CN117104528B - Front three-point unmanned aerial vehicle flying off-ground positioning device and test flight calculation method thereof - Google Patents
Front three-point unmanned aerial vehicle flying off-ground positioning device and test flight calculation method thereof Download PDFInfo
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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
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- B64F5/60—Testing or inspecting aircraft components or systems
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- G—PHYSICS
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
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Abstract
The invention discloses a front three-point unmanned aerial vehicle flying off ground positioning device and a test flight calculation method thereof, which relate to the field of design of front three-point unmanned aerial vehicles, wherein the positioning device comprises: wheel speed sensor and magnetic steel; the wheel speed sensor is in a low-level state and a high-level state, is connected with a flight control system of the unmanned aerial vehicle, and is arranged on a main landing gear wheel shaft; the magnetic steel is arranged on the main machine wheel and used as a magnetic field source for providing a magnetic field which changes along with the distance for the wheel speed sensor; and a test flight calculation method is provided; the invention is simple and reliable, the principle is clear and applicable, and the portability is strong.
Description
Technical Field
The invention relates to the field of design of front three-point unmanned aerial vehicles, in particular to a front three-point unmanned aerial vehicle flying off-ground positioning device and a test flight calculation method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
Unmanned aerial vehicle designs have been developed primarily around achieving their performance and usage characteristics. Therefore, how to verify the performance index and the requirements of the use characteristics of the unmanned aerial vehicle is of great importance for the unmanned aerial vehicle.
The take-off is a stage which must be experienced in realizing one complete flight, so that the unmanned aerial vehicle should have good take-off performance besides good air flight performance, otherwise, adverse effects are brought to flight safety and practical application.
For the front three-point unmanned aerial vehicle, the takeoff and sliding process starts from three-wheel landing and sliding, the speed is gradually increased from zero, when the speed is increased to a certain degree, the unmanned aerial vehicle lifts the front wheels, and then the two main machine wheels are kept to land to continue accelerating and sliding; as the speed increases to the ground speedThe host wheel leaves the ground, and the take-off and sliding process is finished. As shown in fig. 3, the takeoff and running distance refers to the ground running distance that the unmanned aerial vehicle starts running from a ground stationary state until a certain speed three-wheel is separated from the ground. The take-off and running time is the time from the ground static state to the end of three-wheel ground leaving of the unmanned plane.
The take-off and running distance verification mode mainly comprises the following three modes: theoretical empirical formula, computational simulation and real flight verification. The most direct and effective means of this is real-fly authentication. In the real flight verification process, how to judge the departure of the unmanned aerial vehicle is that a wheel-mounted switch, artificial observation or video recording is arranged on a lifting frame of the unmanned aerial vehicle.
Adopt the wheel load switch to judge unmanned aerial vehicle and leave the place and have following problem: since the on-board switch is required to be turned on, the landing gear shock absorber is compressed, i.e., the ground support reaction force must be greater than the shock absorber initial pressure. When the unmanned aerial vehicle runs at take-off, the ground-to-aircraft reaction force=aircraft gravity-aircraft lift force, and the buffer initial pressure=buffer initial pressure×piston area. When the sliding speed of the unmanned aerial vehicle is high, namely the lifting force is high (at the moment, the unmanned aerial vehicle is not actually lifted off), a period of time is needed to exist, so that the ground support reaction force is smaller than the initial pressure of the buffer, and the wheel load switch is in an off state at the moment, so that the unmanned aerial vehicle is misjudged to be in a lifted-off state (the unmanned aerial vehicle is not actually lifted off). The defects of easy visual deviation, difficult searching of a reference point between the ground and a host wheel, unobvious capturing of a high-speed moving object and need of post-treatment are caused by artificial observation or video recording.
Disclosure of Invention
The invention aims at: the utility model provides a problem that exists among the prior art, a preceding three-point unmanned aerial vehicle plays to fly off ground positioner and test calculation method thereof, utilize the inflection point that appears when the fast signal of the fast increase of location positioner of play to drop fast to regard as the host computer wheel to leave the place, and two left and right host computers wheel leave the place later to regard as unmanned aerial vehicle host computer wheel to leave the place, and calculate unmanned aerial vehicle take off and run the distance through the switching of the fast signal of location positioner of play and host computer wheel diameter, and unmanned aerial vehicle telemetering data can update in real time and show the distance of taking off and run, until the moment of play is ended, accomplish unmanned aerial vehicle take off and run the distance measurement automatically, reach the target that accords with actual conditions, data are real-time, accurate availability, thereby solve above-mentioned problem.
