CN111811761B - Unmanned aerial vehicle vibrations test platform - Google Patents
Unmanned aerial vehicle vibrations test platform Download PDFInfo
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- CN111811761B CN111811761B CN202010473762.9A CN202010473762A CN111811761B CN 111811761 B CN111811761 B CN 111811761B CN 202010473762 A CN202010473762 A CN 202010473762A CN 111811761 B CN111811761 B CN 111811761B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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Abstract
The invention discloses an unmanned aerial vehicle vibration test platform, which comprises a test platform and a platform test system, wherein the test platform comprises a box cover, a vibration table, a main control computer switch, an accelerator and rudder remote lever, a standby switch, a sensor switch, an aileron and elevator remote lever, a box body, a voltage adjusting panel, a vibration parameter display, a power socket and a main control computer, and the platform test system comprises a control module, a detection module, a processing center module and a display module.
Description
Technical Field
The invention belongs to the technical field of vibration testing equipment of unmanned aerial vehicles; in particular to an unmanned aerial vehicle vibration test platform.
Background
The existing accuracy detection method of the unmanned aerial vehicle vibration test equipment comprises a traditional mode and an equipment detection mode, wherein the traditional mode is that a target is arranged indoors, a pod or a holder is used for carrying an external imaging device to shoot the target, and the stable accuracy is calculated by adopting the distance of the image center offset from the target center. The equipment detection mode is through fixing unmanned aerial vehicle on vibration test equipment, through controlling unmanned aerial vehicle work, utilizes vibration test equipment to vibrate the unmanned aerial vehicle who carries out work and detect to detect data transmission to equipment on, supply operating personnel to detect, this vibration test equipment is bulky, and manufacturing cost is higher, and it is inconvenient to carry simultaneously, can't carry out unmanned aerial vehicle in real time and detect.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle vibration test platform, which comprises a test platform and a platform test system, wherein the test platform comprises a box cover, a vibration table, a master control computer switch, an accelerator and rudder remote control rod, a standby switch, a sensor switch, an aileron and elevator remote control rod, a box body, a voltage adjusting panel, a vibration parameter display, a power socket and a master control computer;
the power socket is respectively and electrically connected with a main control computer switch, an accelerator and rudder remote lever, a standby switch, a sensor switch, an aileron and an elevator remote lever, and the main control computer is respectively and electrically connected with the vibrating table, the voltage adjusting panel, the vibration parameter display and the main control computer switch.
Further, the platform test system comprises a control module, a detection module, a processing center module and a display module, wherein the control module is electrically connected with the detection module, the detection module is electrically connected with the processing center module, the processing center module is electrically connected with the display module, the control module is used for controlling various operations of the unmanned aerial vehicle to be detected, the detection module is used for monitoring the vibration condition of the unmanned aerial vehicle to be detected and transmitting the vibration condition to the processing center module and the display module, the processing center module is used for analyzing the vibration condition transmitted by the detection module, so that the condition of the unmanned aerial vehicle is judged and sent to the display module, and the display module is used for displaying the vibration condition of the unmanned aerial vehicle and the analysis result of the processing center module.
Further, control module includes main control computer switch, the distant pole of throttle and rudder, reserve switch, sensor switch, aileron and the distant pole of elevator and voltage adjustment panel, detection module includes the shaking table, the processing center module includes the computer, display module includes vibration parameter display and graphoscope.
Further, the number of the standby switches is three.
Furthermore, supply socket comprises stabiliser, battery and power source, power source is embedded on the box up end, stabiliser and battery are embedded in the box inboard, power source and stabiliser electric connection, stabiliser and battery electric connection.
Furthermore, the main control computer comprises a computer host and a computer display, the computer host is arranged in the case cover, the computer display is embedded in the bottom surface of the case cover, the computer host is electrically connected with the computer display, and the computer host comprises a database and a processor.
