CN113492996B - Device and method for measuring lift force and torque of rotor wing - Google Patents
Device and method for measuring lift force and torque of rotor wing Download PDFInfo
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- CN113492996B CN113492996B CN202010195321.7A CN202010195321A CN113492996B CN 113492996 B CN113492996 B CN 113492996B CN 202010195321 A CN202010195321 A CN 202010195321A CN 113492996 B CN113492996 B CN 113492996B
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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 utility model discloses a lift and torque measuring device and method of rotor, this measuring device includes the lever unit that can rotate around the support, be equipped with adjustment unit in the first end of lever unit, wherein, this adjustment unit can make the rotor shaft of first rotor subassembly and second rotor subassembly symmetrical with respect to lever unit in the coplanar, be equipped with measurement unit in the second end of lever unit, this measurement direction of measurement unit is perpendicular to lever unit, in this way, through adjustment unit adjustment tilt angle of two rotor subassemblies simultaneously, and only need a measurement unit, can be according to the moment equilibrium equation of lever unit under a plurality of different tilt angles, obtain lift and torque of rotor at predetermined rotational speed; therefore, the technical problem that the cost is increased due to the fact that a plurality of sensors are required to be arranged in order to obtain the lift force and the torque of the rotor simultaneously is solved, and the technical effect that the lift force and the torque of the rotor can be obtained simultaneously only by one measuring unit is achieved.
Description
Technical Field
The invention relates to the technical field of aircraft testing, in particular to a device and a method for measuring lift force and torque of a rotor wing.
Background
In the aircraft with the rotor wing, the rotor wing is a main power system, and the rotor wing rotation can bring lift force or thrust and torque to the aircraft, so that the control of the lift force and torque parameters of the rotor wing at different rotation speeds can bring help to the design and test of the aircraft.
In order to obtain the lift force and torque of the rotor wing, in the existing measuring device, a lever principle is adopted, one end of the lever is provided with the rotor wing, the other end of the lever is provided with a sensor, and then lift force and torque parameters are obtained through the stress condition when the lever is balanced.
However, in the above-mentioned technique, in order to obtain the lift force and torque of the rotor at the same time, a plurality of sensors, for example, one force sensor for measuring the lift force and another torque sensor for measuring the torque, are required, which results in a larger number of sensors and an increase in cost.
Disclosure of Invention
The embodiment of the application provides a lift force and torque measuring device and a measuring method of a rotor wing, wherein the measuring device comprises a lever unit capable of rotating around a support, an adjusting unit is arranged at a first end of the lever unit, a rotor wing shaft of a first rotor wing assembly and a rotor wing shaft of a second rotor wing assembly can be symmetrical relative to the lever unit in the same plane, a measuring unit is arranged at a second end of the lever unit, and the measuring direction of the measuring unit is perpendicular to the lever unit, so that the tilt angles of the two rotor wing assemblies can be adjusted simultaneously through the adjusting unit, and the lift force and the torque of the rotor wing at a preset rotating speed can be obtained according to a moment balance equation of the lever unit under a plurality of different tilt angles only by one measuring unit; therefore, the technical problem that the cost is increased due to the fact that a plurality of sensors are required to be arranged in order to obtain the lift force and the torque of the rotor simultaneously is solved, and the technical effect that the lift force and the torque of the rotor can be obtained simultaneously only by one measuring unit is achieved.
The embodiment of the application provides a lift and torque measurement device of rotor, includes:
the lever unit is provided with a support between a first end and a second end of the lever unit, wherein the lever unit can rotate around the support;
the adjusting unit is arranged at the first end of the lever unit, and is fixedly connected with a first rotor wing assembly and a second rotor wing assembly, wherein the first rotor wing assembly and the second rotor wing assembly are vertically symmetrical relative to the lever unit;
the measuring unit is arranged at the second end of the lever unit, and the measuring direction of the measuring unit is perpendicular to the lever unit;
the adjusting unit can adjust the inclination angle of the rotor shaft of the first rotor assembly in a first plane, the adjusting unit can adjust the inclination angle of the rotor shaft of the second rotor assembly in the first plane, the first plane is perpendicular to the lever unit, and the rotor shaft of the first rotor assembly and the rotor shaft of the second rotor assembly are symmetrical relative to the lever unit.
In an embodiment of the disclosure, the adjusting unit includes a first angle adjusting device and a second angle adjusting device, where the first angle adjusting device and the second angle adjusting device are vertically symmetrical with respect to the lever unit; the first angle adjusting device is fixedly connected with a first rotor wing assembly, and the second angle adjusting device is fixedly connected with a second rotor wing assembly; the rotational directions of the rotors in the first rotor assembly and the second rotor assembly are symmetrical with respect to the lever unit.
