CN107203665A - Unmanned plane all round computer, computer based control system and design method - Google Patents
Unmanned plane all round computer, computer based control system and design method Download PDFInfo
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- CN107203665A CN107203665A CN201710361444.1A CN201710361444A CN107203665A CN 107203665 A CN107203665 A CN 107203665A CN 201710361444 A CN201710361444 A CN 201710361444A CN 107203665 A CN107203665 A CN 107203665A
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Abstract
The present invention discloses unmanned plane computer, computer based control system and design method, and computer motherboard includes processor, CAN communication circuit, DI signal conditioning circuits, DO signal conditioning circuits, PWM/PPM captures signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A converter and signal conditioning circuit, serial communication circuit, GPS plates and control and testing board.Flight control system includes posture heading reference system, steering wheel, gps antenna, TT＆C antenna, stagnation pressure tube and the static tube being connected respectively with computer；TT＆C system includes TT＆C antenna, the remote control being connected respectively with computer；Ground check system includes the ground check system host computer being connected with computer.Simulation training system includes the simulation training system host computer being connected with computer.The present invention is a kind of low cost, high maintenance, unitized computer, on same hardware platform, writes different firmwares, realize winged control, observing and controlling, examine, the function of analogue system, reduce cost.
Description
Technical field
It is unmanned plane all round computer, based on computer specifically the present invention relates to unmanned plane field of computer technology
Control system and design method.
Background technology
Due to the generation of modern various advanced tactical thinkings, the countries in the world military is in the urgent need to substantial amounts of, inexpensive nothing
Man-machine to be used for tactical reconnaissance, monitoring, combat success assessment, still demand is huge for such aircraft advantage of lower cost, and requires easy
In maintenance.
In a ripe UAS, flight control system has been comprised at least, TT＆C system, ground detection system, imitative
True training system, said system typically uses Embedded solution.Each system possesses following functions respectively：
（One）Flight control system：Realize the flight control function to unmanned plane（It is main to realize to unmanned plane during flying posture and track
Control）, flight management function（Mainly include communication unit management, sensor unit management, steering wheel Single Component Management, power subsystem
Management etc.）, realize task device management function（Predominantly to the management of task expanding element）.
（Two）TT＆C system：The communication between flight control system and earth station is ensured, flight control system is appropriately carried out ground
Remote control actions, instruction as defined in face, or worked by flight control system indirect control task device；And ground can be monitored in real time
To the current state of flight of unmanned plane, flight control system, the working condition of task system；And carry out data bookbinding function.
（Three）Ground detection system：Mobile system including flight control system, task system is detected and parameter setting,
And the working condition of each system of unmanned plane is shown in real time；Unmanned aerial vehicle onboard system is powered, to reduce on-board batteries
Consumption.Failure system can be repaired or changed by testing result, to improve the rate of attendance of UAS.
（Four）Simulation training system：It is the unmanned dynamics of real-time resolving and kinematics model, dynamical system model, big
Gas environmental model and other models, by receive the unmanned plane operation information of the related systems such as flight control system, task system with
And corresponding user interface input, output unmanned plane movement state information and corresponding control information are sent to flight control system.It is imitative
True training system can also complete semi-physical simulation, experiment and adjust ginseng etc. in addition to UAS operator training is completed
Work.
In traditional UAS, each system is different due to function, cause these systems in structure design not
Together, especially show on interface features, therefore bring corresponding maintenance mode, the difference in method；When one of system hair
When raw failure needs to replace, it is necessary to change same category of device, and other equipment can not be used to replace, the tired of system maintenance is added
It is difficult；Also, different equipment may need different maintenance trainings, storage method, may further increase UAS
Using, management, maintenance cost.
The content of the invention
It is an object of the invention to provide unmanned plane all round computer, computer based control system and design method,
The present invention is a kind of low cost, high maintenance, unitized all round computer, on same hardware platform, writes different firmwares, point
Shi Xian not fly control, observing and controlling, examine, the function of analogue system, significantly reduce system development costs and working service cost.
