherein:

[0006] The servo assembly is used to provide pneumatic control torque;

[0007] The main control component includes a dual-core ARM and FPGA processor, which is used to provide a hardware platform for information processing and control calculation;

[0008] The communication component includes an EMIF bus for communication between the dual-core ARM and the FPGA processor, a serial communication module for communication between the FPGA processor and a data link and a solid-state memory, and a bus for communication between the FPGA processor and the IMU component;

[0009] The power supply component is used to provide working voltage for the main control component, the IMU component, the AD acquisition component, the servo component and the peripheral unit, and the peripheral unit includes a thermal battery, an explosive device, the data link and the solid-state memory;

[0010] The IMU component is used to measure and collect angular velocity and acceleration during movement;

[0011] The AD acquisition component includes an AD conversion circuit for acquiring and converting analog signals;

[0012] The steering gear drive component is used to receive a steering control signal, output a steering gear drive signal and receive a steering gear feedback signal;

[0013] The switch quantity input component includes a switch quantity input circuit, which is used to realize the on-off control of multiple switch quantity inputs;

[0014] The switch output component includes a switch output circuit for realizing on-off control of multi-channel switch outputs, and the current limiting resistor of the ignition circuit in the switch output circuit adopts a time-division multiplexing mode;

[0015] The connection component is a flexible cable, which is used for connection between the PCB boards and, after being configured with a connector, is used for connection between the electronic integrated device and the peripheral unit.

[0016] The above scheme provides a small integrated control system with ultra-fast response and high precision. As a section of the cabin of the aircraft, it is used to control the peripheral units on the aircraft, realize the control of the peripheral units and the manipulation of the aircraft, and improve the dynamic response speed and control precision of the aircraft during flight; the components in the electronic integrated device are reasonably integrated on four PCB boards, and the PCB boards are connected by flexible cables, which reduces the area of ​​the PCB boards occupied by the cables. At the same time, the time-sharing multiplexing of the bare core package and the current limiting resistor reduces the volume of the electronic integrated device and saves space; the use of dual-core ARM and FPGA processors not only utilizes the advantages of high performance, low power consumption, low cost and small size of the dual-core ARM, but also utilizes the advantages of fast running speed, high communication frequency and strong data processing capability of the FPGA processor, so that the control system code has a large available space, fast running speed, high reliability, high precision and high stability; the EMIF bus is used to realize the communication between the dual-core ARM and the FPGA, which simplifies the bottom-level driver of the dual-core ARM processor and improves the communication speed between multiple cores, thereby achieving fast response.

[0017] Optionally, the four PCBs are installed in the following manner:

[0018] The power driving board, the main control board and the power management board are fixed between the adapter plate and the support plate parallel to the axial direction of the cabin section, and the adapter plate and the support plate are fixed on the cabin section perpendicular to the axial direction of the cabin section;

[0019] The IMU board is axially fixed perpendicularly to the cabin section on a side of the support plate facing away from the adapter plate, and the IMU board is fixed to the main control board via pins.

[0020] Optionally, the power management board, the power driving board and the main control board are rectangular PCB boards of the same size, and the IMU board is a circular PCB board.

[0021] Optionally, the servo assembly is divided into four groups, each group includes a rudder system, a rudder blade and a folding mechanism, and the rudder system includes a steering gear, a reducer, and a digital potentiometer.

[0022] Optionally, the servo assembly adopts a method of delayed deployment and locking of the rudder blades.

[0023] Optionally, the power supply of the power supply assembly includes an external power supply device, an energy storage capacitor and the thermal battery, and the external power supply device provides two voltage signals.

[0024] Optionally, the power supply assembly includes a power conversion circuit and a frequency division multiplexing module, wherein:

[0025] The power conversion circuit is used to perform secondary conversion on the voltage output by the energy storage capacitor, the thermal battery and the frequency division multiplexing module;

[0026] The frequency division multiplexing module is used to perform frequency division multiplexing on the two voltage signals provided by the external power supply device and the digital signal of the external serial port interaction.

[0027] Optionally, the communication component also includes a serial communication module for communication between the FPGA processor and the frequency division multiplexing module.

[0028] Optionally, the IMU component includes a three-axis gyroscope, a three-axis accelerometer and a large-range accelerometer.

