Model helicopter and control circuit thereof
Through the coordinated control of the motor speed feedback module and the flight control module, the loss of control caused by inertia differences after the model aircraft helicopter is shut down, and the main oar and tail rotor are synchronously stopped to ensure flight stability.
Patent Information
- Application Number
- CN202421842144.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-31
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-07-31
AI Technical Summary
After the current model aircraft helicopters are shut down, the reverse torque is lost due to the difference in inertia of the main oar and tail rotor, resulting in the tail rotating randomly and the aircraft is uncontrollable.
The back electromotive force waveform of the main motor is read through the motor speed feedback module, and the flight control module controls the electric control module to adjust the speed of the tail motor, so that the tail rotor continues to rotate with the main paddle, maintaining the helicopter posture.
Ensure that the main paddle and tail paddle stop together to prevent the helicopter from losing control and maintain flight stability.
Smart Images
Figure CN223127236U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of model helicopters, in particular to a model helicopter and its control circuit. Background Art
[0002] At present, for the model helicopter products on the market, when the throttle is closed or out of control, the main rotor and the tail rotor will stop rotating. However, due to the fact that the inertia of the main rotor is larger than that of the tail rotor, the tail rotor will stop earlier than the main rotor, which leads to the loss of the counteraction of the main rotor's reaction torque. After the engine shuts off, the tail of the helicopter will rotate randomly, resulting in the uncontrollability of the aircraft. Summary of the Utility Model
[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a model helicopter and its control circuit, which can control the flight attitude of the model helicopter after the engine shuts off and prevent it from getting out of control.
[0004] On the one hand, a model helicopter according to an embodiment of the utility model includes:
[0005] A flight control module;
[0006] A motor drive module, electrically connected to the flight control module. The motor drive module includes a main motor and a tail motor. The main motor is used to drive the main rotor of the model helicopter, and the tail motor is used to drive the tail rotor of the model helicopter;
[0007] A motor speed feedback module, electrically connected to the motor drive module and the flight control module respectively. The motor speed feedback module is used to obtain the speeds of the main motor and the tail motor and send them to the flight control module;
[0008] An electronic speed controller (ESC) module, electrically connected to the flight control module. The ESC module is used to control the start / stop and speed of the main motor and the tail motor.
[0009] According to some embodiments of the utility model, it further includes a gyroscope, which is electrically connected to the flight control module.
[0010] According to some embodiments of the utility model, it further includes a Bluetooth module, which is electrically connected to the flight control module.
[0011] According to some embodiments of the utility model, the Bluetooth module includes a Bluetooth chip and a Bluetooth switch. The Bluetooth switch is electrically connected to the Bluetooth chip, and the Bluetooth chip is electrically connected to the flight control module.
[0012] According to some embodiments of the utility model, the Bluetooth module further includes a Bluetooth indicator light, which is electrically connected to the Bluetooth chip.
[0013] According to some embodiments of the present utility model, it further includes a power supply module, and the power supply module is electrically connected to the flight control module, the motor drive module, the motor speed feedback module, and the electronic speed controller module respectively.
[0014] According to some embodiments of the present utility model, it further includes a remote control module, and the remote control module is electrically connected to the flight control module.
[0015] According to some embodiments of the present utility model, it further includes a serial port module, and the serial port module is electrically connected to the flight control module.
[0016] According to some embodiments of the present utility model, it further includes a servo module, and the servo module is electrically connected to the flight control module.
[0017] On the other hand, the model helicopter according to the embodiments of the present utility model includes the model helicopter control circuit described in the above embodiments.
[0018] The model helicopter and its control circuit according to the embodiments of the present utility model have at least the following beneficial effects: when the electronic speed controller module turns off the signal of the main motor, due to the inertia of the rotation of the propeller, the main propeller will continue to drive the main motor to rotate; and at this time, the electronic speed controller module can read the back electromotive force waveform of the main motor through the motor speed feedback module and feed back the speed of the main motor to the flight control module, and the flight control module can then control the electronic speed controller module to adjust the speed of the tail motor, so that the tail propeller continues to rotate with the main propeller, maintaining the attitude of the helicopter and preventing it from getting out of control, and finally ensuring that the main propeller and the tail propeller stop together.