In this embodiment of the disclosure, the first angle adjusting device and the second angle adjusting device are fixedly connected to the first end of the lever unit through a cross bar.
In the embodiment of the disclosure, a vertical rod is fixedly connected between the cross rod and the first end of the lever unit.
In an embodiment of the disclosure, a distance from the first end of the lever unit to the support is equal to a distance from the second end of the lever unit to the support.
In the embodiment of the disclosure, the second end of the lever unit is provided with a counterweight adjusting device.
The embodiment of the application also provides a method for measuring the lift force and the torque of the rotor wing, which is applied to the device for measuring the lift force and the torque of the rotor wing, wherein the method for measuring the lift force and the torque of the rotor wing comprises the following steps:
the adjusting unit is used for respectively adjusting the inclination angles of the rotor shafts of the first rotor wing assembly and the second rotor wing assembly to enable the rotor shafts of the first rotor wing assembly and the second rotor wing assembly to incline at a plurality of preset angles, wherein the rotor shafts of the first rotor wing assembly and the second rotor wing assembly are symmetrical relative to the lever unit;
when the rotation speeds of the first rotor wing assembly and the second rotor wing assembly are increased from zero to the same preset rotation speed at the same time, corresponding to each preset angle, reading change values of the measuring units corresponding to each preset angle are obtained; wherein the rotational directions of the first rotor assembly and the second rotor assembly are symmetrical with respect to the lever unit;
and when the rotating speeds of the first rotor wing assembly and the second rotor wing assembly are preset rotating speeds, obtaining a lift force value and a torque value of the rotor wing assemblies according to moment balance equations of the lever units under a plurality of preset angles.
In an embodiment of the disclosure, the step of obtaining the lift value and the torque value of the rotor assembly according to the moment balance equations of the lever units under the predetermined angles includes:
and obtaining a lift force value and a torque value of the rotor wing assembly according to a horizontal moment balance equation of the lever unit under a plurality of preset angles.
In an embodiment of the present disclosure, the moment balance equation includes a friction moment of the support against the lever unit, and,
the step of obtaining the lift value and the torque value of the rotor assembly according to the horizontal moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
and obtaining a lift force value and a torque value of the rotor wing assembly according to the horizontal moment balance equation of the lever unit under any three preset angles.
In the embodiment of the disclosure, the friction torque of the support to the lever unit is not included in the torque balance equation, and,
the step of obtaining the lift value and the torque value of the rotor assembly according to the horizontal moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
and obtaining a lift force value and a torque value of the rotor wing assembly according to a horizontal moment balance equation of the lever unit under any two preset angles.
In an embodiment of the present disclosure, the second end of the lever unit is further provided with a weight adjusting device, and,
in the measuring method, the step of obtaining the reading variation value of the measuring unit corresponding to each predetermined angle includes:
and acquiring display values of the measuring units corresponding to each preset angle respectively.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
in the embodiment of the application, the first end of the lever unit is provided with the adjusting unit, and the second end of the lever unit is provided with the measuring unit; the adjusting unit is fixedly connected with a first rotor wing assembly and a second rotor wing assembly, the two rotor wing assemblies are vertically symmetrical relative to the lever unit, rotor wing shafts of the two rotor wing assemblies can be adjusted to be symmetrical in the same plane relative to the lever unit by the adjusting unit, and the measuring direction of the measuring unit is vertical to the lever unit;
on the one hand, at the first end of the lever unit, by making the rotor shafts of the two rotor assemblies symmetrical with respect to the lever unit, so that the component forces of the lift forces of the two rotor assemblies in the horizontal direction cancel each other out, that is, at the first end of the lever unit, when the rotor assemblies are at a predetermined rotational speed, there is no component force in the horizontal direction and only a component force in the vertical direction on the lever unit, so that measurement of the component force in the horizontal direction is not required at the second end of the lever unit, that is, a horizontal force sensor is not required at the second end of the lever unit;
on the other hand, at the first end of the lever unit, the adjusting device can simultaneously adjust the rotor shafts of the two rotor assemblies to incline at a plurality of preset angles, so that, corresponding to each preset angle, when the rotation directions of the two rotor assemblies are symmetrical relative to the lever unit and the rotation speeds are simultaneously increased from zero to the same preset rotation speed, the reading change value of the measuring unit at the second end of the lever unit reflects the lift force and the torque of the two rotors at the preset rotation speeds; furthermore, the lift force and torque of the rotor wing at a preset rotating speed can be obtained through a moment balance equation of the lever unit;
that is, in this embodiment, by arranging the two rotor shafts symmetrically and adjustably with respect to the lever unit, when the two rotors are at the same predetermined rotational speed and the rotational direction is symmetrical with respect to the lever, the lift force and the torque can be obtained by using the horizontal torque balance equation of the lever unit, and the measuring device of this embodiment has a simple structure, and the number of measuring devices used is only one, thereby saving the cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a lift and torque measuring device for a rotor according to an embodiment of the present application.