[0029] Optionally, the servo drive assembly includes four servo power drive circuits. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A schematic diagram of the architecture of a small integrated control system provided by an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of an installation method of a small integrated control system provided by an embodiment of the present invention, wherein:

[0033] 1 is the servo assembly, 2 is the power management board, 3 is the main control board, 4 is the IMU board, 5 is the power driver board, 6 is the cabin section, 7 is the support board, and 8 is the adapter board;

[0034] Figure 3 A schematic diagram of the connection between PCB boards provided in an embodiment of the present invention, wherein:

[0035] 9 is a flexible cable and 10 is a connector. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Figure 1 The structure of a small integrated control system provided by an embodiment of the present invention is shown, including a cabin section and a servo assembly and an electronic integrated device fixed on the cabin section. The electronic integrated device includes a main control assembly, a communication assembly, a power supply assembly, an IMU assembly ( Figure 1 Inertial navigation components), AD acquisition components, servo drive components, switch input components ( Figure 1 Multi-channel switch input), switch output components ( Figure 1 The components of the electronic integrated device are respectively mounted on four PCB boards of the bare core package. The four PCB boards are divided into a power management board, a power driver board, an IMU board and a main control board. The power management board, the power driver board and the IMU board are respectively connected to the main control board. The IMU board is fixed on the cabin perpendicular to the axial direction of the cabin, and the power management board, the power driver board and the main control board are fixed on the cabin parallel to the axial direction of the cabin.

[0038] Figure 2 A small integrated control system installation method is shown, wherein the installation method of four PCBs includes:

[0039] The power driving board 5, the main control board 3 and the power management board 2 are fixed between the adapter board 8 and the support board 7 parallel to the axial direction of the cabin section, and the adapter board 8 and the support board 7 are fixed on the cabin section 6 perpendicular to the axial direction of the cabin section;

[0040] The IMU board 4 is fixed perpendicularly to the cabin axis on the side of the support plate 7 facing away from the adapter plate 8, and the IMU board 4 is fixed to the main control board 3 through pins.

[0041] Furthermore, the power drive board, the main control board, the power management board and the IMU board are fixed to the adapter plate and the support plate by screws, and the adapter plate and the support plate are fixed to the cabin section by screws.

[0042] If all components are mounted on one PCB board or on four rectangular PCB boards respectively, they cannot be installed in the cabin of a small aircraft; if all components are mounted on four circular PCB boards, such a complex system cannot be realized.

[0043] In one example, the power management board, the power driver board and the main control board are rectangular PCB boards of the same size, and the IMU board is a circular PCB board.

[0044] The servo assembly is used to provide aerodynamic control torque, which is the main control means and factor for the stable flight of the aircraft.

[0045] In one example, the servo components are divided into four groups, each group includes a rudder system, a rudder blade and a folding mechanism, and the rudder system includes a servo engine, a reducer, and a digital potentiometer.

[0046] The rudder system receives the servo drive signal output by the electronic integrated device to drive the servo to rotate, which is decelerated by the reducer to make the rudder blade deflect to a certain extent, forming a corresponding aerodynamic control torque to achieve stable flight of the aircraft.

[0047] The reducer adopts a two-stage reduction mechanism, the first stage is a helical gear, and the second stage is a worm gear, which can achieve a larger reduction ratio in a limited space.

[0048] The digital potentiometer feeds back the angle signal of the servo to the electronic integrated device to achieve closed-loop control. The angle signal of the servo here is the servo feedback signal.

[0049] The rudder blades can be deflected to the gap between the skins at the designed time under the rudder control command of the electronic integrated device, and then unfolded under the action of the torsion spring and locked by the locking pin.

[0050] The folding mechanism consists of a rotating shaft support, a rudder shaft, a torsion spring, a locking pin, a compression spring and a support end cover.

[0051] The servo assembly has a precise structure, and the gaps between the worm, bevel gear, torsion spring and other structures are small, which makes the servo have a large bandwidth, fast response speed and fast control speed of the aircraft attitude. The servo can accurately track control instructions and improve the control accuracy of the aircraft attitude.

[0052] In one example, the servo assembly uses a delayed deployment and locking method for the rudder blades. The rudder blades are initially folded in the servo assembly compartment and constrained by the skin structure. The rudder blades can be fully deployed and locked by the locking pin at the designed time under the rudder control command of the electronic integrated device, providing more feasibility for the aircraft aerodynamics and algorithms.

[0053] The main control components include dual-core ARM ( Figure 1 Dual-core ARM module in the Figure 1 The FPGA module in the system is used to provide a hardware platform for information processing and control calculation.