[0019] The additional aspects and advantages of the present utility model will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present utility model. Description of the Drawings
[0020] The above and / or additional aspects and advantages of the present utility model will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:
[0021] Figure 1 It is a schematic diagram of the modules of the model helicopter control circuit according to the embodiments of the present utility model;
[0022] Figure 2 It is the schematic diagram of the first part of the circuit of the model helicopter control circuit according to the embodiments of the present utility model;
[0023] Figure 3 It is the schematic diagram of the second part of the circuit of the model helicopter control circuit according to the embodiments of the present utility model;
[0024] Figure 4This is the schematic diagram of the third part of the control circuit of the model helicopter according to the embodiment of the present utility model;
[0025] Figure 5 This is the schematic diagram of the fourth part of the control circuit of the model helicopter according to the embodiment of the present utility model;
[0026] Figure 6 This is the schematic diagram of the fifth part of the control circuit of the model helicopter according to the embodiment of the present utility model;
[0027] Reference numerals:
[0028] Flight control module 100, motor drive module 200, motor speed feedback module 300, electronic speed control module 400, gyroscope 500, Bluetooth module 600, remote control module 700, serial port module 900, servo module 1000. Detailed implementation manners
[0029] This part will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the drawings. The role of the drawings is to supplement the description of the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but it should not be construed as a limitation on the protection scope of the present utility model.
[0030] In the description of the present utility model, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present utility model.
[0031] In the description of the present utility model, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including the present number, above, below, within, etc. are understood as including the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.
[0032] In the description of the present utility model, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present utility model in combination with the specific content of the technical solution.
[0033] At present, for the RC helicopter products on the market, when the throttle is closed or out of control, the main rotor and the tail rotor will stop rotating. However, due to the greater inertia of the main rotor than that of the tail rotor, the tail rotor will stop earlier than the main rotor, which results in the loss of the counteraction to the anti-torque of the main rotor. After the engine shuts off, the tail of the helicopter will spin randomly, making the aircraft uncontrollable.
[0034] Therefore, the embodiment of the present utility model provides an RC helicopter and its control circuit. When the electronic speed control module shuts off the signal of the main motor, due to the inertia of the rotating propeller, the main rotor will continue to drive the main motor to rotate. At this time, the electronic speed control module can read the back electromotive force waveform of the main motor through the motor speed feedback module and feedback the speed of the main motor to the flight control module. Then the flight control module can control the electronic speed control module to adjust the speed of the tail motor, so that the tail rotor continues to rotate with the main rotor, maintaining the attitude of the helicopter and making it uncontrollable, and finally ensuring that the main rotor and the tail rotor stop simultaneously.
[0035] The following combines the attached Figure 1-6 figures to elaborate in detail on the RC helicopter and its control circuit according to the embodiment of the present utility model.
[0036] On the one hand, as Figure 1 shown, the RC helicopter control circuit according to the embodiment of the present utility model includes a flight control module 100, a motor drive module 200, a motor speed feedback module 300, and an electronic speed control module 400. Among them, the flight control module 100 is electrically connected to the motor drive module 200, the motor speed feedback module 300, and the electronic speed control module 400 respectively. The flight control module 100 is used to control the working states of each module, thereby controlling the working process of the RC helicopter. The motor drive module 200 includes a main motor and a tail motor. The main motor is used to drive the main rotor of the RC helicopter, and the tail motor is used to drive the tail rotor of the RC helicopter. The motor speed feedback module 300 is used to obtain the speeds of the main motor and the tail motor and send them to the flight control module 100; the electronic speed control module 400 is used to control the start / stop and speed of the main motor and the tail motor.
[0037] Since the main rotor of an RC helicopter is usually larger than the tail rotor, the inertia of the main rotor will be greater than that of the tail rotor. Therefore, when the throttle is closed, the tail rotor will stop faster than the main rotor, which will result in the loss of the counteraction to the anti-torque of the main rotor. After the engine shuts off, the tail of the helicopter will spin randomly, making the aircraft uncontrollable. However, for the RC helicopter control circuit according to the embodiment of the present utility model, when the electronic speed control module 400 shuts off the signal of the main motor, due to the inertia of the rotating propeller, the main rotor will continue to drive the main motor to rotate. At this time, the electronic speed control module 400 can read the back electromotive force waveform of the main motor through the motor speed feedback module 300 and feedback the speed of the main motor to the flight control module 100. Then the flight control module 100 can control the electronic speed control module 400 to adjust the speed of the tail motor, so that the tail rotor continues to rotate with the main rotor, maintaining the attitude of the helicopter and making it uncontrollable, and finally ensuring that the main rotor and the tail rotor stop simultaneously.