The present invention is achieved through the following technical solutions：Unmanned plane all round computer, including cabinet, the meter in cabinet
Calculate mainboard and the power panel that be connected with computer motherboard, the computer motherboard including processor and respectively with processing
Device connection CAN communication circuit, DI signal conditioning circuits, DO signal conditioning circuits, PWM/PPM capture signal conditioning circuit,
PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A converter and signal conditioning circuit, RS232
Telecommunication circuit and RS422 telecommunication circuits, the detachable GPS plates on power panel, installed in removable on power panel
Unload formula control and testing board and the total-pressure probe being connected respectively with A/D converter and signal conditioning circuit, static pressure transducer, temperature are passed
Sensor；The GPS plates, control and testing board are connected by serial communication circuit with processor.
The present invention reduces flight control computer in UAS, Measurement ＆control computer, simulation training computer, examine calculating
The type and quantity of machine spare part, and make its storage, maintenance methods unified, so as to reduce making for whole UAS
With, maintenance cost.
Based on the flight control system of unmanned plane all round computer, including all round computer, all round computer include cabinet,
Computer motherboard in cabinet and the power panel being connected with computer motherboard, the computer motherboard include processing
Device and the CAN communication circuit being connected respectively with processor, DI signal conditioning circuits, DO signal conditioning circuits, PWM/PPM captures
Signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A converter and signal
Modulate circuit, RS232 telecommunication circuits and RS422 telecommunication circuits, the detachable GPS plates on power panel, installed in
It is detachable control and testing board on power panel and the total-pressure probe being connected respectively with A/D converter and signal conditioning circuit, quiet
Pressure sensor, temperature sensor；The GPS plates, control and testing board are connected by serial communication circuit with processor；Also include passing through
Posture heading reference system that RS232 telecommunication circuits are connected with all round computer, by PWM output signal modulate circuit and synthesis
Computer connection steering wheel, be connected by cabinet SMA interfaces with GPS plates gps antenna, by cabinet SMA interfaces and control and testing board
The TT＆C antenna of connection and the stagnation pressure tube and static tube being connected respectively with all round computer.
Based on the TT＆C system of unmanned plane all round computer, including all round computer, all round computer include cabinet,
Computer motherboard in cabinet and the power panel being connected with computer motherboard, the computer motherboard include processing
Device and the CAN communication circuit being connected respectively with processor, DI signal conditioning circuits, DO signal conditioning circuits, PWM/PPM captures
Signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A converter and signal
Modulate circuit, RS232 telecommunication circuits and RS422 telecommunication circuits, installed in the detachable control and testing board on power panel and point
Total-pressure probe, static pressure transducer, the temperature sensor not being connected with A/D converter and signal conditioning circuit；The GPS plates,
Control and testing board is connected by serial communication circuit with processor；Also include the observing and controlling day being connected by cabinet SMA interfaces with control and testing board
Line, the TT＆C system host computer being connected by RS422 telecommunication circuits with all round computer and pass through PPM capture signal condition electricity
The remote control of road all round computer connection.
Ground check system based on unmanned plane all round computer, including all round computer, all round computer include cabinet,
Computer motherboard in cabinet and the power panel being connected with computer motherboard, the computer motherboard include processing
Device and the CAN communication circuit being connected respectively with processor, DI signal conditioning circuits, DO signal conditioning circuits, PWM/PPM captures
Signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A converter and signal
Modulate circuit, RS232 telecommunication circuits and RS422 telecommunication circuits and respectively it is connected with A/D converter and signal conditioning circuit
Total-pressure probe, static pressure transducer, temperature sensor；The GPS plates, control and testing board are connected by serial communication circuit and processor
Connect；Also include the ground check system host computer being connected by RS422 telecommunication circuits with all round computer.
Based on the simulation training system of unmanned plane all round computer, including all round computer, all round computer includes
Cabinet, the computer motherboard in cabinet and the power panel being connected with computer motherboard, the computer motherboard include
Processor and the CAN communication circuit being connected respectively with processor, DI signal conditioning circuits, DO signal conditioning circuits, PWM/PPM
Capture signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A converter and
Signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits and connect respectively with A/D converter and signal conditioning circuit
Total-pressure probe, static pressure transducer, the temperature sensor connect；The GPS plates, control and testing board pass through serial communication circuit and processor
Connection；Also include the simulation training system host computer being connected by RS422 telecommunication circuits with all round computer.
Flight control computer, Measurement ＆control computer, simulation training computer, to examine computer interchangeable, improve unmanned plane system
The survival ability of system.
