Unmanned aerial vehicle flight control circuit and system for teaching

Abstract

The utility model discloses an unmanned aerial vehicle flight control circuit and system for teaching, and relates to the field of unmanned aerial vehicle teaching equipment. The flight control circuit comprises a main control chip, the main control chip comprises a timer module, and the flight control circuit further comprises a hollow cup MOS driving module which is connected with the timer module and used for adjusting the rotating speed of a hollow cup motor through an MOS tube; the brushless PWM driving output module is connected with the timer module and is used for adjusting the rotating speed of the brushless motor through the PWM signal; the H-bridge driving output module is connected with the timer module and is used for adjusting the rotating speed and the direction of the direct current motor through an H-bridge switching tube; and the acceleration gyroscope sensor and the barometer sensor are respectively connected with the main control chip through an I2C bus and are used for monitoring and adjusting the attitude and height of the unmanned aerial vehicle. According to the scheme, through multifunctional motor driving control and accurate adjustment of the attitude and height of the unmanned aerial vehicle, the teaching content is expanded, and students can be helped to more comprehensively understand the unmanned aerial vehicle flight control technology and application thereof.

Description

Technical Field

[0001] This application relates to the field of UAV teaching equipment, and particularly to a UAV flight control circuit and system for teaching.

Background Art

[0002] In the field of UAV teaching, the diversification and flexibility of the flight control system are particularly important. Students need to understand and master the control principles and circuit designs of various types of motors through actual operations and continuous experiments. However, the current flight control systems often have a single function and cannot support the control of multiple types of motors simultaneously, which limits the comprehensiveness and practicality of teaching.

[0003] In the prior art, different types of UAV flight control systems require different hardware circuits and drive modules, resulting in the following problems: First, most flight control systems can only control one type of motor and cannot support coreless motors, brushless motors, and DC motors simultaneously. This single control method limits the application scope of the flight control system and cannot meet the needs of various types of UAVs. Second, the existing flight control systems usually require separate motor drive circuits and interfaces, increasing the complexity and cost of the system. There is a lack of cooperation between different types of motor drive modules and unified control cannot be achieved.

Utility Model Content

[0004] One aspect of this application is to provide a UAV flight control circuit for teaching, which realizes the adjustment of multiple types of motors by integrating a multifunctional motor drive control module, and solves the problem of single motor type control in the existing flight control circuit.

[0005] The purpose of this application is achieved through the following technical solutions:

[0006] A UAV flight control circuit for teaching includes a main control chip. The main control chip includes a timer module. The flight control circuit further includes:

[0007] A coreless MOS drive module, connected to the timer module, for adjusting the speed of the coreless motor through MOS transistors;

[0008] A brushless PWM drive output module, connected to the timer module, for adjusting the speed of the brushless motor through PWM signals;

[0009] An H-bridge drive output module, connected to the timer module, for adjusting the speed and direction of the DC motor through H-bridge switching transistors;

[0010] An acceleration gyroscope sensor, connected to the main control chip through the I2C bus, for monitoring and adjusting the attitude of the UAV;

[0011] The barometer sensor is connected to the main control chip via the I2C bus and is used to monitor and adjust the altitude of the drone.

[0012] Optionally, the coreless cup MOS drive module includes a fifth MOS transistor M5, a connector CON, and a current-limiting resistor R. One end of the connector CON is connected to the fifth MOS transistor M5, and the other end is connected to the input power supply, which is used to provide the operating power supply for the drone flight control circuit.

[0013] Further, the fifth MOS transistor M5 is an NMOS transistor. The gate of the fifth MOS transistor M5 is connected to the coreless cup motor and is also connected to the timer module through the timer IO pin of the main control chip. The drain is connected to one end of the connector CON, and the source is grounded; one end of the current-limiting resistor R is connected to the coreless cup motor, and the other end is grounded.

[0014] Optionally, the PWM pulse period output by the brushless PWM drive output module is 20 ms, and the pulse width is 1 ms to 2 ms.