The technical scheme of the invention is as follows:
a front three-point unmanned aerial vehicle fly off ground positioning device, comprising:
the wheel speed sensor is in a low-level state and a high-level state, is connected with a flight control system of the unmanned aerial vehicle and is arranged on a main landing gear wheel shaft;
and the magnetic steel is arranged on the main machine wheel and used as a magnetic field source to provide a magnetic field which changes along with the distance for the wheel speed sensor.
Further, the method further comprises the following steps:
and the wheel speed sensor is arranged on the end cover nut, and the end cover nut is fixed on the main landing gear wheel shaft.
Further, the method further comprises the following steps:
the magnetic steel mounting rings are uniformly distributed on the magnetic steel mounting rings and fixed on the host wheel.
Further, the number of the magnetic steels is 4, and the magnetic steels are uniformly distributed on the magnetic steel mounting ring.
Further, the host wheel includes:
the left host wheel and the right host wheel are respectively provided with a landing position device.
Further, the magnetic steel mounting ring and the wheel speed sensor are located on the same plane.
Further, the providing the distance-dependent magnetic field as the magnetic field source for the wheel speed sensor includes:
when the unmanned aerial vehicle is in a ground take-off running state, the magnetic steel and the magnetic steel mounting ring rotate along with a host wheel, so that the distances between the magnetic steel and the end face of the wheel speed sensor are different, and a changing magnetic field is generated.
Further, the wheel speed sensor utilizes the Hall principle, and through sensing an externally-changed magnetic field, a high-level signal and a low-level signal are output to a flight control system after signal processing in the wheel speed sensor, and the flight control system counts the switching between the high-level signal and the low-level signal and converts the counting result into the wheel speed of the main machine wheel of the unmanned aerial vehicle.
The utility model provides a preceding three-point unmanned aerial vehicle flies off ground and tries to fly calculation method, based on foretell three-point unmanned aerial vehicle flies off ground positioner, includes:
step S1: taking an inflection point of the wheel speed of the host wheel of the unmanned aerial vehicle in the process of flying off the ground and testing flying off as a host wheel off-site;
step S2: determining the switching times of a high-level signal to a low-level signal in a time period from the start of three-wheel landing, takeoff and running of the unmanned aerial vehicle to a time point corresponding to the departure point of a host wheel;
step S3: and calculating the final take-off and running distance according to the switching times.
Further, the step S1 includes:
taking corresponding later inflection points in the left host wheel and the right host wheel as host wheel off-site;
the wheel speed of the main wheel of the unmanned aerial vehicle is calculated by the following formula:
wherein:
the wheel speed of the main machine wheel of the unmanned plane is represented;
indicating the corresponding time of the ith switching from the high level signal to the low level signal;
indicating the corresponding moment of the i-1 th switching from the high level signal to the low level signal;
representation->The corresponding takeoff and running distance at the moment +.>D represents the diameter of a host wheel of the unmanned aerial vehicle, and m represents the number of magnetic steel on the same magnetic steel mounting ring;
representation->The corresponding take-off and running distance at the moment;
the step S3 includes:
wherein:
representing the final takeoff and running distance;
the number of switching times determined in step S2 is indicated.
Compared with the prior art, the invention has the beneficial effects that:
1. a front three-point unmanned aerial vehicle fly off ground positioning device, comprising: the wheel speed sensor is in a low-level state and a high-level state, is connected with a flight control system of the unmanned aerial vehicle and is arranged on a main landing gear wheel shaft; the magnetic steel is arranged on the main machine wheel and used as a magnetic field source to provide a magnetic field which changes along with the distance for the wheel speed sensor; the method is simple and reliable, clear and applicable in principle and strong in portability.
2. A front three-point type unmanned aerial vehicle departure ground positioning device and a test flight calculation method thereof are provided, wherein the inflection point which appears when the wheel speed signal of the departure ground positioning device is gradually increased to be rapidly reduced is used as a host wheel departure place, and the left host wheel and the right host wheel are used as unmanned aerial vehicle departure places at a later point of departure.