[0054] The main control component is mainly used for information processing and solving, algorithm calculation, receiving switch input, sending control instructions to internal components of electronic integrated devices, servo components and peripheral units, and converting secondary power into tertiary power (3.3V or 1.9V), etc., among which: solving refers to solving formulas for received data, and peripheral units include thermal batteries, pyrotechnics, data links and solid-state memories.

[0055] The dual-core ARM (microprocessor) is mainly used for algorithm and process calculations to realize software functions such as transfer alignment, navigation, guidance, stability algorithm calculation, launch process control, status monitoring and software upgrades. Among them, transfer alignment refers to the external reference inertial navigation aligning the IMU component with certain error data of the IMU.

[0056] The FPGA processor (field programmable gate array) is mainly used for data processing and steering control calculation, realizing AD acquisition, serial communication data acquisition (for example: RS422 serial communication module output data acquisition), IMU data acquisition and compensation, switch input / output control and steering gear control and other functions.

[0057] It should be noted that when the main control component communicates with other components, it communicates with other components through the FPGA processor, and the dual-core ARM does not communicate directly with other components.

[0058] The communication components include an EMIF bus for communication between the dual-core ARM and FPGA processors, a serial communication module for communication between the FPGA processor and the data link and solid-state memory, and a bus for communication between the FPGA processor and the IMU component.

[0059] In one example, the serial communication module is an RS422 serial communication module.

[0060] In one example, the bus is a SPI bus.

[0061] It should be noted that there is no need for a communication module between the AD acquisition component, the switch input component, the switch output component, the pyrotechnics and the FPGA. Among them: the AD acquisition component inputs analog quantities to the AD acquisition component chip, and the AD acquisition component chip directly outputs digital signals to the FPGA; the switch input component and the switch output component directly input and output voltage signals (usually 3.3V) through the IO hardware interface on the FPGA; the pyrotechnics close the MOS of the switch output circuit according to the switch output to turn on the circuit, and the large voltage can be directly input to the pyrotechnics to provide a large current for ignition.

[0062] The power supply component is used to provide working voltage for the main control component, IMU component, AD acquisition component, servo component and peripheral units.

[0063] In one example, the power supply of the power supply assembly includes an external power supply device, an energy storage capacitor and a thermal battery, and the external power supply device provides two voltage signals. The external power supply device provides voltages DC1 and DC2, the energy storage capacitor provides a voltage DC4, the energy storage capacitor is charged by DC1, and the thermal battery provides a voltage DC3.

[0064] The external power supply device, energy storage capacitor and thermal battery are relay powered. When connected to the external power supply device, it is powered by the external power supply device; when the aircraft is launched and separated from the external power supply device and the thermal battery is not fully activated, it is powered by the energy storage capacitor; when the thermal battery is fully activated, the thermal battery discharge voltage rises to a state of balance with the energy storage capacitor, and it is powered by the thermal battery.

[0065] In one example, a power supply assembly includes a power conversion circuit and a frequency division multiplexing module, wherein:

[0066] The power conversion circuit is used to perform secondary conversion on the voltage output by the energy storage capacitor, the thermal battery and the frequency division multiplexing module. The secondary conversion converts the external input power (28V or 20V voltage) into a secondary power supply (5V voltage).

[0067] The frequency division multiplexing module is used to perform frequency division multiplexing on two voltage signals provided by external power supply equipment and digital signals interacting with external serial ports.

[0068] Furthermore, the communication component also includes a serial communication module for communication between the FPGA processor and the frequency division multiplexing module. In one example, the serial communication module is an RS422 serial communication module.

[0069] The voltage DC1 and DC2 provided by the external power supply equipment and the digital signal interacting with the external serial port adopt frequency division multiplexing. The frequency division multiplexing module allows the voltage signals DC1 and DC2 to share the transmission line pair with the digital signal, reducing the number of signal lines and the occupied space, and enhancing the signal transmission strength. Compared with the voltage signal, the digital signal is a high-frequency signal with a frequency of megahertz.

[0070] When using voltage and digital signals, the frequency division multiplexing module is used to demodulate the multiplexed voltage signals DC1, DC2 and the digital signals, which are respectively provided to the power components, communication components and other components of the electronic integrated device to realize the power supply and control functions before the aircraft is launched.

[0071] The IMU component is used to measure and collect angular velocity and acceleration during movement for the main control component to perform algorithm calculations.

[0072] In one example, the IMU assembly includes a three-axis gyroscope, a three-axis accelerometer, and a wide-range accelerometer, where the three axes refer to the X-axis, the Y-axis, and the Z-axis.