Figure 2 is a flow chart of a method of measuring lift and torque of a rotor according to an embodiment of the present application.
FIG. 3 is a schematic diagram of the system of FIG. 1 in a stressed condition.
Wherein, the reference numerals:
10-lever unit
11-support
21-first angle adjusting device
22-second angle adjusting device
Rotor shaft of 23-first rotor assembly
Rotor shaft of 24-second rotor assembly
25-vertical bar
26-Cross bar
30-measuring unit
40-counterweight adjusting device
Detailed Description
In order that the above-recited aspects may be better understood, a detailed description of exemplary embodiments of the present application will be presented below with reference to the drawings, it being apparent that the described embodiments are only a subset of the embodiments of the present application and not all of the embodiments of the present application, it being understood that the present application is not limited by the exemplary embodiments described herein.
SUMMARY
In a rotorcraft, the lift and torque of the rotor directly affect the flight performance of the aircraft, wherein it can be appreciated that the rotor, when rotating, provides a lift which in turn acts on the aircraft fuselage, and that the rotor, while rotating, is subjected to the reactive forces of the surrounding air or air flow, which are reflected in the torque effect on the rotor, which in turn acts on the fuselage, when the effect of counteracting the torque needs to be considered; therefore, it is necessary to measure the lift and torque of the rotor at a predetermined rotational speed in order to obtain the operating parameters of the rotor.
In the existing measuring device capable of measuring the lift force and the torque of a rotor wing at the same time, a lever principle is adopted, one end of a lever is provided with the rotor wing, the other end of the lever is provided with a sensor, and then lift force and torque parameters are obtained through the stress condition when the lever is balanced;
however, in the above-mentioned solutions, a plurality of sensors are often required to be provided, or, alternatively, a force sensor for measuring lift force and a torque sensor for measuring torque are also required at the same time, which results in a greater number of sensors of the measuring device, higher costs, and an inconvenient structural structure.
Based on the above-mentioned problems, the embodiments of the present application provide a device and a method for measuring lift force and torque of a rotor, wherein in the device, two rotor shafts symmetrical to a lever unit are provided at a first end of the lever unit, and tilt angles of the two rotor shafts are adjustable, then only one measuring unit is provided at a second end of the lever unit, and a measuring direction of the measuring unit is perpendicular to the lever unit, so that lift force and torque can be obtained by using moment balance equations of the lever unit when the two rotor shafts tilt at different tilt angles, thereby solving the above-mentioned problems and improving measuring accuracy.
Fig. 1 is a schematic structural diagram of a device for measuring lift force and torque of a rotor wing according to the embodiment, and as shown in fig. 1, the device comprises a lever unit 10, an adjusting unit and a measuring unit 30, wherein the lever unit 10 has a first end a and a second end B, a support is disposed between the first end a and the second end B of the lever unit 10, and the lever unit 10 can rotate around the support 11; wherein the O point represents the fulcrum of the support 11 to the lever unit 10; an adjusting unit is arranged at a first end of the lever unit 10, and a first rotor wing assembly and a second rotor wing assembly are fixedly connected to the adjusting unit, wherein the first rotor wing assembly and the second rotor wing assembly are vertically symmetrical relative to the lever unit 10, and the rotor wing assembly comprises a motor and a rotor wing arranged on a motor shaft, so that the motor shaft is a rotor wing shaft; then a measuring unit is arranged at the second end of the lever unit, and the measuring direction of the measuring unit is perpendicular to the lever unit;
wherein, the adjusting unit can adjust the tilt angle of the rotor shaft 23 of the first rotor assembly in the first plane, the adjusting unit can adjust the tilt angle of the rotor shaft 24 of the second rotor assembly in the first plane, the first plane is perpendicular to the lever unit, that is, the adjusting unit can respectively adjust the tilt angles of the two rotor assemblies in the same plane perpendicular to the lever unit, and the rotor shafts of the first rotor assembly and the second rotor assembly are symmetrical relative to the lever unit.