[0038] Further, as Figure 2 shown, in some embodiments of the present utility model, the flight control module 100 includes a main control chip U1. The main control chip U1 can adopt a single-chip microcomputer such as the model STM32F400CBT6, and is responsible for controlling the working states of other modules. Among them, the main control chip U1 is further connected with a debugging port J2, and the program inside the main control chip U1 can be debugged through the debugging port J2. At the same time, the main control chip U1 is also connected with LED lights, including D2, D3, D4, etc. These LED lights are used to display the operating state of the model helicopter.
[0039] Further, as Figure 2 shown, in some embodiments of the present utility model, the motor speed feedback module 300 is connected to the 20th pin of the main control chip U1 through the interface P11. The motor speed feedback module 300 can adopt detection devices such as sensors, and is used to detect the speeds of the main motor and the tail motor, and feed them back to the electronic speed control module 400 through the flight control module 100.
[0040] Further, as Figure 2 shown, in some embodiments of the present utility model, the electronic speed control module 400 is electrically connected to the main control chip U1 through the interface P3. Among them, the 4th pin of the interface P3 is electrically connected to the 18th pin of the main control chip U1, and the main control chip U1 feeds back the speeds of the main motor and the tail motor to the electronic speed control module 400 through this pin; the 3rd pin of the interface P3 is electrically connected to the 32nd pin of the main control chip U1 through the resistor R16, so that the electronic speed control module 400 can send out a signal to control the operation of the main motor; the 2nd pin of the interface P3 is electrically connected to the 40th pin of the main control chip U1 through the resistor R17, so that the electronic speed control module 400 can send out a signal to control the operation of the tail motor.
[0041] Further, as Figure 1 shown, in some embodiments of the present utility model, the control circuit of the model helicopter further includes a gyroscope 500, and the gyroscope 500 is electrically connected to the flight control module 100. Among them, the gyroscope 500 is used to measure and control the flight attitude of the model helicopter. As Figure 3 shown, in this example, the gyroscope 500 includes the chip U8 or the chip U6, and one of them is selected for use.
[0042] Further, as Figure 1 shown, in some embodiments of the present utility model, the control circuit of the model helicopter further includes a Bluetooth module 600, and the Bluetooth module 600 is electrically connected to the flight control module 100. The model helicopter can be connected and communicated with external devices through the Bluetooth module 600. As Figure 4As shown, in this example, the Bluetooth module 600 includes a Bluetooth chip U9 and a Bluetooth switch SW2. The Bluetooth switch SW2 is electrically connected to the Bluetooth chip U9, and the Bluetooth chip U9 is electrically connected to the flight control module 100. Among them, the Bluetooth switch SW2 is used to control the Bluetooth of the RC helicopter to be turned on or off. Further, as Figure 4 As shown, in this example, the Bluetooth module 600 further includes Bluetooth indicators D5 and D6. The Bluetooth indicators D5 and D6 are electrically connected to the Bluetooth chip. The Bluetooth indicators D5 and D6 can adopt two different colors to indicate whether the Bluetooth is in an online or offline state or a paired state.
[0043] Further, as Figure 1 As shown, in some embodiments of the present utility model, the RC helicopter control circuit further includes a remote control module 700. The remote control module 700 is electrically connected to the flight control module 100. By setting the remote control module 700, a user can control the flight of the RC helicopter by remote control. As Figure 6 As shown, the remote control module 700 includes a remote control interface P8 and a receiver interface P10. The first pin of the interface P8 is connected to the base of a triode Q1 through a resistor R20. The emitter of the triode Q1 is grounded. The collector of the triode Q1 is connected to a 3.3V voltage through a resistor R4 and is also connected to the 13th pin of the main control chip U1 through a resistor R18. The third pin of the interface P10 is connected to the 13th pin of the main control chip U1 through a resistor R19. The interface P10 is used to connect a receiver of the DSM protocol. In addition, as Figure 6 As shown, the RC helicopter control circuit further includes a FUTABA receiver. The FUTABA receiver is electrically connected to the main control chip U1 through an interface P9.