Based on unmanned plane all round computer design method, the function according to required for different system determines that hardware resource is needed
Ask；According to above Demand Design hardware circuit；Software for Design is carried out according to modularization；In use, as requested by system correspondence
The firmware of software is downloaded in hardware, can be each configured to flight control computer, Measurement ＆control computer, simulation training computer, examine
Computer.
Further, in order to preferably realize the present invention, the hardware resource includes the type and quantity, memory of interface
Size, processor ability, measurement accuracy, input and output impedance, driving force, requirement of real-time.
Further, in order to preferably realize the present invention, the software includes application layer and bottom, and the bottom includes many
Operating system, hardware driving and the algorithms library of purposes computer；The application layer respectively for flight control system, TT＆C system,
Check system, the different demands of analogue system are developed, on the basis of identical bottom, by being assembled in soft project file
Different application layer modules, respectively obtain flying-controlled box, TT＆C software, examine software, simulation software part, simulation software.
Realize that identical systemic-function needs to develop four sets of hardware, four sets of bottom software and four sets of applications using original technology
Layer software, need to develop a set of hardware, a set of bottom software, 4 sets of application layer softwares, therefore designing, making using after the present invention
The links such as making, test reduces workload, shortens the R＆D cycle of UAS, and reduce R＆D costs.
The present invention compared with prior art, with advantages below and beneficial effect：
（1）The present invention reduces flight control computer in UAS, Measurement ＆control computer, simulation training computer, examine calculating
The type and quantity of machine spare part, and make its storage, maintenance methods unified, so as to reduce making for whole UAS
With, maintenance cost；
（2）The present invention realizes that identical systemic-function needs to develop four sets of hardware, four sets of bottom software and four using original technology
Application layer software is covered, using only a set of hardware need to be developed after the present invention, a set of bottom software, four sets of application layer softwares, therefore
The links such as design, manufacture, test reduce workload, shorten the R＆D cycle of UAS, and reduce and grind
Send out cost；
（3）The present invention effectively raises the survival ability of UAS.
Brief description of the drawings
Fig. 1 is all round computer structural representation；
Fig. 2 is to build flight control system figure using all round computer；
Fig. 3 is to build TT＆C system figure using all round computer；
Fig. 4 is to build ground check system figure using all round computer；
Fig. 5 is to build training simulation system figure using all round computer；
Fig. 6 is the structural representation of all round computer software.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of
The description present invention and simplified description, rather than indicate or imply that the device or element of meaning must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；It can be machine
Tool is connected or electrically connected；Can be joined directly together, can also be indirectly connected to by intermediary, can be two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
The present invention is described in further detail with reference to embodiment, but the implementation of the present invention is not limited to this.
Embodiment 1：
The present embodiment does further optimization on the basis of above-described embodiment, as shown in figure 1, unmanned plane all round computer, including
Cabinet, the computer motherboard in cabinet and the power panel being connected with computer motherboard, the computer motherboard include
Processor and the CAN communication circuit being connected respectively with processor, DI signal conditioning circuits, DO signal conditioning circuits, PWM/PPM
Capture signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A converter and
Signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits, the detachable GPS plates on power panel, installation
The stagnation pressure sensing being connected in the detachable control and testing board on power panel and respectively with A/D converter and signal conditioning circuit
Device, static pressure transducer, temperature sensor；The GPS plates, control and testing board are connected by serial communication circuit with processor.
It should be noted that by above-mentioned improvement, all round computer is by computer motherboard, GPS plates, control and testing board, power panel
And the part of cabinet five composition.Computer motherboard is as the core of computer, and PWM/PPM signals, DI signals with multichannel are caught
Catch, analog signalses collection, the output of DO signal outputs, analog signalses, pwm signal output, CAN communication, RS232/RS422 string
Row communication ability, fully meet flight control computer, Measurement ＆control computer, simulation training computer, examine any meter such as computer
The input of calculation machine and output interface requirement.Computer motherboard is integrated with stagnation pressure, static pressure, temperature sensor, will be corresponding by A/D
Physical quantity is converted into digital quantity and is delivered to processor.GPS plates, control and testing board are installed on power panel using slot form is installed,
Detachably；The antenna of GPS plates and control and testing board is connected on the SMA interfaces of cabinet using soft feeder line；A/D, D/ of computer motherboard
The input such as A, PWM input and output, DIO and output are connected to the interface of cabinet by signal wire；The input of power panel passes through electricity
Source line is connected to the interface of cabinet.Power panel is responsible for powering to GPS plates, control and testing board, computer motherboard.