Specifically, referring to fig. 1, x, y, and z represent coordinate axes, θ is an inclination angle of a motor shaft, that is, an inclination angle of a rotor shaft, C represents an action point of lift force and torque of a first rotor assembly, D represents an action point of lift force and torque of a second rotor assembly, and directions of lift force F and torque T are the same or opposite according to an actual rotation direction; the lever unit 10 is rotatable about a support 11, it being understood that the lever unit 10 is rotatable about the support in a vertical direction and that the support is axially fixed relative to the lever unit, e.g. the support comprises a base and a hinge support, and that the lever unit is then hinged to the base at point O by the hinge support so that the lever unit is free to rotate about the x-axis; a first rotor wing assembly and a second rotor wing assembly are fixedly connected to the adjusting unit at a first end of the lever unit, the first rotor wing assembly and the second rotor wing assembly (not shown) are vertically symmetrical relative to the lever unit, then the adjusting unit respectively adjusts the inclination angles of the rotor wing shafts 23 and 24 of the first rotor wing assembly to enable the two rotor wing shafts to be symmetrical relative to the lever unit, for example, as shown in fig. 1, the rotor wing shaft 23 of the first rotor wing assembly positively inclines along the x axis, and the rotor wing shaft 24 of the second rotor wing assembly negatively inclines along the x axis, wherein the first plane is a C-XZ plane or a D-XZ plane; then, at the second end of the lever unit, the measuring unit is provided below the second end of the lever unit, and the measuring direction of the measuring unit is perpendicular to the lever unit, i.e., the measuring direction of the measuring unit is along the Z-axis direction.
It can be appreciated that in this embodiment, on the one hand, at the first end of the lever unit, by making the rotor shafts of the two rotor assemblies symmetrical with respect to the lever unit, such that the component forces of the lift forces of the two rotor assemblies in the horizontal direction cancel each other, that is, at the first end of the lever unit, when the rotor assemblies are at a predetermined rotational speed, there is no component force in the horizontal direction on the lever unit, only a component force in the vertical direction, and therefore, there is no need to measure the component force in the horizontal direction at the second end of the lever unit, that is, there is no need to provide a horizontal force sensor at the second end of the lever unit;
on the other hand, at the first end of the lever unit, the adjusting device can simultaneously adjust the rotor shafts of the two rotor assemblies to incline at a plurality of preset angles, so that, corresponding to each preset angle, when the rotation directions of the two rotor assemblies are symmetrical relative to the lever unit and the rotation speeds are simultaneously increased from zero to the same preset rotation speed, the reading change value of the measuring unit at the second end of the lever unit reflects the lift force and the torque of the two rotors at the preset rotation speeds; furthermore, the lift force and torque of the rotor wing at a preset rotating speed can be obtained through a moment balance equation of the lever unit;
that is, in this embodiment, by arranging the two rotor shafts symmetrically and adjustably with respect to the lever unit, when the two rotors are at the same predetermined rotational speed and the rotational direction is symmetrical with respect to the lever, the lift force and the torque can be obtained by using the horizontal torque balance equation of the lever unit, and the measuring device of this embodiment has a simple structure, and the number of measuring devices used is only one, thereby saving the cost.
In a possible embodiment, the adjustment unit comprises a first angle adjustment device 21 and a second angle adjustment device 22, the first angle adjustment device 21 and the second angle adjustment device 22 being vertically symmetrical with respect to the lever unit 10; wherein, the first angle adjusting device 21 is fixedly connected with a first rotor wing assembly, and the second angle adjusting device 22 is fixedly connected with a second rotor wing assembly; the direction of rotation of the rotors in the first rotor assembly and the second rotor assembly is symmetrical with respect to the lever unit, i.e. the directions of rotation of the two rotors are opposite.
In this embodiment, as shown in fig. 1, the adjusting unit includes a first angle adjusting device and a second angle adjusting device that are independent, and the two angle adjusting devices respectively and independently adjust the inclination angles of the rotor shafts of the two rotor assemblies, so that the operability is strong; specifically, as can be appreciated in the art, for example, the angle adjusting device may include a support plate perpendicular to the Z axis, the rotor assembly is disposed on the support plate, and then a lifting device is disposed at one end below the support plate, so that one end of the support plate is tilted, thereby achieving the purpose of adjusting the tilt angle of the rotor shaft of the rotor assembly; or directly set up elevating gear in the below of rotor subassembly, for example lifter, utilize the difference in height of both ends lifter to realize the purpose that the rotor shaft of rotor subassembly inclines.
In a possible embodiment, the first angle adjusting device 21 and the second angle adjusting device 22 are fixedly connected to the first end of the lever unit 10 through a cross bar 26, so that the measuring device has a simple structure.
In one possible embodiment, a vertical rod 25 is also secured between the cross bar 26 and the first end of the lever unit 10.
Specifically, a vertical rod is vertically arranged at the first end of the lever unit, then a cross rod is arranged at the end of the vertical rod, and the middle O of the cross rod 1 The first angle adjusting device and the second angle adjusting device are fixedly connected to two ends of the cross rod respectively.