Further, the operation steps of the test platform are as follows:
1) Placing an unmanned aerial vehicle to be detected on a vibrating table;
2) Turning on a main control computer switch and a sensor switch;
3) The unmanned aerial vehicle is controlled to operate through the accelerator, the rudder remote lever, the ailerons and the elevator remote lever;
4) The vibration table is used for carrying out vibration detection on the unmanned aerial vehicle and transmitting data to the main control computer and the vibration parameter display;
5) The control voltage is adjusted through the voltage adjusting panel, so that the vibration conditions of the unmanned aerial vehicle with different voltages are judged;
6) When need not the use equipment, with case lid flip on the box to fix case lid and box, can carry the removal with test platform.
Further, the platform test system specifically comprises the following working steps:
1) The control module controls the unmanned aerial vehicle to be detected to carry out operations such as lifting, overturning and the like;
2) The detection module monitors vibration conditions of the unmanned aerial vehicle during lifting, overturning and other operations, and transmits the vibration conditions and the unmanned aerial vehicle operation conditions to the processing center module and the display module;
3) A vibration parameter display of the display module displays the vibration parameters monitored by the detection module;
4) The processing center module is used for analyzing the vibration condition transmitted by the detection module so as to judge the condition of the unmanned aerial vehicle and send the condition information to the display module;
5) The computer display of the display module is used for displaying the vibration condition of the unmanned aerial vehicle and the analysis result of the processing center module.
Further, the processing center module specifically comprises the following working steps:
1) Recording a first group of vibration information received by a processing center as A1, recording the flight mode of the unmanned aerial vehicle as F1, recording a second group of vibration information as A2, recording the flight mode of the unmanned aerial vehicle as F2, recording each group of vibration information as Ax, recording the flight mode of the unmanned aerial vehicle as Fy, wherein x is 1- ∞, and y is 1- ∞;
s1, the value of x refers to the value of x of the previous data, and x is the value of +1 of x of the previous data;
and S2, the value of y refers to the value of y of the previous data, and y is the value of +1 of the previous data.
2) The vibration information Ax comprises vibration data Axa1, axa, axa, axa of four motors of the unmanned aerial vehicle and whole vibration data Axz, and Fy, axa1, axa, axa, axa and Axz are imported into a processor;
3) The processor searches the database corresponding to Fy through Fy, and stores the vibration data of Ax1, ax2, ax3, ax4 and Ax5 corresponding to the database;
4) Comparing Ax1 to Axa data, ax2 to Axa data, ax3 to Axa3 data, ax4 to Axa data, ax5 to Axz data;
5) When the difference between the Ax1 and Axa, ax2 and Axa, ax3 and Axa, ax4 and Axa and Ax5 and Axz data is +/-5A, the processor leads out the vibration to be normal on the computer display, and simultaneously leads Axa, axa, axa, axa and Axz values to the vibration parameter display and the computer display;
6) When the difference between Ax1 and Axa, ax2 and Axa, ax3 and Axa, ax4 and Axa and Ax5 and Axz data is out of +/-5A, the processor derives the vibration abnormality to the computer display, and simultaneously imports Axa, axa, axa, axa and Axz values to the vibration parameter display and the computer display, and simultaneously calculates the difference between the abnormal data and the normal data and provides an adjusting scheme.
7) The invention has the beneficial effects that: the vibration test platform of the unmanned aerial vehicle is reduced to the size of a suitcase, the size is small, the manufacturing cost is saved, the vibration test platform is convenient to carry, vibration test can be carried out at any time, and the unmanned aerial vehicle can be adjusted.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the general structure of a vibration testing platform of an unmanned aerial vehicle according to the invention;
fig. 2 is a system block diagram of the vibration testing platform of the unmanned aerial vehicle.