GPS plates, control and testing board are installed on power panel using slot form is installed, detachably；Gps antenna receives gps signal
It is counted as by GPS plate solutions after GPS height, ground velocity, positional information, all round computer is passed to by RS232；Work as allocation of computer
Into flight control computer, it is necessary to retain GPS plates and control and testing board.
Computer motherboard is integrated with stagnation pressure, static pressure, temperature sensor, measurable air speed, pressure altitude information and according to temperature
Degree is modified, after different firmwares are downloaded, realize respectively fly control calculatings, observing and controlling calculating, simulation training calculating, examine meter
The functions such as calculation, signal acquisition, data communication.
Unmanned plane all round computer, including cabinet, the computer motherboard in cabinet and with computer motherboard connect
The power panel connect, the computer motherboard includes processor and the CAN communication circuit being connected respectively with processor, DI signals are adjusted
Manage circuit, DO signal conditioning circuits, PWM/PPM captures signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D conversions
Device and signal conditioning circuit, D/A converter and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits, it is arranged on
Detachable GPS plates on power panel, installed in the detachable control and testing board on power panel and respectively with A/D converter and
Total-pressure probe, static pressure transducer, the temperature sensor of signal conditioning circuit connection；The GPS plates, control and testing board are logical by serial ports
Letter circuit is connected with processor.
The A/D converter and signal conditioning circuit be 16 road A/D converters and signal conditioning circuit, D/A converter and
Signal conditioning circuit is 16 road D/A converters and signal conditioning circuit.The total-pressure probe, static pressure transducer, TEMP
Device exports the data-signal of collection to 16 road A/D converters and signal conditioning circuit, 16 road A/D converters and signal condition electricity
Data-signal is passed to processor by road by 8 road signals, and processor is carried out data-signal after data analysis by 8 road signals
Export to 16 road D/A converters and signal conditioning circuit.
The PWM/PPM output signal conditioning circuits will be passed to processor by 8 road signals, and processor passes through data point
Analysis is handled, then passes data to PWM/PPM output signal conditioning circuits by 8 road signals.
The DI signal conditioning circuits will be passed to processor by 12 road signals, processor by Data Analysis Services,
Again DO signal conditioning circuits are passed data to by 12 road signals.
The GPS plates and control and testing board being removably mounted at respectively on power panel communicate electric by RS232 telecommunication circuits and RS422
Road（It can be switched with jumper in two kinds of interface types）It is connected by 8 road signals with processor.
The all round computer also includes and processor FLSAH modules.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 2：
In order to better illustrate the technical scheme in embodiment 1- embodiments 3 described in any embodiment, as shown in figure 1, this reality
Example is applied to further illustrate.
The hardware of multipurpose all round computer includes five parts：Cabinet, power panel, GPS plates（Detachably）, control and testing board（Can
Dismounting）, computer motherboard.Wherein cabinet major function is that positioning, the installation of computer-internal component positioning are installed on cabinet, is protected
Protect intraware, enhancing Electro Magnetic Compatibility etc.；External power source is converted into needed for GPS plates, control and testing board, computer motherboard by power panel
Power supply, with power filter effect, in addition, also have GPS plates, control and testing board install slot；GPS plates provide height, speed, position
The information such as put；Control and testing board is responsible for digital signal modulated into being transmitted to other control and testing boards after frequency signal, and receives other observing and controlling
The information that plate is sent；Computer motherboard is integrated with stagnation pressure, static pressure, temperature sensor, measurable air speed, pressure altitude information and root
Be modified according to temperature, after different firmwares are downloaded, realize respectively fly control calculatings, observing and controlling calculating, simulation training calculating, examine
The functions such as calculating, signal acquisition, data communication.When allocation of computer is into flight control computer, it is necessary to retain GPS plates and control and testing board；
When allocation of computer is into Measurement ＆control computer, it is necessary to retain control and testing board；When allocation of computer into outside above computer other meter
During calculation machine, GPS plates and the optional reservation of control and testing board or dismounting, dismounting can further reduce hardware cost.