That is, the vertical rod is along the Z-axis direction, the cross rod is along the X-axis direction, the vertical distance between the rotor wings of the rotor wing assemblies and the lever unit is increased through the vertical rod, and the distance between the rotor wings of the two rotor wing assemblies is increased through the cross rod, so that on one hand, the rotor wings can be prevented from touching the lever or touching each other when rotating, and the balance of the lever is prevented from being influenced by air flow caused by the rotor wings; on the other hand, the adjustment range of the rotor shaft inclination angle is increased.
In a possible embodiment, the distance from the first end of the lever unit 10 to the support is equal to the distance from the second end of the lever unit 10 to the support, i.e. the support is located in the middle of the lever unit, so that it can be understood that the force arms of the forces applied to the two ends of the lever unit are equal, and the operation can be simplified.
In a possible embodiment, the second end of the lever unit 10 is provided with a weight adjusting device 40; wherein the weight adjusting device 40 can adjust the balance of the lever at different positions on the OB section of the lever unit, or the weight adjusting module can adjust the balance by adding or subtracting weight at a certain fixed position.
In this embodiment, when the rotational speeds of the two rotors are zero, the counterweight adjusting device is adjusted, so that the second end of the lever unit is just in contact with the measuring unit and has no interaction force, and thus, the reading change value of the measuring unit is conveniently calculated, the moment balance equation of the lever unit is simplified, and the efficiency is improved.
It will be appreciated that in the above embodiments, the measurement unit may be a pressure sensor provided below the second end of the lever unit, such that the pressure sensor provides a positive support force in the Z-axis to the second end of the lever unit.
The measuring device is essentially described above and is further described below in connection with a measuring method applied to the measuring device.
The embodiment of the application provides a method for measuring lift force and torque of a rotor wing, which is applied to the device for measuring lift force and torque of the rotor wing, wherein, in combination with fig. 2, the method comprises the following steps:
s1, respectively adjusting the inclination angles of the rotor shafts of the first rotor wing assembly and the second rotor wing assembly by the adjusting unit to enable the rotor shafts of the first rotor wing assembly and the second rotor wing assembly to incline at a plurality of preset angles, wherein the rotor shafts of the first rotor wing assembly and the second rotor wing assembly are symmetrical relative to the lever unit;
s2, corresponding to each preset angle, when the rotation speeds of the first rotor wing assembly and the second rotor wing assembly are increased from zero to the same preset rotation speed at the same time, acquiring a reading change value of the measuring unit corresponding to each preset angle respectively; wherein the rotational directions of the first rotor assembly and the second rotor assembly are symmetrical with respect to the lever unit;
and S3, when the rotating speeds of the first rotor wing assembly and the second rotor wing assembly are preset rotating speeds, according to moment balance equations of the lever units under a plurality of preset angles, a lift force value and a torque value of the rotor wing assemblies are obtained.
Specifically, in S1, in combination with the description of the above measurement device and referring to the following table 1, a plurality of predetermined angles θ may be set, so that rotor shafts of the first rotor assembly and the second rotor assembly are respectively tilted at the plurality of predetermined angles; for example, setting a plurality of predetermined angles θ1, θ2, θ … … θm, etc., the first rotor assembly is tilted in the positive direction of θm toward the x-axis, and the second rotor assembly is tilted in the negative direction of θm toward the x-axis; it will be appreciated that the predetermined angles θ may be determined according to actual needs, and may be uniformly spaced, for example, 10 degrees, 20 degrees, 30 degrees, etc., or may be unevenly spaced.
Specifically, in S2, the adjusting unit adjusts the rotor shafts of the first rotor assembly and the second rotor assembly at a certain predetermined angle, and then increases the rotational speeds of the first rotor assembly and the second rotor assembly from zero to the same predetermined rotational speed at the same time, and at this time, the reading change value Fs of the measuring unit corresponding to the predetermined angle is obtained; then, under other preset angles, the same operations are respectively carried out; wherein, it is to be ensured that the direction of rotation of the first rotor assembly and the second rotor assembly is symmetrical with respect to the lever unit, i.e. the two rotors are a pair of forward and reverse rotors.
It will be appreciated that with reference to table 1 below, each predetermined angle θ corresponds to a reading change value Fs reflecting the lift force F and torque T of the two rotor assemblies at predetermined rotational speeds, according to the principle of lever balancing.
Specifically, for example, when the adjusting unit adjusts the rotor shaft of the first rotor assembly to tilt positively along the x-axis by a predetermined angle θn, the rotor shaft of the second rotor assembly to tilt negatively along the x-axis by the predetermined angle θn; then, the rotation speed of the two rotor assemblies is simultaneously zero and the lever unit is at rest, at which time the measuring unit has an initial reading; then, the two rotor shafts keep the inclination angle unchanged, the rotating speed is increased to be a preset rotating speed, namely the rotating speeds of the two rotor assemblies are the same as the preset rotating speed, the rotating directions of the two rotor assemblies are symmetrical relative to the lever unit, and at the moment, the measuring unit has a stopping reading; it can be appreciated that, before and after the two processes, for the lever unit, the mechanical condition of the first end of the lever unit changes to increase the lift force and the torque of the two rotor assemblies, and the mechanical condition of the second end of the lever unit changes to increase the reading change value Fs, so that the reading change value reflects the lift force F and the torque T of the two rotor assemblies at a predetermined rotation speed according to the moment balance equation of the lever unit.
