阅读说明：本技术 一种基于嵌入式技术的四旋翼飞行器 (Four-rotor aircraft based on embedded technology ) 是由 胡维维 于 2019-10-18 设计创作，主要内容包括：一种基于嵌入式技术的四旋翼飞行器,包括主控模块、传感器模块、稳压模块、外围接口模块、电机驱动模块和电源信号；所述外围接口模块包含PWM波检测电路用于接收遥控器输出的控制信号,所述主控模块读取控制信号来实现对四旋翼的飞控,所述传感器模块处理数字运动姿态,并将数据传入主控模块,所述稳压模块给整个飞行器系统提供稳定电压,其输出电压连接至主控模块,所述主控模块还控制连接电机驱动模块,所述主控模块、传感器模块、稳压模块连接有电源信号。本发明结构简单,成本低,控制容易方便,为实现多旋翼飞行器的自主飞行及其他应用奠定了基础。(A quad-rotor aircraft based on an embedded technology comprises a main control module, a sensor module, a voltage stabilizing module, a peripheral interface module, a motor driving module and a power supply signal; peripheral interface module contains PWM ripples detection circuitry and is used for receiving the control signal of remote controller output, master control module reads control signal and realizes the flight control to four rotors, sensor module handles the digital motion gesture to spread into master control module with data, voltage stabilizing module provides steady voltage for whole aircraft system, and its output voltage is connected to master control module, master control module still control connection motor drive module, master control module, sensor module, voltage stabilizing module are connected with power signal. The invention has simple structure, low cost and easy and convenient control, and lays a foundation for realizing the autonomous flight and other applications of the multi-rotor aircraft.)

1. A quad-rotor aircraft based on an embedded technology comprises a main control module, a sensor module, a voltage stabilizing module, a peripheral interface module, a motor driving module and a power supply signal; peripheral interface module contains PWM ripples detection circuitry and is used for receiving the control signal of remote controller output, master control module reads control signal and realizes the flight control to four rotors, sensor module handles the digital motion gesture to spread into master control module with data, voltage stabilizing module provides steady voltage for whole aircraft system, and its output voltage is connected to master control module, master control module still control connection motor drive module, master control module, sensor module, voltage stabilizing module are connected with power signal.

2. The embedded technology-based quad-rotor aircraft as claimed in claim 1, wherein the main control module selects an STM 32F 103T 8U6 chip as a flight control board, the flight control board PC14 pin connection lamp D1 is an input signal display lamp, the PC15 pin connection lamp D2 is an output signal display lamp, the interface P3 is used for connecting the power supply voltage and detecting whether the power supply voltage normally works, the four pins of PA0, PA1, PA2 and PA3 are connected with the PWM waveform output, and the pins of PA13, PA14, PB6 and PB 35 7 are connected with the peripheral interface module.

3. The embedded technology-based quad-rotor aircraft as claimed in claim 1, wherein the sensor module is selected from an MPU6050 sensor and an HMC5883 sensor, and SCL and SDL pins of the HMC58 5883L are connected to MPU6050DE AUX _ DL and AUX _ DL pins, respectively.

4. The embedded technology-based quad-rotor aircraft as claimed in claim 1, wherein the output voltage of the voltage stabilizing module is 3.3V, a CMOS buck voltage regulator with overcurrent and short-circuit protection is adopted, the output of 250mA current is still maintained under the conditions of voltage variation and extreme difference, and the adjustment rate is good.

5. The embedded technology-based quad-rotor aircraft as claimed in claim 1, wherein the peripheral interface module further comprises a serial port circuit and an IIC interface circuit.

6. The quad-rotor embedded technology-based aircraft according to claim 1, wherein the motor driving module comprises a driving circuit and a brushless motor for controlling various motion postures of the quad-rotor aircraft.

7. A quad-rotor embedded technology based aircraft according to claims 1-6, further comprising a frame.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a quad-rotor aircraft based on an embedded technology.

Background

Research on multi-rotor aircraft has been initiated as early as the year; but is limited by the level of electronics, computers and controls at the time, and multi-rotor aircraft are not widely used. However, with the rapid development and explosion of embedded systems, multi-rotor aircraft have attracted increasing attention in recent years.