[0044] Further, as Figure 1 As shown, in some embodiments of the present utility model, the RC helicopter control circuit further includes a serial port module 900. The serial port module 900 is electrically connected to the flight control module 100. As Figure 5 As shown, the serial port module 900 includes a tuning parameter interface J7. A user can perform serial communication with the RC helicopter through the serial port module 900.
[0045] Further, as Figure 1 As shown, in some embodiments of the present utility model, the RC helicopter control circuit further includes a servo module 1000. The servo module 1000 is electrically connected to the flight control module 100. As Figure 5 As shown, in this example, the servo module 1000 includes servo interfaces P5, P6, and P7. The servo module 1000 is used to control the rudder of the RC helicopter.
[0046] Further, as Figure 6As shown, in some embodiments of the present utility model, the control circuit of the model helicopter further includes a power supply module, which is electrically connected to modules such as the flight control module 100, the motor drive module 200, the motor speed feedback module 300, the electronic speed controller module 400, the gyroscope 500, the Bluetooth module 600, the remote control module 700, the serial port module 900, and the servo module 1000, and is used to provide working power for each module. The power supply module includes a voltage conversion chip U7, and the voltage conversion chip U7 is used to convert the 5V voltage into a 3.3V voltage.
[0047] On the other hand, the present utility model also proposes a model helicopter, which includes the control circuit of the model helicopter in the above-described embodiments.
[0048] According to the model helicopter of the embodiments of the present utility model, after the engine stalls, it can ensure that the main rotor and the tail rotor stop together, preventing out-of-control.
[0049] In the description of this specification, the description with reference to terms such as "one embodiment", "further embodiment", "some specific embodiments" or "some examples" means that the specific features, structures or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0050] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.
Claims
1. A control circuit for a model helicopter, characterized in that Comprising: Flight control module; Motor drive module, electrically connected to the flight control module, the motor drive module includes a main motor and a tail motor, the main motor is used to drive the main rotor of the model helicopter, and the tail motor is used to drive the tail rotor of the model helicopter; Motor speed feedback module, electrically connected to the motor drive module and the flight control module respectively, the motor speed feedback module is used to obtain the speeds of the main motor and the tail motor and send them to the flight control module; Electronic speed control module, electrically connected to the flight control module, the electronic speed control module is used to control the start / stop and speed of the main motor and the tail motor.
2. The control circuit of the model helicopter according to claim 1, characterized in that It further includes a gyroscope, and the gyroscope is electrically connected to the flight control module.
3. The control circuit of the model helicopter according to claim 1, characterized in that, It further includes a Bluetooth module, and the Bluetooth module is electrically connected to the flight control module.
4. The control circuit of the model helicopter according to claim 3, characterized in that, The Bluetooth module includes a Bluetooth chip and a Bluetooth switch, the Bluetooth switch is electrically connected to the Bluetooth chip, and the Bluetooth chip is electrically connected to the flight control module.
5. The control circuit of the model helicopter according to claim 4, characterized in that The Bluetooth module further includes a Bluetooth indicator light, and the Bluetooth indicator light is electrically connected to the Bluetooth chip.
6. The control circuit of the model helicopter according to claim 1, characterized in that It further includes a power supply module, and the power supply module is electrically connected to the flight control module, the motor drive module, the motor speed feedback module and the electronic speed control module respectively.
7. The control circuit of the model helicopter according to claim 1, wherein It further includes a remote control module, and the remote control module is electrically connected to the flight control module.
8. The control circuit of the model helicopter according to claim 1, wherein It further includes a serial port module, and the serial port module is electrically connected to the flight control module.
9. The control circuit of the model helicopter according to claim 1, characterized in that, It further includes a servo module, and the servo module is electrically connected to the flight control module.
10. A model helicopter, characterized in that, It includes the model helicopter control circuit according to any one of claims 1-9.