Specifically, in S3, at each predetermined angle θ, a moment balance equation F (F, T) =0 of a lever unit may be obtained; referring to table 1 below, for example, corresponding to a predetermined angle θ1, when the rotational speeds of the two rotors are the predetermined rotational speeds, a moment balance equation F1 (F, T) =0 of the lever units may be listed, and then, lift force and torque of the rotor assembly at the predetermined rotational speeds may be obtained according to the moment balance equations of the m lever units; wherein, the lever balance equation F (F, T) =0 may be a vector equation or a scalar equation.
Table 1 table of the conditions of the predetermined angle θ and the reading change value Fs, and the moment balance equation f
In the lift force and torque measuring method of the embodiment, as the first end of the lever unit is provided with the two symmetrical rotor shafts with the adjustable inclination angles, the lift force of the two rotor shafts are mutually offset in the horizontal direction, the lift force and the torque can be measured simultaneously only by arranging one pressure sensor at the second end of the lever unit, the number of sensors is saved, and the cost is reduced; and the lift force and the torque of the rotor wing assembly at the preset rotating speed are obtained by a plurality of moment balance equations of the rotor wing shaft at different inclination angles, the lift force and the torque eliminate system errors caused by a certain fixed inclination angle, and the measurement accuracy of the lift force and the torque is improved.
In one possible implementation manner, the step of obtaining the lift value and the torque value of the rotor assembly according to the moment balance equations of the lever units at a plurality of predetermined angles includes:
s31, obtaining a lift force value and a torque value of the rotor wing assembly according to a horizontal moment balance equation of the lever unit under a plurality of preset angles.
Specifically, as shown in fig. 3, the x axis is along the horizontal direction, the z axis is along the vertical direction, and the y axis is along the axial direction of the lever unit; f1 and T1 respectively represent the lift force and torque of the first rotor assembly at a predetermined rotational speed, and F2 and T2 respectively represent the lift force and torque of the second rotor assembly at a predetermined rotational speed, wherein, since the rotational directions are symmetrical with respect to the lever unit, it can be understood that if the directions of F1 and T1 are the same, the directions of F2 and T2 are opposite, and vice versa; f1X, F1z, F2X, F2z represent components of F1, F2, T1X, T1z, T2X, T2z represent components of T1, T2, fs represents a supporting force of the pressure sensor to the second end of the lever unit at a predetermined rotation speed, mf represents a component of a friction torque of the support to the lever unit in the X-axis direction, and since the friction torque has a small value compared with a torque and torque generated by a lift force, the magnitude is approximately considered to be unchanged when the friction torque is considered; fx, fy, fz represent the supporting force of the holder to the lever unit, respectively.
Then, for the first rotor assembly and the second rotor assembly, since the rotational speeds of the two rotors are the same, but the rotational directions are opposite, the lift force of the first rotor assembly and the lift force of the second rotor assembly can be set to be equal, and the torque of the first rotor assembly and the torque of the second rotor assembly are equal, that is, f1=f2, t1=t2; in addition, under different inclination angles, the sizes of F and T can be set unchanged due to the fact that the motor rotation speeds are the same.
Thus, for the lever unit, since the force components of F1 and F2 in the horizontal direction, i.e., the x-axis direction are equal in magnitude and opposite in direction, the moment thereof in the vertical direction (z-axis) of the lever unit is canceled; meanwhile, as the moment of T1 and T2 in the vertical direction (z axis) is equal in magnitude and opposite in direction; thus, the lift and torque of the rotor assembly only have an effect on the moment in the horizontal direction (x-axis) of the lever unit, and therefore the moment balance equation F (F, T) =0 for the x-axis direction of the lever unit is:
2F1cos θ×l1+2t1sin θ=mf+fs×l2 equation 1
When Fs is a corresponding preset angle theta, the reading change value of the measuring unit is measured; l1 is the force arm of F1, l2 is the force arm of Fs, and when the lever unit is in a horizontal state, the force arms are the distances from the two ends of the lever unit to the support respectively; it can be understood that l1=l2 can be made to simplify the operation.
That is, for a number of predetermined angles, there may be a number of equations 1 described above, and then the lift value and torque value of the rotor assembly may be obtained using the number of equations 1 described above.