At present, certain progress has been made in the research and realization of the microminiature four-rotor aircraft at home and abroad, but a plurality of problems to be further researched still exist. On one hand, relevant documents and other achievements at home and abroad usually only emphasize one aspect of design and implementation of the four-rotor aircraft, and are lack of overall grasp; the design and implementation of the fuselage, the inertial measurement unit and the like which are critical to the four-rotor aircraft are not detailed or adopt backward software and hardware. On the other hand, the embedded technology is rarely used in domestic and foreign related documents and actual consumer electronics products, and often a single chip without an operating system or a general complex operating system is simply used for control.

Disclosure of Invention

In order to overcome at least one technical defect, the invention provides the four-rotor aircraft based on the embedded technology, which has the advantages of simple structure, low cost and easy and convenient control.

In order to achieve the purpose, the specific technical scheme is as follows:

a quad-rotor aircraft based on an embedded technology comprises a main control module, a sensor module, a voltage stabilizing module, a peripheral interface module, a motor driving module and a power supply signal; peripheral interface module contains PWM ripples detection circuitry and is used for receiving the control signal of remote controller output, master control module reads control signal and realizes the flight control to four rotors, sensor module handles the digital motion gesture to spread into master control module with data, voltage stabilizing module provides steady voltage for whole aircraft system, and its output voltage is connected to master control module, master control module still control connection motor drive module, master control module, sensor module, voltage stabilizing module are connected with power signal.

Preferably, the main control module selects an STM 32F 103T 8U6 chip as a flight control board, a pin D1 of a PC14 of the flight control board is an input signal display lamp, a pin D2 of the PC15 is an output signal display lamp, an interface P3 is used for connecting a power supply voltage and detecting whether the power supply voltage normally works, four pins of PA0, PA1, PA2 and PA3 are connected with a PWM waveform output, and pins of PA13, PA14, PB6 and PB7 are connected with the peripheral interface module.

Preferably, the sensor module selects an MPU6050 sensor and an HMC5883 sensor, and SCL and SDL pins of the HMC58 5883L are connected to MPU6050DE AUX _ DL and AUX _ DL pins, respectively.

Preferably, the output voltage of the voltage stabilizing module is 3.3V, a CMOS voltage reduction type voltage stabilizer with overcurrent and short-circuit protection is adopted, the current output of 250mA is still kept under the conditions of voltage change and extreme difference, and the adjustment rate is good.

Preferably, the peripheral interface module further comprises a serial port circuit and an IIC interface circuit which are led out.

Preferably, the motor drive module comprises a drive circuit and a brushless motor, and is used for controlling various motion postures of the quadrotor.

Preferably, the quad-rotor aircraft further comprises an airframe.

The invention has the beneficial effects that: simple structure, low cost and easy and convenient control.

Drawings

FIG. 1 is a diagram of the hardware architecture of the present invention;

FIG. 2 is a schematic design of the overall circuit of the present invention;

FIG. 3 is a pin diagram of the master control module STM 32F 103T 8U6 chip of the present invention;

FIG. 4 is a circuit diagram of a master control module according to the present invention;

FIG. 5 is a circuit diagram of an HMC5883 sensor of the present invention;

FIG. 6 is a circuit diagram of an MPU-6050 sensor of the present invention;

FIG. 7 shows a voltage regulator circuit according to the present invention;

FIG. 8 is a peripheral interface circuit according to the present invention;

FIG. 9 is a motor drive circuit of the present invention;

FIG. 10 is a diagram of the results of the overall circuit simulation test of the present invention;

FIG. 11 is a block diagram illustrating the process of the main control module according to the present invention.

Detailed Description

The invention is further illustrated by the following specific examples. The starting materials and methods employed in the examples of the present invention are those conventionally available in the market and conventionally used in the art, unless otherwise specified.

Example 1

As shown in fig. 1 and 2, a quad-rotor aircraft based on embedded technology includes a main control module, a sensor module, a voltage stabilizing module, a peripheral interface module, a motor driving module, and a power signal; peripheral interface module contains PWM ripples detection circuitry and is used for receiving the control signal of remote controller output, the main control module reads control signal and realizes the flight control to four rotors, sensor module handles the digital motion gesture to spread into main control module with data, voltage stabilizing module provides steady voltage for whole aircraft system, its output voltage is connected to main control module, main control module still control connection motor drive module, main control module, sensor module, voltage stabilizing module are connected with power signal.