Detailed Description
Referring to fig. 1-2, an unmanned aerial vehicle vibration test platform comprises a test platform and a platform test system, wherein the test platform comprises a box cover 1, a vibration table 2, a master control computer switch 3, a throttle and rudder remote control rod 4, a standby switch 5, a sensor switch 6, an aileron and elevator remote control rod 7, a box body 8, a voltage adjusting panel 9, a vibration parameter display 10, a power socket 11 and a master control computer 12, the box cover 1 is arranged on the upper end surface of the box body 8, one side of the box cover 1 is rotatably connected with the side of the upper end surface of the box body 8 through a hinge, the master control computer 12 is embedded in the bottom surface of the box cover 1, the vibration table 2 is embedded in the upper end surface of the box body 8, the master control computer switch 3 is arranged on the upper end surface of the box body 8, and the master control computer switch 3 is positioned on the lower side of the vibration table 2, the accelerator and rudder remote lever 4 and the aileron and elevator remote lever 7 are fixed on the upper end surface of the box body 8 in bilateral symmetry, the accelerator and rudder remote lever 4 and the aileron and elevator remote lever 7 are positioned at the lower side of the master control computer switch 3, the standby switch 5 and the sensor switch 6 are fixed between the accelerator and rudder remote lever 4 and the aileron and elevator remote lever 7 in parallel, the voltage adjusting panel 9 is embedded on the upper end surface of the box body 8, the voltage adjusting panel 9 is positioned at the right side of the accelerator and rudder remote lever 4 and the aileron and elevator remote lever 7, the vibration parameter display 10 is embedded on the upper end surface of the box body 8, the vibration parameter display 10 is positioned at the upper side of the voltage adjusting panel 9, the vibration parameter display 10 is positioned at the right side of the vibration table 2, the power socket 11 is embedded on the upper end surface of the box body 8, and the power socket 11 is positioned at the edge of the right side of the upper end surface of the box body 8;
the power socket 11 is respectively and electrically connected with the main control computer switch 3, the accelerator and rudder remote lever 4, the standby switch 5, the sensor switch 6, the ailerons and the elevator remote lever 7, and the main control computer 12 is respectively and electrically connected with the vibration table 2, the voltage adjusting panel 9, the vibration parameter display 10 and the main control computer switch 3;
as shown in fig. 2, the platform test system includes control module, detection module, processing center module and display module, control module and detection module electric connection, detection module and processing center module electric connection, processing center module and display module electric connection, control module is used for controlling the various operations that wait to detect unmanned aerial vehicle, detection module is used for monitoring the vibration condition that waits to detect unmanned aerial vehicle, and with vibration condition transmission to processing center module and in the display module, processing center module is arranged in carrying out the analysis to the vibration condition of detection module transmission, thereby judge unmanned aerial vehicle's situation, and with this situation information transmission to display module in, display module is used for showing unmanned aerial vehicle's vibration condition and processing center module's analysis result.
The control module comprises a master control computer switch 3, an accelerator and rudder joystick 4, a standby switch 5, a sensor switch 6, an aileron and elevator joystick 7 and a voltage adjusting panel 9, the detection module comprises a vibrating table 2, the processing center module comprises a computer host, and the display module comprises a vibration parameter display 10 and a computer display.
The number of the standby switches 5 is three.
The main control computer 12 includes a computer host and a computer display, the computer host is disposed in the case cover 1, the computer display is embedded in the bottom surface of the case cover 1, the computer host is electrically connected with the computer display, and the computer host includes a database and a processor.
The test platform comprises the following operation steps:
1) Placing the unmanned aerial vehicle to be detected on a vibrating table 2;
2) Turning on a main control computer switch 3 and a sensor switch 6;
3) The unmanned aerial vehicle is controlled to operate through an accelerator, a rudder remote lever 4, an aileron and an elevator remote lever 7;
4) The vibration table 2 is used for carrying out vibration detection on the unmanned aerial vehicle and transmitting data to the main control computer 12 and the vibration parameter display 10;
5) The control voltage is adjusted through the voltage adjusting panel 9, so that the vibration conditions of the unmanned aerial vehicle with different voltages are judged;
6) When need not to use equipment, with case lid 1 flip on box 8 to fix case lid 1 and box 8, can carry the removal with test platform.