[0015] Optionally, the H-bridge drive output module includes a first MOS transistor Q1, a second MOS transistor Q2, a third MOS transistor Q3, and a fourth MOS transistor Q4. The control terminals of the first MOS transistor Q1, the second MOS transistor Q2, the third MOS transistor Q3, and the fourth MOS transistor Q4 are respectively connected to the timer module through the timer IO pins of the main control chip.

[0016] Further, the first MOS transistor Q1, the second MOS transistor Q2, the third MOS transistor Q3, and the fourth MOS transistor Q4 are all NMOS transistors. The drain of the first MOS transistor Q1 is connected to the operating power supply, and the source is connected to the first end of the H-bridge motor. The drain of the fourth MOS transistor Q4 is connected to the second end of the H-bridge motor, and the source is grounded; the drain of the second MOS transistor Q2 is connected to the operating power supply, and the source is connected to the second end of the H-bridge motor. The drain of the third MOS transistor Q3 is connected to the first end of the H-bridge motor, and the source is grounded.

[0017] Preferably, the acceleration gyroscope sensor includes an accelerometer and a gyroscope. The accelerometer is used to measure the acceleration of the drone in each axial direction, and the gyroscope is used to measure the angular velocity of the drone in each axial direction.

[0018] Preferably, the barometer sensor includes a barometer, and the barometer is used to measure the air pressure of the surrounding environment of the drone.

[0019] Optionally, the flight control circuit further includes a magnetometer, a GPS, and an optical flow sensor. The magnetometer and the GPS are respectively connected to the main control chip through serial ports, and the optical flow sensor is connected to the main control chip through the I2C bus.

[0020] Another aspect of the present application further provides a drone flight control system for teaching, and this drone flight control system includes the drone flight control circuit as described above.

[0021] The drone flight control circuit and system for teaching provided by the embodiments of the present application can respectively control the rotation speed and direction of the coreless motor, the brushless motor, and the DC motor by integrating the coreless cup MOS drive module, the brushless PWM drive output module, and the H-bridge drive output module, realizing diversified applications and effect improvement of drone flight control technology in teaching and meeting the needs of different teaching. At the same time, by monitoring and adjusting the attitude change of the drone through the acceleration gyroscope sensor and monitoring and adjusting the altitude change of the drone through the barometer sensor, precise control of the drone's attitude and altitude can be achieved, effectively improving the reliability of flight control.

Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of the drone flight control circuit for teaching according to the embodiment of the present application;

[0023] Figure 2 is Figure 1 a schematic circuit structure diagram of the coreless cup MOS drive module in

[0024] Figure 3 is Figure 1 a schematic diagram of the PWM waveform output by the brushless PWM drive output module in

[0025] Figure 4 is Figure 1 a schematic circuit principle diagram of the H-bridge drive output module in , where 4a is the schematic circuit principle diagram when the H-bridge DC motor rotates forward, and 4b is the schematic circuit principle diagram when the H-bridge DC motor rotates backward;

[0026] Figure 5 is a schematic structural diagram of the drone flight control circuit for teaching according to another embodiment of the present application.

Detailed Embodiments

[0027] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings. It can be understood that the specific embodiments described herein are only for explaining the present application and not for limiting the present application. Additionally, it should be noted that for the convenience of description, only the parts related to the present application rather than all the structures are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0028] The terms "comprising" and "having" in this application, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products, or devices.

[0029] Referring to "embodiments" in this context means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appearing in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0030] The flight control circuit and system of an unmanned aerial vehicle (UAV) for teaching according to an embodiment of the present application are particularly suitable for teaching applications. By integrating various motor control functions, students can learn and practice the driving and control technologies of coreless motors, brushless motors, and DC motors on a single flight control system. This not only expands the application scope and functions of the flight control circuit but also helps students comprehensively understand and master the control principles and technologies of UAV flight control systems.