In a possible embodiment, in the above-mentioned horizontal moment balance equation, the friction moment of the carrier to the lever unit is not included, and,
step S31 includes:
s311, according to a horizontal moment balance equation of the lever unit under any two preset angles, a lift force value and a torque value of the rotor wing assembly are obtained.
Specifically, it can be understood that, if the friction torque is not considered, the above formula 1 should be:
equation 2 of 2f1cosθ×l1+2t1sinθ=fs×l2
In the above formula 2, since θ, fs, l1, l2 are all known, only two unknowns of F and T can be understood, at this time, a binary system of primary equations can be formed by using the horizontal moment balance equation at any two predetermined angles, such as:
equation 3 for 2f1cos θ1×l1+2t1sin θ1=fs1×l2
Equation 4 for 2f1cos θ2l1+2t1sin θ2=fs2×l2
Equations 3 and 4 represent the horizontal moment balance equations at predetermined angles θ1, θ2, forming a binary system of primary equations, resulting in lift and torque values for the rotor assembly.
In addition, it can be understood that in m preset angles, a plurality of binary once equation sets can be obtained, so that a plurality of lift force values and torque values can be obtained, then the lift force values and the torque values are averaged, measurement errors are reduced, and measurement accuracy is further improved.
In one possible embodiment, in the above-mentioned horizontal moment balance equation, the friction moment of the support to the lever unit is included, and,
step S31 includes:
s312, according to the horizontal moment balance equation of the lever unit under any three predetermined angles, the lift force value and the torque value of the rotor wing assembly are obtained.
Similarly, in equation 1 above, since θ, fs, l1, l2 are all known, there are only three unknowns of F, T and Mf, and it can be appreciated that at this time, a ternary system of equations can be formed using the horizontal moment balance equation at any three predetermined angles, such as:
equation 5 for 2f1cos θ1×l1+2t1sin θ1=mf+fs1×l2
Equation 6 for 2f1cos θ2l1+2t1sin θ2=mf+fs2
Equation 7 for 2f1cos θ3×l1+2t1sin θ3=mf+fs3×l2
Equations 5, 6, 7 represent the horizontal moment balance equations at predetermined angles θ1, θ2, θ3, forming a ternary system of primary equations, further obtainable:
2f1×l1 (cos θ1-cos θ2) +2t1 (sin θ1-sin θ2) = (Fs 1-Fs 2) ×l2 equation 8
2f1×l1 (cos θ2-cos θ3) +2t1 (sin θ2-sin θ3) = (Fs 2-Fs 3) ×l2 equation 9
The lift and torque values of the rotor assembly are derived from equations 8 and 9.
In addition, it can be understood that in m preset angles, a plurality of ternary once equation sets can be obtained, so that a plurality of lift force values and torque values can be obtained, then the lift force values and the torque values are averaged, measurement errors are reduced, and measurement accuracy is further improved.
In a possible embodiment, the second end of the lever unit is further provided with a weight adjusting means, and,
in S2 of the measuring method, the step of obtaining the reading change value of the measuring unit corresponding to each predetermined angle includes:
and acquiring display values of the measuring units corresponding to each preset angle respectively.
Specifically, a weight adjusting device is arranged at the second end, namely the OB end, of the lever unit, so that after the adjusting unit adjusts the inclination angles of the two rotor shafts to be theta, the lever is adjusted to be horizontal through the weight adjusting device, at the moment, the second end of the lever unit is just contacted with the measuring unit, and no interaction exists, that is, the initial reading of the measuring unit can be adjusted to be zero through the weight adjusting device, and therefore, the suspension display reading of the measuring unit is the reading change value, and the calculation is convenient.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.
The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof are intended to be included within the scope of the invention.
Claims (11)
1. A lift and torque measurement device for a rotor, comprising:
the lever unit is provided with a support between a first end and a second end of the lever unit, wherein the lever unit can rotate around the support;
the adjusting unit is arranged at the first end of the lever unit, and is fixedly connected with a first rotor wing assembly and a second rotor wing assembly, wherein the first rotor wing assembly and the second rotor wing assembly are vertically symmetrical relative to the lever unit;
the measuring unit is arranged at the second end of the lever unit, and the measuring direction of the measuring unit is perpendicular to the lever unit;
the adjusting unit can adjust the inclination angle of the rotor shaft of the first rotor assembly in a first plane, the adjusting unit can adjust the inclination angle of the rotor shaft of the second rotor assembly in the first plane, the first plane is perpendicular to the lever unit, and the rotor shaft of the first rotor assembly and the rotor shaft of the second rotor assembly are symmetrical relative to the lever unit, so that when the rotor shaft of the first rotor assembly and the rotor shaft of the second rotor assembly are at the same preset rotating speed and the rotating direction is symmetrical relative to the lever unit, the moment balance equation of the lever unit is utilized to obtain the lift force and the torque of the first rotor assembly and the second rotor assembly.