Embodiment 3：
As Figure 1-Figure 2, the flight control system based on unmanned plane all round computer, including all round computer, the COMPREHENSIVE CALCULATING
Machine includes cabinet, the computer motherboard in cabinet and the power panel being connected with computer motherboard, the calculating owner
Plate include processor and be connected respectively with processor CAN communication circuit, DI signal conditioning circuits, DO signal conditioning circuits,
PWM/PPM captures signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A turn
Parallel operation and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits, the detachable GPS on power panel
Plate, be connected installed in the detachable control and testing board on power panel and respectively with A/D converter and signal conditioning circuit it is total
Pressure sensor, static pressure transducer, temperature sensor；The GPS plates, control and testing board are connected by serial communication circuit with processor；
The posture heading reference system that also includes being connected with all round computer by RS232 telecommunication circuits, nursed one's health by PWM output signal
Steering wheel that circuit is connected with all round computer, the gps antenna being connected by cabinet SMA interfaces with GPS plates, connect by cabinet SMA
The mouth TT＆C antenna being connected with control and testing board and the stagnation pressure tube and static tube that are connected respectively with all round computer.
It should be noted that by above-mentioned improvement, flight control system by all round computer, posture heading reference system, GPS days
Line, TT＆C antenna, stagnation pressure tube, static tube, steering wheel composition.After the completion of all round computer initialization, the bottom such as operation operating system
Software, and call the application layer for flight control design case；The attitude angle of posture heading reference system measurement unmanned plane, three shaft angles
Speed, 3-axis acceleration information, all round computer is passed to by RS232；Gps antenna receives gps signal and resolved by GPS plates
Into after GPS height, ground velocity, positional information, all round computer is passed to by RS232；TT＆C antenna satellite receiver is sent
Remote signal, each steering wheel passage under instruction and the distant control model of hand under instruction control model is resolved by control and testing board and is controlled
After amount, the controlled quentity controlled variable of dynamical system, switching value, all round computer is passed to by RS232；All round computer is according to above- mentioned information
And the winged control control logic of application layer is resolved and logical process with control law, the result for resolving with handling is sent to and held
Row structure is performed：Performed as rudder face degree of bias controlled quentity controlled variable is output to steering wheel by PWM, engine control amount is output to hair by PWM
Motivation system etc.；Storage after the state information collection of unmanned plane is arrived FLASH by all round computer, and is sent to survey by RS232
Plate is controlled, the TT＆C system that control and testing board carries out being sent to again ground in the form of radio wave by TT＆C antenna after signal modulation connects
Receive.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 4：
As shown in Figure 1, Figure 3, the TT＆C system based on unmanned plane all round computer, including all round computer, the COMPREHENSIVE CALCULATING
Machine includes cabinet, the computer motherboard in cabinet and the power panel being connected with computer motherboard, the calculating owner
Plate include processor and be connected respectively with processor CAN communication circuit, DI signal conditioning circuits, DO signal conditioning circuits,
PWM/PPM captures signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A turn
Parallel operation and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits, installed in the detachable survey on power panel
Control plate and total-pressure probe, static pressure transducer, the temperature sensor being connected respectively with A/D converter and signal conditioning circuit；
The GPS plates, control and testing board are connected by serial communication circuit with processor；Also include with control and testing board connecting by cabinet SMA interfaces
The TT＆C antenna that connects, the TT＆C system host computer being connected by RS422 telecommunication circuits with all round computer and captured by PPM
The remote control of signal conditioning circuit all round computer connection.
It should be noted that by above-mentioned improvement, TT＆C system is by all round computer, TT＆C system host computer, observing and controlling day
Line, remote control composition.GPS plates are unloaded out of all round computer, WINDOWS operating systems are used from TT＆C system host computer,
One good man-machine interaction environment can be provided, shown in forms such as map, instrument board, status lamps and pass various under flight control system
Flight parameter, and various control instructions, remote regulating amount that keyboard, mouse are inputted pass to multipurpose calculating by RS422 interfaces
Machine；In addition, the direct manipulation of aileron, elevator, engine can be carried out by the rocking bar on remote control by manipulating hand：The position of rocking bar
PPM signal is converted to by remote control, multi-application computer is acquired by PWM captures to the signal；Finally, multipurpose meter
After calculation machine integrates the control information of remote control and the control information of TT＆C system host computer, control and testing board is passed to by RS232,
Flight control system is sent to by TT＆C antenna again.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 5：
As Figure 1 and Figure 4, the ground check system based on unmanned plane all round computer, including all round computer, the COMPREHENSIVE CALCULATING
Machine includes cabinet, the computer motherboard in cabinet and the power panel being connected with computer motherboard, the calculating owner
Plate include processor and be connected respectively with processor CAN communication circuit, DI signal conditioning circuits, DO signal conditioning circuits,
PWM/PPM captures signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/A turn
Parallel operation and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits and respectively with A/D converter and signal condition
Total-pressure probe, static pressure transducer, the temperature sensor of circuit connection；The GPS plates, control and testing board by serial communication circuit with
Processor is connected；Also include the ground check system host computer being connected by RS422 telecommunication circuits with all round computer.
