An excellent thesis on multi-rotor UAV mission system
Foreword: With the increasing number of UAV products, the competitiveness between the market, but also gradually improve, this project has studied the multi-rotor UAV that is more suitable for industrial control, automation equipment and other products in the field of products, the product is not only reasonably positioned, but at the same time, there is a certain difference with other products, the mission system, is the unmanned multi-rotor mission of advanced intelligent equipment data chain, there is a higher energy utilization efficiency, load transport performance. There are certain differences between the products, the mission system, refers to the advanced intelligent equipment data chain of unmanned multi-rotor mission, there is a higher energy utilization efficiency, load transport performance, is other UAV products, in terms of technology can not be compared; develop a reasonable market planning, will bring certain economic benefits to the enterprise.
1 Multi-rotor UAV definition overview
We often call unmanned aerial vehicles, for unmanned aircraft systems, mainly using radio intelligent remote control equipment, as well as their own control program devices, for the control of unmanned aircraft. The broader definition of UAVs includes narrower drones and model airplanes.
Multi-rotor aircraft, mainly by the power system, the main body, the control system consists of, the power system includes motor, power, electronic governor, paddle; the main body part includes frame, tripod, gimbal; control system includes a remote control receiver, remote control composed of manual control; ground station, as well as by the master control, GPS, IMU, electronic gyro, LED display composed of flight controller. One of the quadrotor, a 4-input 6-output underdrive system; controlled by PID,, robust, fuzzy, nonlinear, adaptive neural network. In recent years, the research trend for the control function of the system, for the direction of large loads, autonomous flight, intelligent sensor technology, autonomous control technology, multi-aircraft formation cooperative control technology, microminiaturization and so on. Some of the key technologies are, the establishment of mathematical models, energy supply systems, flight control algorithms, autonomous navigation and intelligent flight.
2 control system improvement development stage
Multi-rotor UAV control system, initially by the inertial navigation system, with the help of microelectromechanical systems technology, the formation of the EMES inertial navigation system; after the study of the EMES de-noise, effectively reducing the problem of noise in the sensor data, and finally, after the iso-speed microcontroller, nonlinear microcontroller, the non-linear system, and so on. speed microcontroller, nonlinear system structure research, application, and finally in 2005, produced a relatively stable performance of multi-rotor UAV automatic control vehicle. The evaluation of its flying machine can be analyzed from several elements of safety, load, flexibility, maintenance, scalability and stability. With small size, light weight, low noise, strong concealment, multi-space platform use, vertical take-off and landing, as well as flight height is not high, strong maneuverability, strong ability to carry out the task; in terms of structure, not only high security, easy to dismantle and maintain, small propellers, low cost, and flexible control characteristics.
3 Technical Principles
3.1 System Composition
Unmanned multi-rotor mission system, the overall technical program block diagram as shown in Figure 1; as shown in the figure, the unmanned multi-rotor mission system, consisting of unmanned aerial vehicle (UAV), the ground workstation. Unmanned aircraft, composed of multi-rotor UAV, task load; ground workstation, composed of data chain communication unit, industrial control computer, flight control joystick and so on.
3.2 System Technology Principle
3.2.1 Multi-rotor UAV, through the propeller fine-tuning thrust, to achieve stable flight attitude control, maintenance. After the above, for multi-rotor UAV, conventional helicopters, fixed-wing aircraft comparison, it can be clearly seen, multi-rotor UAV, in terms of mission flight, has the advantage of multi-energy, so as to better perform the completion of the flight task, improve the flight attitude maintenance, consume a large amount of energy shortcomings, so as to better ensure that the utilization of its energy, which directly produces the duration of time, the performance of the load transport enhancement; in the structure, has done a lot of simplification of the propeller to achieve stable flight attitude control, maintenance. structure, a lot of simplification has been done, eliminating the transmission mechanism, so that its operating noise, failure probability, maintenance costs are greatly reduced.
3.2.2 The communication between the UAV and the ground workstation is realized through the equipment data chain, which plays the role of communication intermediary, and is also an important bridge link between the UAV and the ground workstation to realize the exchange of ground and air information. In the past, the UAV, for the conversion of ground and air information connection, is just an ordinary point-to-point communication, received the influence of signal transmission distance, the performance of the play has been seriously affected, and can only realize the transmission of some simple remote control data signals.