[0073] The AD acquisition component includes an AD conversion circuit for acquiring and converting analog signals.

[0074] The servo drive component is used to receive servo control signals, output servo drive signals and receive servo feedback signals. The servo control signals are PWM signals.

[0075] In one example, the servo drive assembly includes four servo power drive circuits, which are used to receive four PWM servo control signals output by the main control assembly, perform power amplification, output servo drive signals to drive the servo, and receive four servo feedback signals returned by the digital potentiometer.

[0076] The switch quantity input component includes a switch quantity input circuit, which is used to realize the on-off control of multiple switch quantity inputs.

[0077] The switch output component includes a switch output circuit for realizing on-off control of multi-channel switch outputs. The current limiting resistor of the ignition circuit in the switch output circuit adopts a time-sharing multiplexing method.

[0078] The multi-channel pyrotechnics are controlled through multi-channel switch outputs, especially the pyrotechnics control of the peripheral steering system, which improves the maneuverability of the aircraft.

[0079] According to the ignition sequence of each pyrotechnic device, the current limiting resistors of the ignition circuits of each pyrotechnic device in the switch output circuit are time-division multiplexed, that is, the ignition circuits working at different times use the same current limiting resistor, so that the originally required 19 resistors are reduced to 6, thereby optimizing the ignition circuit and compressing the area of ​​the ignition circuit.

[0080] The connection component is a flexible cable, which is used for connection between PCB boards and, after being configured with a connector, is used for connection between an electronic integrated device and a peripheral unit.

[0081] Flexible cables are channels for information and power signal interaction between electronic integrated devices and peripheral units. Compared with ordinary loose wires, flexible cables occupy less PCB board area and have higher connection strength.

[0082] Figure 3 The connection method between each PCB board is shown, wherein the IMU board 4, the power driving board 5 and the power management board 2 are connected to the main control board 3 through a flexible cable 9, and each PCB board is connected to the peripheral unit through a flexible cable 9 equipped with a connector 10.

[0083] Taking into account that IMU components, communication components, switch input components and switch output components have more circuits or chips, while ensuring normal electrical functions, designers can reasonably mount them on different PCB boards based on actual conditions and experience to reduce the size of the PCB.

[0084] In one example, the components of the electronic integrated device are mounted on four PCB boards respectively, including:

[0085] The power supply component, the first part of the communication component, the first part of the switch quantity input component and the first part of the switch quantity output component are mounted on the power management board;

[0086] The steering gear drive component, the second part switch quantity input component and the second part switch quantity output component are mounted on the power drive board;

[0087] The first part of the IMU component, the third part of the switch quantity input component and the third part of the switch quantity output component are mounted on the IMU board;

[0088] The main control component, the second communication component, the fourth switch input component, the fourth switch output component and the second IMU component are mounted on the main control board.

[0089] The above scheme provides a small integrated control system with ultra-fast response and high precision. As a section of the cabin of the aircraft, it is used to control the peripheral units on the aircraft, realize the control of the peripheral units and the manipulation of the aircraft, and improve the dynamic response speed and control precision of the aircraft during flight; the components in the electronic integrated device are reasonably integrated on four PCB boards, and the PCB boards are connected by flexible cables, which reduces the area of ​​the PCB boards occupied by the cables. At the same time, the time-sharing multiplexing of the bare core package and the current limiting resistor reduces the volume of the electronic integrated device and saves space; the use of dual-core ARM and FPGA processors not only utilizes the advantages of high performance, low power consumption, low cost and small size of the dual-core ARM, but also utilizes the advantages of fast running speed, high communication frequency and strong data processing capability of the FPGA processor, so that the control system code has a large available space, fast running speed, high reliability, high precision and high stability; the EMIF bus is used to realize the communication between the dual-core ARM and the FPGA, which simplifies the bottom-level driver of the dual-core ARM processor and improves the communication speed between multiple cores, thereby achieving fast response.

[0090] The integrated control system in the embodiment of the present invention can control peripheral units according to external instructions, software timing, etc., for example: activating thermal batteries through switch output to power the control system; activating pyrotechnics through switch output to enable the aircraft to have flight power and high maneuverability; through switch output or serial port communication, peripheral units such as data links and solid-state storage enter normal working mode.

[0091] Currently, the smallest diameter of small aircraft is generally 40mm, and there is basically no diameter smaller than 40mm. Therefore, when a small integrated controller only occupies a cabin section with a diameter and length of approximately 40mm and 210mm respectively, it has met the needs of small aircraft with a diameter greater than 40mm.