[0031] Figure 1 is a schematic structural diagram of a flight control circuit of an unmanned aerial vehicle for teaching according to an embodiment of the present application. As Figure 1As shown in the figure, the UAV flight control circuit includes a main control chip 110, which includes a timer module 111 for generating precise time control signals. The flight control circuit also includes a coreless cup MOS drive module 120, a brushless PWM drive output module 130, an H-bridge drive output module 140, an acceleration gyroscope sensor 150, and a barometer sensor 160. Among them, the coreless cup MOS drive module 120 is connected to the timer module 111 and is used to adjust the rotation speed of the coreless cup motor through MOS transistors. The brushless PWM drive output module 130 is connected to the timer module 111 and is used to adjust the rotation speed of the brushless motor through PWM signals. The H-bridge drive output module 140 is connected to the timer module 111 and is used to adjust the rotation speed and direction of the DC motor through H-bridge switching transistors. In addition, the acceleration gyroscope sensor 150 is connected to the main control chip 110 through the I2C bus and is used to monitor and adjust the attitude of the UAV. The barometer sensor 160 is connected to the main control chip 110 through the I2C bus and is used to monitor and adjust the altitude of the UAV.

[0032] Since traditional flight control circuits can usually only control a single type of motor (such as a brushless motor or a coreless cup motor), they cannot meet the requirements in different teaching applications. The flight control circuit of this embodiment expands the teaching content through multi-functional motor drive control and precise adjustment of the UAV's attitude and altitude, and can help students more comprehensively understand UAV flight control technology and its applications.

[0033] Such as Figure 2As shown, in one embodiment, the coreless cup MOS drive module 120 includes a fifth MOS transistor M5, a connector CON, and a current-limiting resistor R. The fifth MOS transistor M5 is preferably an NMOS transistor and is used to control the current flowing through the coreless cup motor. Specifically, the source of the fifth MOS transistor M5 is grounded, and the gate is connected to the timer module 111. The timer module 111 generates a PWM signal, and outputs the PWM signal to the gate of the fifth MOS transistor M5 through the timer IO pin of the main control chip 110 to control the switching state of the MOS transistor. The supply voltage of the coreless cup motor M is also adjusted by changing the PWM duty cycle to control the rotational speed of the coreless cup motor M (equivalent to converting a fixed DC voltage into an output voltage with a variable equivalent voltage, thereby changing the voltage value applied to the coreless cup motor and further changing the output rotational speed of the coreless cup motor). The drain of the fifth MOS transistor M5 is connected to a pin of the connector CON, and the other pin of the connector CON is connected to the positive terminal BAT+ of the input power supply to provide the operating power supply for the UAV flight control circuit. One end of the current-limiting resistor R is connected to the coreless cup motor M, and the other end is grounded to limit the gate current of the fifth MOS transistor M5 and ensure the stable operation of the fifth MOS transistor M5. In the coreless cup UAV mode of this embodiment, 6 to 8 timer IO pins with timer output functions can be used to output the drive control signal of the fifth MOS transistor M5 to achieve the drive control of the fifth MOS transistor M5, and further achieve the rotational speed control of the coreless cup motor.

[0034] The brushless PWM drive output module 130 adjusts the rotational speed of the brushless motor through the PWM signal. The brushless motor adjusts the drive current inside the motor by receiving PWM signals with different duty cycles, thereby controlling the rotational speed of the motor. In the DC brushless motor UAV mode of this embodiment, the waveform output by the brushless PWM drive output module 130 is a PWM waveform with specific parameters, and its pulse period is 20 ms, and the pulse width can be 1 ms to 2 ms. Among them, when the pulse width is 1 ms, it corresponds to the lowest throttle and the slowest rotational speed of the brushless motor; when the pulse width is 2 ms, it corresponds to the highest throttle and the fastest rotational speed of the brushless motor. As Figure 3 shown, it is a schematic diagram of the PWM waveform output by the brushless PWM drive output module 130 when the pulse width is 1.5 ms.