But this project, for the unmanned multi-rotor mission system research, is through the data chain protocol MAVLink research, will be reasonably embedded into the control core, the ground data chain ARM platform, effectively improve the previous low-altitude information transmission link problems, will be its telemetry, telematics, remote control, remote control, remote control, remote view of the five remote very good unification, to ensure that the communication between the barrier-free, from the root of the communication, to the ground, to the ground, to the ground, to the ground. The problem of data communication between UAVs and ground workstations is fundamentally solved by ensuring the accessibility of communication between them. Which involves . Five remote; which telemetry, refers to the remote voltage, current, power, pressure, temperature and other analog measurements; which telecommunication, refers to the remote electrical switches, equipment, and mechanical equipment work, operation and other status monitoring; remote control, refers to the remote electrical equipment, electrical mechanized device working state control, protection; remote adjustment, refers to the remote control of the equipment working parameters, Standard process, etc. to set, adjust; remote visualization, refers to the remote equipment for the safe operation of the state of monitoring, recording.
3.2.3 Traditional UAVs, when flying, need to be operated manually by the remote control to control their flight attitude, reflecting the imperfection of their automatic programs, monotonous functions and other defects. However, the research of this project on UAVs, in the ground workstation, through the matching of mission planning software, effectively improves the shortcomings of the previous single function, and directly increases its functionality. The mission planning software, with GoogleMap high-speed API interface, realizes easy planning for UAV flight routes on 3D maps, and can also start its routes to realize automatic cruising, mission execution, return and other operations.
4 Technical Key Points and Innovations
4.1 Technical Key Points:
4.1.1 Data communication of ground and air information.
The application of advanced intelligent equipment data link protocol MAVLink, can effectively integrate all of its data, and all summarized in the data link, the integration of the five remote operation, effectively reducing a variety of communication systems, communication modules exist and other aspects of the problem, to improve the communication efficiency, to ensure that the communication function can be effectively played.
4.1.2 Solve the problem of flight attitude manipulation
Embedded operating system, the application of ARM processor platform, coupled with gyroscopes and other sensors, Kalman filtering and other advanced algorithms, so as to better ensure that the control system's functionality increases, in addition to not only achieve unmanned operation of the flight, the flight maneuvering, but also effectively reduce the energy consumption, increase the energy Utilization rate.
4.1.3 Expansion of applications in the field of industrial control
This project is based on the construction and research idea of the same carrier + multiple payloads, which is aimed at the same type of multi-rotor aircraft, designing the same mission payloads with data, electrical, and mechanical interfaces, realizing rapid replacement of payloads, and enabling a good and stable switching and connection between the flight missions to ensure the practicability of the system, and also reducing the number of missions performed.
4.1.4 Enhance the function of the ground workstation
Through the C/S architecture, C# language, .net platform, 3D GoogleMap, SQL database, as well as the ground mission planning software, analyzing data analysis software, so as to better enhance the function of the ground workstation, as well as the degree of automation, intelligence, better operation for the user, to bring more Convenience.
4.2 Technical innovations of the project
4.2.1 In the UAV and ground station, while implanting the data link MAVLink, it strengthens the improvement of the overall system function and effectively realizes the comprehensive unification of the five remotely.
4.2.2 Kalman filtering, quaternion algorithm, coupled with embedded ARM platform, to achieve effective control of its flight attitude.
4.2.3 The research of the same carrier + multiple payload ideas, realizing the UAV, the effective conversion of the mission execution mode.
4.2.4 At the same time, the application of ground mission planning software and analysis data analysis software improves the control function of the system and the degree of system intelligence.
5 Summary
In summary, through the analysis of the unmanned multi-rotor mission system, found that there are still many imperfections in China's research in this area, the project through the C / S architecture, C# language, advanced intelligent equipment data chain, analyzing the data analysis software, etc., compared to the previous UAV. In terms of system function improvement, it realizes the unification of telemetry, telecommunication, remote control, remote control and remote vision; in terms of task execution mode, it realizes flexible conversion; in terms of flight attitude, it realizes intelligent control; it is based on the existing multi-rotor flight control technology, effectively avoiding its previous defects, and at the same time, the autonomous flight control software is programmed, and this kind of flight control task is provided, effectively realizing in-flight and autonomous navigation intelligent flight.
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