The platform test system comprises the following specific working steps:
1) The control module controls the unmanned aerial vehicle to be detected to carry out operations such as lifting, overturning and the like;
2) The detection module monitors the vibration condition of the unmanned aerial vehicle during lifting, overturning and other operations, and transmits the vibration condition and the operation condition of the unmanned aerial vehicle to the processing center module and the display module;
3) A vibration parameter display 10 of the display module displays the vibration parameters monitored by the detection module;
4) The processing center module is used for analyzing the vibration condition transmitted by the detection module so as to judge the condition of the unmanned aerial vehicle and sending the condition information to the display module;
5) The computer display of the display module is used for displaying the vibration condition of the unmanned aerial vehicle and the analysis result of the processing center module.
The working steps of the processing center module are as follows:
1, recording a first group of vibration information received by a processing center as A1, recording the flight mode of an unmanned aerial vehicle as F1, recording a second group of vibration information as A2, recording the flight mode of the unmanned aerial vehicle as F2, recording each group of vibration information as Ax, recording the flight mode of the unmanned aerial vehicle as Fy, taking x as 1- ∞, and taking y as 1- ∞;
s1.X, taking the value of x of the previous data, and taking the value of x of the previous data as +1;
and S2.Y refers to the y value of the previous data, and y is the y value +1 of the previous data.
2) The vibration information Ax comprises vibration data Axa1, axa, axa, axa of four motors of the unmanned aerial vehicle and whole vibration data Axz, and Fy, axa1, axa, axa, axa and Axz are imported into a processor;
3) The processor searches the database corresponding to Fy through Fy, and searches the vibration data of Ax1, ax2, ax3, ax4 and Ax5 corresponding to the database;
4) Comparing Ax1 to Axa data, ax2 to Axa data, ax3 to Axa3 data, ax4 to Axa data, ax5 to Axz data;
5) When the difference between the Ax1 and Axa, ax2 and Axa, ax3 and Axa, ax4 and Axa and Ax5 and Axz data is +/-5A, the processor leads out the vibration to be normal on the computer display, and simultaneously leads Axa, axa, axa, axa and Axz values to the vibration parameter display 10 and the computer display;
6) When the difference between Ax1 and Axa, ax2 and Axa, ax3 and Axa, ax4 and Axa and Ax5 and Axz data is out of + -5A, the processor derives the vibration abnormality to the computer display, and simultaneously imports Axa, axa, axa, axa and Axz values to the vibration parameter display 10 and the computer display, and simultaneously calculates the difference between the abnormal data and the normal data, and gives an adjusting scheme.
The foregoing is merely illustrative and explanatory of the present invention and various modifications, additions or substitutions may be made to the specific embodiments described by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (6)
1. An unmanned aerial vehicle vibration test platform comprises a test platform and a platform test system, and is characterized in that the test platform comprises a box cover (1), a vibration table (2), a master control computer switch (3), an accelerator and rudder rocker (4), a standby switch (5), a sensor switch (6), an aileron and elevator rocker (7), a box body (8), a voltage adjusting panel (9), a vibration parameter display (10), a power socket (11) and a master control computer (12), wherein the box cover (1) is arranged on the upper end face of the box body (8), one side edge of the box cover (1) is rotatably connected with the side edge of the upper end face of the box body (8) through a hinge, main control computer (12) are embedded on case lid (1) bottom surface, shaking table (2) are embedded on box (8) up end, main control computer switch (3) are located on box (8) up end, and main control computer switch (3) are located shaking table (2) downside, throttle and rudder rocker (4) and aileron and elevator rocker (7) bilateral symmetry are fixed in on box (8) up end, and throttle and rudder rocker (4) and aileron and elevator rocker (7) are located main control computer switch (3) downside, stand-by switch (5) and sensor switch (6) are fixed in throttle and rudder rocker (4) and aileron and elevator rocker (7) side by side (7) The vibration control device comprises a box body (8), a voltage adjusting panel (9), a vibration parameter display (10), a vibration parameter display (11), a power socket (11), a vibration platform (2), a power socket (11), a vibration control panel (9), a vibration control panel (10) and a vibration control panel (9), wherein the voltage adjusting panel (9) is embedded in the upper end face of the box body (8), the voltage adjusting panel (9) is positioned on the right sides of an accelerator and rudder rocker (4), an aileron and an elevator rocker (7), the vibration parameter display (10) is embedded in the upper end face of the box body (8), the vibration parameter display (10) is positioned on the upper side of the voltage adjusting panel (9), the vibration parameter display (10) is positioned on the right side of the vibration platform (2), the power socket (11) is embedded in the upper end face of the box body (8), and the power socket (11) is positioned on the edge of the right side of the upper end face of the box body (8); the power socket (11) is electrically connected with a main control computer switch (3), an accelerator and rudder rocker (4), a standby switch (5), a sensor switch (6) and an aileron and elevator rocker (7) respectively, and the main control computer (12) is electrically connected with the vibration table (2), the voltage adjusting panel (9), the vibration parameter display (10) and the main control computer switch (3) respectively; the platform testing system comprises a control module, a detection module, a processing center module and a display module, wherein the control module is electrically connected with the detection module, the detection module is electrically connected with the processing center module, the processing center module is electrically connected with the display module, the control module is used for controlling various operations of the unmanned aerial vehicle to be detected, the detection module is used for monitoring the vibration condition of the unmanned aerial vehicle to be detected and transmitting the vibration condition to the processing center module and the display module, the processing center module is used for analyzing the vibration condition transmitted by the detection module so as to judge the condition of the unmanned aerial vehicle and transmitting the condition information to the display module, and the display module is used for displaying the vibration condition of the unmanned aerial vehicle and the analysis result of the processing center module;
the control module comprises a main control computer switch (3), an accelerator and rudder rocker (4), a standby switch (5), a sensor switch (6), an aileron and elevator rocker (7) and a voltage adjusting panel (9), the detection module comprises a vibration table (2), the processing center module comprises a computer host, and the display module comprises a vibration parameter display (10) and a computer display;
the processing center module specifically comprises the following working steps:
1) Recording a first group of vibration information received by a processing center as A1, recording the flight mode of the unmanned aerial vehicle as F1, recording a second group of vibration information as A2 and recording the flight mode of the unmanned aerial vehicle as F2, and recording each group of vibration information as Ax, recording the flight mode of the unmanned aerial vehicle as Fy, wherein x is 1 to infinity, and y is 1 to infinity;
s1, the value of x refers to the value of x of the previous data, and x is the value of +1 of x of the previous data;
s2, the value of y refers to the value of y of the previous data, and y is the value of +1 of the y of the previous data;
2) The vibration information Ax comprises vibration data Axa1, axa, axa, axa of four motors of the unmanned aerial vehicle and whole vibration data Axz, and Fy, axa1, axa, axa, axa and Axz are imported into a processor;
3) The processor searches the database for library data corresponding to Fy through Fy and corresponds the library data with the vibration data of Ax1, ax2, ax3, ax4 and Ax 5;
4) Comparing Ax1 to Axa data, ax2 to Axa data, ax3 to Axa3 data, ax4 to Axa data, ax5 to Axz data;
5) When the difference between the Ax1 and Axa, ax2 and Axa, ax3 and Axa, ax4 and Axa and Ax5 and Axz data is +/-5A, the processor leads out the vibration to be normal on the computer display, and simultaneously leads Axa, axa, axa, axa and Axz values to the vibration parameter display (10) and the computer display;
6) When the difference between Ax1 and Axa, ax2 and Axa, ax3 and Axa, ax4 and Axa and Ax5 and Axz data is out of +/-5A, the processor leads out the vibration abnormality to the computer display, and leads Axa, axa, axa, axa and Axz values to the vibration parameter display (10) and the computer display, and calculates the difference between the abnormal data and the normal data, and gives out the adjusting scheme.