3. The utility model provides a preceding three-point unmanned aerial vehicle flies off ground positioner and test calculation method thereof, through the switching of the fast signal of the ground positioner of flies off and host computer wheel diameter calculates unmanned aerial vehicle and takes off the distance of running, and utilize unmanned aerial vehicle telemetering data can update in real time and show the distance of taking off the running, accomplish the distance measurement of taking off the running automatically, and instantaneity is strong, effectively improves measurement efficiency.
4. The front three-point unmanned aerial vehicle flying off-ground positioning device and the test flight calculation method thereof are suitable for objective situations that the runway surface of an airport runway is uneven and left and right host wheels are not off-ground at the same time.
Drawings
Fig. 1 is a schematic structural view of a flying-off-ground positioning device of a front three-point unmanned aerial vehicle;
FIG. 2 is a schematic diagram of a host off-site determination;
FIG. 3 is a schematic view of a take-off and run distance definition.
Reference numerals: the wheel speed sensor comprises a 1-wheel speed sensor, a 2-end cap nut, 3-magnetic steel, a 4-magnetic steel mounting ring and a 5-host wheel.
Detailed Description
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The features and capabilities of the present invention are described in further detail below in connection with examples.
Example 1
Referring to fig. 1, a positioning device for a flying-off ground of a front three-point unmanned aerial vehicle specifically includes the following structures:
the wheel speed sensor 1 is in a low-level state and a high-level state, is connected with a flight control system of the unmanned aerial vehicle, and is arranged on a main landing gear wheel shaft;
and the magnetic steel 3 is arranged on the main machine wheel 5 and used as a magnetic field source for providing a magnetic field which varies with distance for the wheel speed sensor 1.
In this embodiment, specifically, the method further includes:
an end cap nut 2, the wheel speed sensor 1 is mounted on the end cap nut 2, and the end cap nut 2 is fixed on a main landing gear wheel shaft.
In this embodiment, specifically, the method further includes:
the magnetic steel mounting rings 4 are uniformly arranged on the magnetic steel mounting rings 4, and the magnetic steel mounting rings 4 are fixed on the host wheel 5; preferably, the number of the magnetic steels 3 is 4, and the magnetic steels are uniformly arranged on the magnetic steel mounting ring 4; the magnetic steel mounting ring 4 is fixed on the host wheel 5 through 4 screws.
In this embodiment, specifically, the host wheel 5 includes:
the left host wheel and the right host wheel are respectively provided with a landing position device; namely, the left host wheel and the right host wheel are respectively provided with a ground-flying positioning device, so that wheel speed change curves of the host wheels 5 of two groups of unmanned aerial vehicles can be obtained, and inflection points which appear when the wheel speeds are gradually increased to rapidly decrease are used as the ground-flying positions of the host wheels 5.
Meanwhile, in order to meet the practical situation, the left host wheel 5 and the right host wheel 5 should be separated from the ground at a later point to serve as the positions of the host wheels 5 of the unmanned aerial vehicle.
In this embodiment, specifically, the magnetic steel mounting ring 4 is in the same plane as the wheel speed sensor 1.
In this embodiment, specifically, the providing, as the magnetic field source, the magnetic field that varies with the distance to the wheel speed sensor 1 includes:
when the unmanned aerial vehicle is in a ground take-off running state, the magnetic steel 3 and the magnetic steel mounting ring 4 rotate along with the main machine wheel 5, so that the distances between the magnetic steel 3 and the end face of the wheel speed sensor 1 are different, and a changing magnetic field is generated.
In this embodiment, specifically, the wheel speed sensor 1 uses the hall principle to output a high-level signal and a low-level signal to a flight control system after signal processing in the wheel speed sensor 1 by sensing an externally-varying magnetic field, and the flight control system counts the switching between the high-level signal and the low-level signal and converts the counting result into the wheel speed of the main wheel 5 of the unmanned aerial vehicle;
that is, in the present embodiment, the high level signal and the low level signal are switched 4 times per one revolution of the host wheel 5.