It should be noted that by above-mentioned improvement, ground check system by all round computer, check system host computer constitute.Ground
Check system host computer use WINDOWS operating systems, using the teaching of the invention it is possible to provide a good man-machine interaction environment, with map, instrument board,
The forms such as status lamp show testing result.The all round computer of ground check system examines the COMPREHENSIVE CALCULATING of cable and flight control system by ground
Machine is connected.The cable by the output of multi-application computer in flight control system, including PWM outputs, analog output, DO outputs,
RS232/RS422 send, be connected respectively to ground check system in multi-application computer PWM input, analog input, DI input,
RS232/RS422 receiving terminals；By the output of multi-application computer in ground check system, including PWM outputs, analog output, DO defeated
Go out, RS232/RS422 is sent, be connected respectively to the PWM inputs of multi-application computer in flight control system, analog input, DI are defeated
Enter, RS232/RS422 receiving terminals；Flight control system enters after ground inspection mode of operation, and ground inspection is sent standard value by above-mentioned interface
To the corresponding interface of winged control, winged control is received after these standard value informations, then returns to ground check system, and ground check system is by transmission
Standard value is compared with reception value, completes detection of unrolling；In addition, ground check system can also be sent by RS422 to flight control system
Detection instructs and reads the form of return state, completes the detection to memory, GPS etc.；Testing result is upper in ground check system
Shown on machine.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 6：
As shown in Figure 1, shown in Figure 5, the simulation training system based on unmanned plane all round computer, including all round computer, the synthesis
Computer includes cabinet, the computer motherboard in cabinet and the power panel being connected with computer motherboard, the calculating
Mainboard includes processor and the CAN communication circuit being connected respectively with processor, DI signal conditioning circuits, DO signal conditions electricity
Road, PWM/PPM captures signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and signal conditioning circuit, D/
A converters and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits and adjust respectively with A/D converter and signal
Manage the total-pressure probe, static pressure transducer, temperature sensor of circuit connection；The GPS plates, control and testing board pass through serial communication circuit
It is connected with processor；Also include the simulation training system host computer being connected by RS422 telecommunication circuits with all round computer.
It should be noted that by above-mentioned improvement, simulation training system is by all round computer, simulation training system host computer
Composition.Simulation training system host computer uses WINDOWS operating systems, using the teaching of the invention it is possible to provide a good man-machine interaction environment, with
Data graphs, the form of numerical tabular show the parameters of unmanned plane in simulation process；Carried out in the form of dialog box various
The setting of flight failure, and the various primary condition and weather environment of settable flight, set result to be sent to by RS422 comprehensive
Close computer.All round computer can gather controlled quentity controlled variable of the flight control system to steering wheel, engine by PWM, or pass through simulation
The angular displacement sensor feedback of amount collection directly collection rudder face；Entered according to the flight parameter of above- mentioned information and unmanned plane last moment
Row aircraft dynamics model, the simulation solution of dynamic model calculate the current speed of unmanned plane, height, position, attitude angle, angular speed
Etc. information；Above-mentioned calculation result again by sensor model simulation and calculation after, from the interface of respective sensor be sent to fly control system
System, such as attitude angle information is provided by posture heading reference system, correspondence RS232 interfaces.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 7：
As shown in fig. 6, unmanned plane all round computer design method is based on, the shown function according to required for different system, it is determined that
Hardware resource requirements；According to above Demand Design hardware circuit；Software for Design is carried out according to modular design philosophy；Use
When, the firmware of system correspondence software is downloaded in hardware as requested, flight control computer, observing and controlling can be each configured to and calculated
Machine, simulation training computer, examine computer.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 8：
The present embodiment does further optimization on the basis of above-described embodiment, as shown in fig. 6, the hardware resource includes interface
Type and quantity, memory size, processor ability, measurement accuracy, input and output impedance, driving force, requirement of real-time.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 9：
The present embodiment does further optimization on the basis of above-described embodiment, as shown in fig. 6, the software includes application layer and bottom
Layer, the bottom includes operating system, hardware driving and the algorithms library of multi-application computer；The application layer is respectively for flying control
System, TT＆C system, check system, the different demands of analogue system develop, on the basis of identical bottom, by soft
Different application layer modules are assembled in part project file, respectively obtain flying-controlled box, TT＆C software, examine software, simulation software
Part, simulation software.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 10：
In order to better illustrate the technical scheme in embodiment 7- embodiments 9 described in any embodiment, as shown in fig. 6, this reality
Example is applied to further illustrate.