2. An unmanned aerial vehicle vibration test platform according to claim 1, wherein there are three standby switches (5).
3. The unmanned aerial vehicle vibrations test platform of claim 1, characterized in that, supply socket (11) comprises stabiliser, battery and power source, power source is embedded on box (8) up end, stabiliser and battery are embedded in box (8) inboard, power source and stabiliser electric connection, stabiliser and battery electric connection.
4. The unmanned aerial vehicle shakes test platform of claim 1, characterized in that, master control computer (12) includes computer host and graphoscope, the computer host is located in case lid (1), the graphoscope is embedded on case lid (1) bottom surface, computer host and graphoscope electric connection, the computer host includes database and treater.
5. The unmanned aerial vehicle shakes test platform of claim 1, characterized in that, test platform operating procedure specifically is as follows:
1) Placing the unmanned aerial vehicle to be detected on a vibrating table (2);
2) Turning on a main control computer switch (3) and a sensor switch (6);
3) The unmanned aerial vehicle is controlled to operate through an accelerator and a rudder rocker (4) and an aileron and an elevator rocker (7);
4) The vibration table (2) is used for carrying out vibration detection on the unmanned aerial vehicle and transmitting data to the master control computer (12) and the vibration parameter display (10);
5) The control voltage is adjusted through a voltage adjusting panel (9), so that the vibration conditions of the unmanned aerial vehicle with different voltages are judged;
6) When need not to use equipment, with case lid (1) flip on box (8) to fix case lid (1) and box (8), can carry the removal with test platform.
6. The unmanned aerial vehicle vibration test platform of claim 1, wherein the platform test system comprises the following specific working steps:
1) The control module controls the unmanned aerial vehicle to be detected to carry out operations such as lifting, overturning and the like;
2) The detection module monitors the vibration condition of the unmanned aerial vehicle during lifting, overturning and other operations, and transmits the vibration condition and the operation condition of the unmanned aerial vehicle to the processing center module and the display module;
3) A vibration parameter display (10) of the display module displays the vibration parameters monitored by the detection module;
4) The processing center module is used for analyzing the vibration condition transmitted by the detection module so as to judge the condition of the unmanned aerial vehicle,
and sending the status information to a display module;
5) And the computer display of the display module is used for displaying the vibration condition of the unmanned aerial vehicle and the analysis result of the processing center module.
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| JP6760844B2 (en) * | 2014-04-03 | 2020-09-23 | ブリュエル アンド ケアー ブイティーエス リミティド | Vibration test system and method |
| CN106768287A (en) * | 2017-03-20 | 2017-05-31 | 哈尔滨理工大学 | A kind of test device for multi-rotor unmanned aerial vehicle mount vibration situation |
| CN107860468A (en) * | 2017-11-21 | 2018-03-30 | 深圳市科比特航空科技有限公司 | Unmanned plane vibration-testing apparatus |
| CN110174878A (en) * | 2019-05-20 | 2019-08-27 | 苏州肯博思智能科技有限公司 | A kind of unmanned intelligence equipment is healthy and ensures integrated management general-purpose system |
| CN110164236A (en) * | 2019-05-28 | 2019-08-23 | 四川信息职业技术学院(广元无线电技工学校) | Multi-functional unmanned plane teaching test case |
| CN110956891A (en) * | 2019-10-31 | 2020-04-03 | 四川信息职业技术学院(广元无线电技工学校) | Multifunctional unmanned aerial vehicle teaching test box |
| CN110987337A (en) * | 2019-12-24 | 2020-04-10 | 芜湖赛宝信息产业技术研究院有限公司 | Vibration test monitoring devices |
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