In this embodiment, specifically, when the wheel speed sensor 1 approaches the magnetic steel 3 and reaches a working distance, the wheel speed sensor 1 is in a low level state, and outputs a low level signal to a flight control system;
when the wheel speed sensor 1 is far away from the magnetic steel 3 and reaches a release distance, the wheel speed sensor 1 is in a high-level state, and a high-level signal is output to a flight control system;
when the unmanned aerial vehicle is in an acceleration state in the ground take-off and running stage, the rotating speed of the main machine wheel 5 is continuously increased, and the wheel speed collected by the flight control system is also in a continuously increased state;
after the unmanned aerial vehicle flies off the ground, due to the friction damping effect of the host wheel 5, the rotating speed of the host wheel 5 is rapidly reduced to zero, the frequency of change of the relative distance between the magnetic steel 3 and the wheel speed sensor 1 is rapidly reduced to zero, the switching frequency of the low-level signal and the high-level signal output by the wheel speed sensor 1 is also rapidly reduced to zero, and the wheel speed of the host wheel 5 of the unmanned aerial vehicle is also rapidly reduced to zero.
In addition, the situation that the actual airport runway is uneven is unavoidable, especially the airport runway is not laid, and the straight line distance between the takeoff rest point and the host wheel off-site can not fully represent the takeoff and running distance.
Each small distance broken line can truly reflect the road surface condition by resolving the distance between adjacent sampling points, and then the sum is accumulated until the moment of starting the ground is finished, so that the final take-off and running distance can be obtained.
Therefore, this embodiment is based on the foregoing positioning device for the flying-away area of the front three-point unmanned aerial vehicle, and further provides a method for calculating the flying-away area of the front three-point unmanned aerial vehicle, which includes:
step S1: taking an inflection point of the wheel speed of the host wheel of the unmanned aerial vehicle in the process of flying off the ground and testing flying off as a host wheel off-site; the inflection point is shown in fig. 2;
step S2: determining the switching times of a high-level signal to a low-level signal in a time period from the start of three-wheel landing, takeoff and running of the unmanned aerial vehicle to a time point corresponding to the departure point of a host wheel;
step S3: and calculating the final take-off and running distance according to the switching times.
In this embodiment, specifically, the step S1 includes:
taking corresponding later inflection points in the left host wheel and the right host wheel as host wheel off-site;
the wheel speed of the main wheel of the unmanned aerial vehicle is calculated by the following formula:
wherein:
the wheel speed of the main machine wheel of the unmanned plane is represented;
indicating the corresponding time of the ith switching from the high level signal to the low level signal;
indicating the corresponding moment of the i-1 th switching from the high level signal to the low level signal;
representation->The corresponding takeoff and running distance at the moment +.>D represents the diameter of a host wheel of the unmanned aerial vehicle, and m represents the number of magnetic steel on the same magnetic steel mounting ring;
representation->The corresponding take-off and running distance at the moment;
the step S3 includes:
wherein:
representing the final takeoff and running distance;
the number of switching times determined in step S2 is indicated.
Namely: the takeoff and running distance calculation conditions are as follows:
the number of switching times i of the high level signal to the low level signal of the flying-away place positioning device is as follows: secondary times;
unmanned aerial vehicle host computer wheel diameter size D, unit: mm.
Starting from the start of three-wheel landing takeoff and running of the unmanned aerial vehicle, and ending after the unmanned aerial vehicle starts off the ground, the three stages are as follows:
1. before the start of take-off and running, i=0, and the distance of take-off and running remotely measured and displayed by the unmanned aerial vehicle is zero;
2. in the take-off and running stage, i starts counting, and every 4 times of switching, the main machine wheel moves one circle. The takeoff and running distance calculating method comprises the following steps:
main machine wheel speedThe calculation method comprises the following units: meter/second:
defining that from the start of the take-off stopping point to the end of the later time of the left and right host wheels from the ground, the maximum switching times of the left and right host wheels are n times, thenDistance for take-off and run:
3. after the unmanned aerial vehicle flies off the ground, the host wheel speed switching signal is counted in a short time, but the flying-off and running distance displayed by the remote measurement of the unmanned aerial vehicle is unchanged and still is。
The foregoing examples merely represent specific embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, several variations and modifications can be made without departing from the technical solution of the present application, which fall within the protection scope of the present application.