Multipurpose all round computer design method is：Function according to required for different system, determines hardware resource requirements,
Type and quantity, memory size, processor ability, measurement accuracy, input and output impedance, driving force including interface,
Requirement of real-time etc.；Fly control, observing and controlling, examine, emulate the hsrdware requirements of multi-application computer according to each system hardware resources need
Union is asked to obtain, according to the Demand Design hardware circuit；All inputs of computer and output interface connecing by standardization
Mouth is all drawn；Software for Design is carried out according to modular design philosophy, and software is divided into application layer and bottom level, its
Middle bottom mainly includes the modules such as operating system, hardware driving and algorithms library of multi-application computer, and the software of different system is equal
Use identical bottom；Application layer respectively for fly control, observing and controlling, examine, the different demands of analogue system are developed, identical
On the basis of bottom, by assembling different application layer modules in soft project file, flying-controlled box, observing and controlling are respectively obtained soft
Part, examine software, simulation software part, simulation software；When in use, as requested, the firmware of system correspondence software is downloaded to
In hardware, can be each configured to flight control computer, Measurement ＆control computer, simulation training computer, examine computer.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 11：
On control and testing board, TT＆C antenna, GPS plates, gps antenna, various modulate circuits, simulation training system employed in the present invention
Position machine, check system host computer, remote control, posture heading reference system, stagnation pressure tube, static tube, total-pressure probe, static pressure sensing
Device, temperature sensor, power panel and SMA interfaces belong to prior art, are directly commercially bought, and are closed according to connection
System carries out assembly and adjustment, therefore is not repeating its internal structure.
It is described above, be only presently preferred embodiments of the present invention, any formal limitation not done to the present invention, it is every according to
According to the present invention technical spirit above example is made any simple modification, equivalent variations, each fall within the present invention protection
Within the scope of.
Claims (8)
1. unmanned plane all round computer, including cabinet, the computer motherboard in cabinet and it is connected with computer motherboard
Power panel, it is characterised in that：The computer motherboard includes processor and the CAN communication being connected respectively with processor electricity
Road, DI signal conditioning circuits, DO signal conditioning circuits, PWM/PPM captures signal conditioning circuit, the conditioning of PWM/PPM output signals
Circuit, A/D converter and signal conditioning circuit, D/A converter and signal conditioning circuit, RS232 telecommunication circuits and RS422 communications
Circuit, the detachable GPS plates on power panel, installed in the detachable control and testing board on power panel and respectively with
A/D converter and total-pressure probe, static pressure transducer, the temperature sensor of signal conditioning circuit connection；The GPS plates, observing and controlling
Plate is connected by serial communication circuit with processor.
2. according to claim 1 be based on unmanned plane all round computer flight control system, it is characterised in that：Including COMPREHENSIVE CALCULATING
Machine, the posture heading reference system being connected by RS232 telecommunication circuits with all round computer, pass through PWM output signal conditioning electricity
Steering wheel that road is connected with all round computer, the gps antenna being connected by cabinet SMA interfaces with GPS plates, by cabinet SMA interfaces
The TT＆C antenna being connected with control and testing board and the stagnation pressure tube and static tube that are connected respectively with all round computer；
The all round computer includes cabinet, the computer motherboard in cabinet and the electricity being connected with computer motherboard
Source plate, the computer motherboard includes processor and the CAN communication circuit being connected respectively with processor, DI signal conditions electricity
Road, DO signal conditioning circuits, PWM/PPM capture signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and
Signal conditioning circuit, D/A converter and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits, installed in power supply
Detachable GPS plates on plate, installed in the detachable control and testing board on power panel and respectively with A/D converter and signal
Total-pressure probe, static pressure transducer, the temperature sensor of modulate circuit connection；The GPS plates, control and testing board pass through serial communication electricity
Road is connected with processor.