[0092] The small control system has a high degree of commonality. First, the entire small control system is a cabin section with a diameter of about 40mm, which can be used for the integrated control system of various types of aircraft with a diameter greater than 40mm; secondly, the control system is internally designed with EMIF bus, SPI bus, RS422 serial port, AD acquisition, PWM control, open-in and open-out control and other control interfaces, which can be used for the resource interface requirements of most current guided aircraft for integrated control.

[0093] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0094] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A small integrated control system, characterized in that: It comprises a cabin section and a servo component and an electronic integrated device fixed on the cabin section, wherein the electronic integrated device comprises a main control component, a communication component, a power supply component, an IMU component, an AD acquisition component, a steering gear drive component, a switch input component, a switch output component and a connection component, wherein the components of the electronic integrated device are respectively mounted on four PCB boards of a bare core package, wherein the four PCB boards are divided into a power management board, a power drive board, an IMU board and a main control board, wherein the power management board, the power drive board and the IMU board are respectively connected to the main control board, wherein the IMU board is axially fixed on the cabin section perpendicular to the cabin section, and the power management board, the power drive board and the main control board are axially fixed on the cabin section parallel to the cabin section, wherein: The servo assembly is used to provide pneumatic control torque; The main control component includes a dual-core ARM and FPGA processor, which is used to provide a hardware platform for information processing and control calculation; The communication component includes an EMIF bus for communication between the dual-core ARM and the FPGA processor, a serial communication module for communication between the FPGA processor and a data link and a solid-state memory, and a bus for communication between the FPGA processor and the IMU component; The power supply component is used to provide working voltage for the main control component, the IMU component, the AD acquisition component, the servo component and the peripheral unit, and the peripheral unit includes a thermal battery, an explosive device, the data link and the solid-state memory; The IMU component is used to measure and collect angular velocity and acceleration during movement; The AD acquisition component includes an AD conversion circuit for acquiring and converting analog signals; The steering gear drive component is used to receive a steering control signal, output a steering gear drive signal and receive a steering gear feedback signal; The switch quantity input component includes a switch quantity input circuit, which is used to realize the on-off control of multiple switch quantity inputs; The switch output component includes a switch output circuit for realizing on-off control of multi-channel switch outputs, and the current limiting resistor of the ignition circuit in the switch output circuit adopts a time-division multiplexing mode; The connection component is a flexible cable, which is used for connection between the PCB boards and, after being configured with a connector, is used for connection between the electronic integrated device and the peripheral unit.

2. The system according to claim 1, characterized in that: The installation method of the four PCBs includes: The power driving board, the main control board and the power management board are fixed between the adapter plate and the support plate parallel to the axial direction of the cabin section, and the adapter plate and the support plate are fixed on the cabin section perpendicular to the axial direction of the cabin section; The IMU board is axially fixed perpendicularly to the cabin section on a side of the support plate facing away from the adapter plate, and the IMU board is fixed to the main control board via pins.

3. The system according to claim 1, characterized in that: The power management board, the power driving board and the main control board are rectangular PCB boards with the same size, and the IMU board is a circular PCB board.

4. The system according to claim 1, characterized in that: The servo components are divided into four groups, each group includes a rudder system, a rudder blade and a folding mechanism. The rudder system includes a steering gear, a reducer and a digital potentiometer.

5. The system according to claim 1, characterized in that: The servo assembly adopts a method of delayed deployment and locking of the rudder blade.

6. The system according to claim 1, characterized in that: The power supply of the power supply assembly includes an external power supply device, an energy storage capacitor and the thermal battery, and the external power supply device provides two voltage signals.

7. The system according to claim 6, characterized in that: The power supply assembly includes a power conversion circuit and a frequency division multiplexing module, wherein: The power conversion circuit is used to perform secondary conversion on the voltage output by the energy storage capacitor, the thermal battery and the frequency division multiplexing module; The frequency division multiplexing module is used to perform frequency division multiplexing on the two voltage signals provided by the external power supply device and the digital signal of the external serial port interaction.

8. The system according to claim 7, characterized in that: The communication component also includes a serial communication module used for communication between the FPGA processor and the frequency division multiplexing module.

9. The system according to claim 1, characterized in that: The IMU assembly includes a three-axis gyroscope, a three-axis accelerometer and a large-range accelerometer.

10. The system according to claim 1, characterized in that: The steering gear drive assembly includes four steering gear power drive circuits.

Images