This background section is provided to generally present the context of the present invention and the work of the presently named inventors, to the extent it is described in this background section, as well as the description of the present section as not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present invention.
Claims (9)
1. The method for calculating the flying-off test of the front three-point unmanned aerial vehicle is characterized by comprising the following steps of:
step S1: taking an inflection point of the wheel speed of the host wheel of the unmanned aerial vehicle in the process of flying off the ground and testing flying off as a host wheel off-site;
step S2: determining the switching times of a high-level signal to a low-level signal in a time period from the start of three-wheel landing, takeoff and running of the unmanned aerial vehicle to a time point corresponding to the departure point of a host wheel;
step S3: calculating the final take-off and running distance according to the switching times;
the step S3 includes:
wherein:
representing the final takeoff and running distance;
representing the number of switching times determined in step S2;
d represents the diameter of the main wheel of the unmanned aerial vehicle;
m represents the number of the magnetic steel on the same magnetic steel mounting ring;
the flying-away-ground positioning device comprises:
the wheel speed sensor (1) is in a low-level state and a high-level state, is connected with a flight control system of the unmanned aerial vehicle, and is arranged on a main landing gear wheel shaft;
the magnetic steel (3) is arranged on the main machine wheel (5) and used as a magnetic field source to provide a magnetic field which changes along with the distance for the wheel speed sensor (1).
2. The method for calculating the flying-off test flight of the front three-point unmanned aerial vehicle according to claim 1, wherein the step S1 comprises:
taking corresponding later inflection points in the left host wheel and the right host wheel as host wheel off-site;
the wheel speed of the main wheel of the unmanned aerial vehicle is calculated by the following formula:
wherein:
the wheel speed of the main machine wheel of the unmanned plane is represented;
indicating the corresponding time of the ith switching from the high level signal to the low level signal;
indicating the corresponding moment of the i-1 th switching from the high level signal to the low level signal;
representation->The corresponding takeoff and running distance at the moment +.>；
Representation->The corresponding take-off and running distance at the moment.
3. The method for calculating the flying-off test flight of the front three-point unmanned aerial vehicle according to claim 1, further comprising:
and the wheel speed sensor (1) is arranged on the end cover nut (2), and the end cover nut (2) is fixed on a main landing gear wheel shaft.
4. The method for calculating the flying-off test flight of the front three-point unmanned aerial vehicle according to claim 1, further comprising:
the magnetic steel mounting rings (4), the magnetic steel (3) are a plurality of, the equipartition is installed on the magnetic steel mounting rings (4), the magnetic steel mounting rings (4) are fixed on the host wheel (5).
5. The method for calculating the flying-off test of the front three-point unmanned aerial vehicle according to claim 4 is characterized in that the number of the magnetic steels (3) is 4, and the magnetic steels are uniformly distributed on the magnetic steel mounting ring (4).
6. The method for calculating the flying-off test flight of the front three-point unmanned aerial vehicle according to claim 4, wherein the host wheel (5) comprises:
the left host wheel and the right host wheel are respectively provided with a landing position device.
7. The method for calculating the flying-off test flight of the front three-point unmanned aerial vehicle according to claim 4, wherein the magnetic steel mounting ring (4) and the wheel speed sensor (1) are positioned on the same plane.
8. The method for calculating the flying-off test flight of the front three-point unmanned aerial vehicle according to claim 4, wherein the supplying the magnetic field as the magnetic field source to the wheel speed sensor (1) with the distance change comprises:
when the unmanned aerial vehicle is in a ground take-off running state, the magnetic steel (3) and the magnetic steel mounting ring (4) rotate along with the main machine wheel (5), so that the distances between the magnetic steel (3) and the end faces of the wheel speed sensor (1) are different, and a changing magnetic field is generated.
9. The method for calculating the flying-off test of the front three-point unmanned aerial vehicle according to claim 1, wherein the wheel speed sensor (1) outputs a high-level signal and a low-level signal to a flight control system after signal processing inside the wheel speed sensor (1) by sensing an externally-changed magnetic field by utilizing a hall principle, and the flight control system counts the switching between the high-level signal and the low-level signal and converts the counting result into the wheel speed of a main wheel (5) of the unmanned aerial vehicle.
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