3. according to claim 1 be based on unmanned plane all round computer TT＆C system, it is characterised in that：Including COMPREHENSIVE CALCULATING
Machine, the TT＆C antenna being connected by cabinet SMA interfaces with control and testing board, it is connected by RS422 telecommunication circuits with all round computer
TT＆C system host computer and the remote control that the connection of signal conditioning circuit all round computer is captured by PPM；
The all round computer includes cabinet, the computer motherboard in cabinet and the electricity being connected with computer motherboard
Source plate, the computer motherboard includes processor and the CAN communication circuit being connected respectively with processor, DI signal conditions electricity
Road, DO signal conditioning circuits, PWM/PPM capture signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and
Signal conditioning circuit, D/A converter and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits, installed in electricity
Detachable control and testing board on source plate and total-pressure probe, the static pressure being connected respectively with A/D converter and signal conditioning circuit
Sensor, temperature sensor；The GPS plates, control and testing board are connected by serial communication circuit with processor.
4. with being based on unmanned plane all round computer check system according to claim 1, it is characterised in that：Including COMPREHENSIVE CALCULATING
Machine, the ground check system host computer being connected by RS422 telecommunication circuits with all round computer；
The all round computer includes cabinet, the computer motherboard in cabinet and the electricity being connected with computer motherboard
Source plate, the computer motherboard includes processor and the CAN communication circuit being connected respectively with processor, DI signal conditions electricity
Road, DO signal conditioning circuits, PWM/PPM capture signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and
Signal conditioning circuit, D/A converter and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits and respectively with A/
D converters and total-pressure probe, static pressure transducer, the temperature sensor of signal conditioning circuit connection；The GPS plates, control and testing board
It is connected by serial communication circuit with processor.
5. according to claim 1 be based on unmanned plane all round computer simulation training system, it is characterised in that：Including synthesis
Computer, the simulation training system host computer being connected by RS422 telecommunication circuits with all round computer；
The all round computer includes cabinet, the computer motherboard in cabinet and the electricity being connected with computer motherboard
Source plate, the computer motherboard includes processor and the CAN communication circuit being connected respectively with processor, DI signal conditions electricity
Road, DO signal conditioning circuits, PWM/PPM capture signal conditioning circuit, PWM/PPM output signal conditioning circuits, A/D converter and
Signal conditioning circuit, D/A converter and signal conditioning circuit, RS232 telecommunication circuits and RS422 telecommunication circuits and respectively with A/
D converters and total-pressure probe, static pressure transducer, the temperature sensor of signal conditioning circuit connection；The GPS plates, control and testing board
It is connected by serial communication circuit with processor.
6. based on unmanned plane all round computer design method, it is characterised in that：Function according to required for different system, it is determined that firmly
Part resource requirement；According to above Demand Design hardware circuit；Software for Design is carried out according to modularization；In use, as requested will
The firmware of system correspondence software is downloaded in hardware, can be each configured to flight control computer, Measurement ＆control computer, simulation training and be calculated
Machine, examine computer.
7. according to claim 6 be based on unmanned plane all round computer design method, it is characterised in that the hardware resource
Type and quantity, memory size, processor ability, measurement accuracy, input and output impedance, driving force including interface,
Requirement of real-time.
8. according to claim any one of 6-7 based on unmanned plane all round computer design method, the software includes should
With layer and bottom, the bottom includes operating system, hardware driving and the algorithms library of multi-application computer；The application layer difference
For flight control system, TT＆C system, check system, analogue system different demands develop, on the basis of identical bottom,
By assembling different application layer modules in soft project file, respectively obtain flying-controlled box, TT＆C software, examine software,
Simulation software part, simulation software.
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| CN110750054A (en) * | 2019-10-29 | 2020-02-04 | 贵州航天控制技术有限公司 | Small semi-physical intelligent universal simulation platform and method for electric steering engine |
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Application publication date: 20170926 |