[0035] As Figure 4As shown, in one embodiment, the H-bridge drive output module 140 controls the speed and direction of a DC motor through four MOS transistors (the first MOS transistor Q1, the second MOS transistor Q2, the third MOS transistor Q3, and the fourth MOS transistor Q4). The control terminal of each MOS transistor is respectively connected to the timer module 111 through the timer IO pin of the main control chip. Preferably, all four MOS transistors are NMOS transistors. As shown in the figure, the drain of the first MOS transistor Q1 is connected to the 24V operating power supply, the source is connected to the first end of the H-bridge DC motor, the drain of the fourth MOS transistor Q4 is connected to the second end of the H-bridge DC motor, and the source is grounded; the drain of the second MOS transistor Q2 is connected to the operating power supply, the source is connected to the second end of the H-bridge DC motor, the drain of the third MOS transistor Q3 is connected to the first end of the H-bridge DC motor, and the source is grounded. As Figure 4 shown in a, when the first MOS transistor Q1 and the fourth MOS transistor Q4 are turned on and the second MOS transistor Q2 and the third MOS transistor Q3 are turned off, the current starts from the 24V operating power supply, flows through the first MOS transistor Q1, enters the first end of the DC motor, then flows out from the second end of the DC motor, passes through the fourth MOS transistor Q4, and finally returns to the ground. At this time, the DC motor rotates forward. As Figure 4 shown in b, when the second MOS transistor Q2 and the third MOS transistor Q3 are turned on and the first MOS transistor Q1 and the fourth MOS transistor Q4 are turned off, the current starts from the 24V operating power supply, flows through the second MOS transistor Q2, enters the second end of the DC motor, then flows out from the first end of the DC motor, passes through the third MOS transistor Q3, and finally returns to the ground. At this time, the DC motor rotates in reverse. When all four MOS transistors are turned off, both terminals of the DC motor are connected to the ground, generating a braking effect and the DC motor stops rotating. In the H-bridge circuit balance car mode of this embodiment, 8 timer IO pins with timer output functions can be used to output drive control signals to control the on or off of 8 MOS transistors, so as to control the speed and direction of two DC motors. In addition, by applying a PWM signal between the on and off of the MOS transistor, precise control of the speed of the H-bridge DC motor can be achieved. Among them, a shorter pulse can make the DC motor operate at a lower average voltage, thereby reducing the operating speed, while a longer pulse can make the DC motor operate at a higher average voltage, thereby increasing the operating speed.

[0036] In one embodiment, the acceleration gyroscope sensor 150 includes an accelerometer and a gyroscope. Among them, the accelerometer can measure the acceleration of the drone in each axial direction and is used for the attitude stabilization and control of the drone. The gyroscope can measure the angular velocity of the drone in each axial direction and is used to provide information on the change of the drone's attitude angle. Specifically, the acceleration gyroscope sensor 150 is connected to the main control chip 110 through the I2C bus, and transmits the measured drone data to the main control chip 110. The main control chip 110 realizes the stabilization and control of the drone's attitude through an attitude resolution algorithm (such as Kalman filtering, etc.). The barometer sensor 160 includes a barometer, which can be used to measure the air pressure of the environment around the drone, and calculate the height change of the drone through the change of air pressure. The barometer sensor 160 is connected to the main control chip 110 through the I2C bus, and transmits the measured air pressure data to the main control chip 110. The main control chip 110 adjusts the lifting operation of the drone through a height control algorithm to realize the stable control of the drone's flight height.

[0037] Figure 5 is a schematic structural diagram of a drone flight control circuit for teaching in another embodiment of the present application. The structure of the drone flight control circuit in this embodiment is roughly the same as that of the Figure 1 drone flight control circuit in the embodiment. The difference is that the drone flight control circuit in this embodiment further includes a magnetometer 210, a GPS 220, and an optical flow sensor 230. The magnetometer 210 is connected to the main control chip 110 through the I2C bus, and the GPS 220 and the optical flow sensor 230 are respectively connected to the main control chip 110 through serial port 1 and serial port 2. Among them, the magnetometer 210 can be used to measure the intensity and direction of the earth's magnetic field and provide a direction reference for the drone. The GPS 220 can be used to obtain the position information and speed information of the drone for accurate drone positioning and navigation. In particular, in an outdoor environment, combining the data of the magnetometer 210 and the GPS 220 can effectively improve the accuracy of positioning and navigation. The optical flow sensor 230 can be used to measure the relative movement between the drone and the ground. Especially in a low-altitude and indoor environment, it can provide accurate displacement information to help the drone achieve stable hovering and low-speed flight.

[0038] In this embodiment, by introducing the magnetometer 210, the GPS 220, and the optical flow sensor 230, more accurate drone flight control and navigation can be realized, and the stability and reliability of the drone in a complex environment can be improved. For the processes not detailed in the drone flight control circuit for teaching in this embodiment, reference can be made to the relevant parts in the above Figure 1 embodiment, and details will not be described herein again.