2. The measuring device according to claim 1, wherein the adjustment unit comprises a first angle adjustment device and a second angle adjustment device, the first angle adjustment device and the second angle adjustment device being vertically symmetrical with respect to the lever unit; the first angle adjusting device is fixedly connected with a first rotor wing assembly, and the second angle adjusting device is fixedly connected with a second rotor wing assembly; the rotational directions of the rotors in the first rotor assembly and the second rotor assembly are symmetrical with respect to the lever unit.
3. The measurement device of claim 2, wherein the first and second angle adjustment devices are fixedly coupled to the first end of the lever unit by a cross bar.
4. A measuring device according to claim 3, wherein a vertical rod is further secured between the cross bar and the first end of the lever unit.
5. The measurement device of claim 1, wherein a distance from the first end of the lever unit to the support and a distance from the second end of the lever unit to the support are equal.
6. The measuring device of claim 1, wherein the second end of the lever unit is provided with a weight adjusting device.
7. A method for measuring lift and torque of a rotor, wherein the method is applied to the device for measuring lift and torque of a rotor according to any one of claims 1 to 6, and wherein the method comprises:
the adjusting unit is used for respectively adjusting the inclination angles of the rotor shafts of the first rotor wing assembly and the second rotor wing assembly to enable the rotor shafts of the first rotor wing assembly and the second rotor wing assembly to incline at a plurality of preset angles, wherein the rotor shafts of the first rotor wing assembly and the second rotor wing assembly are symmetrical relative to the lever unit;
when the rotation speeds of the first rotor wing assembly and the second rotor wing assembly are increased from zero to the same preset rotation speed at the same time, corresponding to each preset angle, reading change values of the measuring units corresponding to each preset angle are obtained; wherein the rotational directions of the first rotor assembly and the second rotor assembly are symmetrical with respect to the lever unit;
and when the rotating speeds of the first rotor wing assembly and the second rotor wing assembly are preset rotating speeds, obtaining a lift force value and a torque value of the rotor wing assemblies according to moment balance equations of the lever units under a plurality of preset angles.
8. The method of claim 7, wherein the step of determining the position of the probe is performed,
the step of obtaining the lift value and the torque value of the rotor assembly according to the moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
and obtaining a lift force value and a torque value of the rotor wing assembly according to a horizontal moment balance equation of the lever unit under a plurality of preset angles.
9. The method of claim 8, wherein the torque balance equation includes a friction torque of the support against the lever unit, and wherein,
the step of obtaining the lift value and the torque value of the rotor assembly according to the horizontal moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
and obtaining a lift force value and a torque value of the rotor wing assembly according to the horizontal moment balance equation of the lever unit under any three preset angles.
10. The method of claim 8, wherein the torque balance equation does not include a friction torque of the support against the lever unit, and wherein,
the step of obtaining the lift value and the torque value of the rotor assembly according to the horizontal moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
and obtaining a lift force value and a torque value of the rotor wing assembly according to a horizontal moment balance equation of the lever unit under any two preset angles.
11. The method of claim 7, wherein the second end of the lever unit is further provided with a weight adjusting device, and,
in the measuring method, the step of obtaining the reading variation value of the measuring unit corresponding to each predetermined angle includes:
and acquiring display values of the measuring units corresponding to each preset angle respectively.
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| CN104913912A (en) * | 2015-05-19 | 2015-09-16 | 北京航空航天大学 | Hanging type coaxial contrarotating rotor wing testing device |
| CN105667778A (en) * | 2016-04-06 | 2016-06-15 | 江富余 | Rotor wing propcopter |
| EP3098161A1 (en) * | 2015-05-26 | 2016-11-30 | Airbus Defence and Space GmbH | Vertical take-off aircraft |
| CN107933979A (en) * | 2017-11-14 | 2018-04-20 | 哈尔滨工业大学 | A kind of the hovering characteristic test simulator and method of lever Mars unmanned plane rotor system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104913912A (en) * | 2015-05-19 | 2015-09-16 | 北京航空航天大学 | Hanging type coaxial contrarotating rotor wing testing device |
| EP3098161A1 (en) * | 2015-05-26 | 2016-11-30 | Airbus Defence and Space GmbH | Vertical take-off aircraft |
| CN105667778A (en) * | 2016-04-06 | 2016-06-15 | 江富余 | Rotor wing propcopter |
| CN107933979A (en) * | 2017-11-14 | 2018-04-20 | 哈尔滨工业大学 | A kind of the hovering characteristic test simulator and method of lever Mars unmanned plane rotor system |
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