As shown in FIG. 3, the main control module selects an STM 32F 103T 8U6 chip as a flight control board, the chip uses an ARM 32-bit inner core, the power frequency speed of 72MHz and 2V-3.6V direct current voltage for power supply, and a plurality of I/O ports can support an external extension mode. The design of low power consumption can satisfy the development demand of aircraft.

As shown in fig. 4, the lamps D1 and D2 are connected to the PC14 and PC15 pins to set the operating state of the circuit, PC14 is an input signal display lamp, and PC15 is an output signal display lamp. The lamp D5 is used to indicate the power on state. Interface P3 is used for connecting mains voltage and whether normal work of detection mains voltage, and lamp D4 and power switch on, BELL is bee calling organ, sets up the prompt tone and does the alarm device usage. The four pins PA0, PA1, PA2 and PA3 are used for PWM waveform output. PA13, PA14 pin are connected to SWD debug and download, PB6 and PB7 are connected to IIC bus interface.

As shown in fig. 5 and 6, the sensor module is selected from an MPU6050 sensor and an HMC5883 sensor, and SCL and SDL pins of the HMC58 5883L are connected to MPU6050DE AUX _ DL and AUX _ DL pins, respectively. MPU6050 has two 16-bit gyro/acceleration ADC converters. The acceleration measuring range of the gyroscope has four gear selections: four gear selections can be achieved under the condition of high-speed and low-speed movement modes, accurate capture can be achieved, and four measuring ranges are selected in the acceleration measuring range. Digital compass HMC5883L is a highly integrated, high resolution magnetoresistive sensor and integrated circuit. The 12-bit analog-to-digital converter with the precision controlled at 1-2 degrees has 16 pins, an IIC bus interface is adopted by a chip, and the highest output frequency is up to 160 HZ.

As shown in fig. 7, the voltage stabilizing circuit of this embodiment, the four-rotor flight control board also needs to add a voltage stabilizing circuit to provide stable voltage for the whole flight system, the output voltage is 3.3V, and a CMOS step-down voltage stabilizer with high ripple rejection rate, low power consumption, low voltage difference, and overcurrent and short-circuit protection is adopted. Under the conditions of voltage change and extreme difference, the current output of 250mA is still kept, and the regulation rate is good.

As shown in fig. 8, the peripheral interface module includes a PWM wave detection circuit, and further includes a serial port circuit and an IIC interface circuit. The PWM wave detection circuit is used for receiving a control signal output by the remote controller, and the control signal is read by the main control module to realize the four-rotor flight control. STM32 timers in addition to TIME6 and TIME7, other timers may be used to generate the PWM output.

Motor drive module circuit as shown in fig. 9, the motor drive module includes a drive circuit and a brushless motor for controlling various motion attitudes of the quadrotor.

The quad-rotor aircraft further includes a airframe.

As shown in fig. 10, after the overall circuit schematic design is completed, simulation tests are performed, and it can be seen that there is no problem of neglecting device pins and other errors.

As shown in fig. 11, on the basis of the hardware system, a Linux platform is built in the embodiment, and 4 scheduling tasks including PWM signal capture/output, information acquisition of each sensor element and attitude calculation during motion are designed in consideration of the compatibility between software and hardware and the platform characteristics of the quadcopter during programming. After the power is on, hardware and software initialization is carried out on the STM32 flight control board and the Linux system respectively, and then the flight system is protected and task scheduling is waited. The data processing and receiving are carried out on an MPU6050 gyroscope, an HMC5883L digital compass and a BMP085 barometric altimeter, after the data are received, filtering, attitude calculation and Euler angle change are carried out on each large sensor module, then Euler angle and PWM wave signals are transmitted to a PWM signal output port, the control quantity of the four motors is obtained by utilizing a PID algorithm, and an electronic debugger is output.

According to the invention, an STM32 is used for building an embedded Linux flight control platform of a four-rotor aircraft, and PID control, flight attitude and program development can be researched. The appearance and development of the embedded technology reduce the difficulty of manually controlling the multi-rotor aircraft to a great extent, and lay a foundation for realizing the autonomous flight and other applications of the multi-rotor aircraft.

It should be understood that the above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.