[0039] The embodiment of the present application further provides a drone flight control system for teaching, which includes the drone flight control circuit for teaching in the above embodiment. For the processes not described in detail in the drone flight control system for teaching in this embodiment, reference may be made to the relevant parts in the above embodiment of the drone flight control circuit, which will not be elaborated here.

[0040] Although the present application has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it on the basis of the present application, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present application fall within the scope of protection required by the present application.

Claims

1. A UAV flight control circuit for teaching, comprising a main control chip, wherein the main control chip comprises a timer module, characterized in that: The flight control circuit also includes: A coreless cup MOS driving module is connected to the timer module and is used to adjust the speed of the coreless cup motor through the MOS tube; A brushless PWM drive output module, connected to the timer module, for adjusting the speed of the brushless motor through a PWM signal; An H-bridge drive output module, connected to the timer module, for adjusting the speed and direction of the DC motor through the H-bridge switch tube; An acceleration gyro sensor is connected to the main control chip via an I2C bus and is used to monitor and adjust the attitude of the drone; The barometer sensor is connected to the main control chip via the I2C bus and is used to monitor and adjust the altitude of the drone.

2. The UAV flight control circuit according to claim 1, characterized in that: The hollow cup MOS driving module includes a fifth MOS tube M5, a connector CON and a current limiting resistor R. One end of the connector CON is connected to the fifth MOS tube M5, and the other end is connected to the input power supply, so as to provide working power for the UAV flight control circuit.

3. The UAV flight control circuit according to claim 2, characterized in that: The fifth MOS tube M5 is an NMOS tube, a gate of the fifth MOS tube M5 is connected to the hollow cup motor, and is also connected to the timer module through the timer IO pin of the main control chip, a drain is connected to one end of the connector CON, and a source is grounded; one end of the current limiting resistor R is connected to the hollow cup motor, and the other end is grounded.

4. The UAV flight control circuit according to claim 3, characterized in that: The PWM pulse period output by the brushless PWM drive output module is 20ms, and the pulse width is 1ms to 2ms.

5. The UAV flight control circuit according to any one of claims 1 to 4, characterized in that: The H-bridge drive output module includes a first MOS tube Q1, a second MOS tube Q2, a third MOS tube Q3 and a fourth MOS tube Q4, and the control end of the first MOS tube Q1, the control end of the second MOS tube Q2, the control end of the third MOS tube Q3 and the control end of the fourth MOS tube Q4 are respectively connected to the timer module through the timer IO pin of the main control chip.

6. The UAV flight control circuit according to claim 5, characterized in that: The first MOS tube Q1, the second MOS tube Q2, the third MOS tube Q3 and the fourth MOS tube Q4 are all NMOS tubes. The drain of the first MOS tube Q1 is connected to the working power supply, the source is connected to the first end of the H-bridge DC motor, the drain of the fourth MOS tube Q4 is connected to the second end of the H-bridge DC motor, and the source is grounded; the drain of the second MOS tube Q2 is connected to the working power supply, the source is connected to the second end of the H-bridge DC motor, the drain of the third MOS tube Q3 is connected to the first end of the H-bridge DC motor, and the source is grounded.

7. The UAV flight control circuit according to claim 6, characterized in that: The acceleration gyro sensor includes an accelerometer and a gyroscope. The accelerometer is used to measure the acceleration of the drone in each axis, and the gyroscope is used to measure the angular velocity of the drone in each axis.

8. The UAV flight control circuit according to claim 7, characterized in that: The barometer sensor includes a barometer, and the barometer is used to measure the air pressure of the environment around the drone.

9. The UAV flight control circuit according to claim 1, characterized in that: The flight control circuit also includes a magnetometer, a GPS and an optical flow sensor. The magnetometer is connected to the main control chip through the I2C bus, and the GPS and the optical flow sensor are connected to the main control chip through serial ports respectively.

10. A UAV flight control system for teaching, characterized in that: It comprises the UAV flight control circuit as described in any one of claims 1 to 9.

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