CN100507493C - Three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude - Google Patents
Three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude Download PDFInfo
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- CN100507493C CN100507493C CNB2006100490650A CN200610049065A CN100507493C CN 100507493 C CN100507493 C CN 100507493C CN B2006100490650 A CNB2006100490650 A CN B2006100490650A CN 200610049065 A CN200610049065 A CN 200610049065A CN 100507493 C CN100507493 C CN 100507493C
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Abstract
The present invention discloses a miniature robot helicopter flight attitude three-dimensional simulation rotating table. It includes base seat, external frame component, medium frame component and internal frame component. The external frame component is fixed on the base seat and is moved around axis X, the medium frame component is fixed on the external frame and is moved around axis Y and the internal frame component is fixed on the medium frame and is moved around axis Z. Said three-dimensional simulation rotating table adopts a horizontal structure. Besides, said invention also provides the concrete operation method of said three-dimensional simulation rotating table and its concrete application range.
Description
Technical field
The present invention relates to a kind of three-dimensional artificial rotary table that is used to simulate micro-unmanned helicopter Three Degree Of Freedom flight attitude.
Background technology
Micro-unmanned helicopter has little, the good concealment of volume, and dirigibility is good, and the landing place of taking off is little, and makes characteristics such as hovering flight in the limited range aloft, has suitable wide range of commercial and military use.Depopulated helicopter all is with a wide range of applications at aspects such as atmospheric surveillance, traffic monitoring, resource exploration, power circuit detection, forest fire protection and scouting, supervision, target acquisition, bait, attack, communication repeatings.
The performance of micro-unmanned helicopter depends on the design of its flight control system to a great extent.And the ground flying l-G simulation test is a requisite important step when designing flight control system.Three-dimensional artificial rotary table is a key equipment in the half flight simulation experimental system in kind, it can simulate the micro-unmanned helicopter various attitudes of three degree of freedom during practical flight aloft truly under laboratory condition, dynamic characteristic when reappearing its motion, thereby the performance of guidance system, control system and corresponding device thereof to them is carried out emulation repeatedly and test, obtain test figure, and in view of the above it is redesigned and improves, reach the performance index requirement of overall design.
The quality of artificial rotary table performance is directly connected to l-G simulation test reliability and degree of confidence, it is the basis that guarantees Aeronautics and Astronautics system accuracy and performance, therefore higher technical indicator has been proposed turntable, this has proposed new problem for the whole manufacture level and the performance of artificial rotary table, has higher requirement also for the system design and the realization of turntable.The large artificial test turntable that is used for Aero-Space tests is at home and abroad studied for a long time, but cost an arm and a leg, complex structure, bulky, and technical know-how; And be not suitable for the needs of micro air vehicle flight simulation test.Large-scale turret plant major part all is that output torque is big with hydraulically powered at present, and the power density height still needs auxiliary devices such as hydraulic oil source, very inconvenience.Most of turret design is vertical open architecture, causes static deformation under action of gravity easily, can reduce the precision of turntable greatly.Therefore, the three-dimensional flight simulation turntable of studying under a kind of laboratory condition that is applicable to micro-unmanned helicopter has important and practical meanings.
Summary of the invention
The purpose of this invention is to provide a kind of flight simulation turntable that under laboratory condition, can simulate the micro-unmanned helicopter 3 d pose.Three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude of the present invention is characterized in that comprising following ingredient:
1) pedestal is fixed with two blocks of vertical and apart parallel wallboards on pedestal;
2) housing assembly, comprise housing rectangular frame, clutch shaft bearing, second bearing, first, second and first motor, the outer ring of the outer ring of clutch shaft bearing and second bearing is separately fixed on two blocks of wallboards of pedestal, first and second are fastening with the inner ring of the clutch shaft bearing and second bearing respectively, an end of first is fixed with the relative both sides of housing rectangular frame respectively with an end of second, and first the other end links to each other with the axle of first motor by shaft coupling;
3) center assembly, comprise center rectangular frame, the 3rd bearing, the 4th bearing, the 3rd, the 4th and second motor, the outer ring of the outer ring of the 3rd bearing and the 4th bearing is separately fixed on the other relative both sides of housing rectangular frame, the 3rd and the 4th are fastening with the inner ring of the 3rd bearing and the 4th bearing respectively, an end of the 3rd is fixed with the relative both sides of center rectangular frame respectively with an end of the 4th, and the 3rd the other end links to each other with the axle of second motor by shaft coupling;
4) inside casing assembly, comprise inside casing rectangular frame, the 5th bearing, the 6th bearing, the 5th, the 6th and the 3rd motor, the outer ring of the outer ring of the 5th bearing and the 6th bearing is separately fixed on the other relative both sides of center rectangular frame, the 5th and the 6th are fastening with the inner ring of the 5th bearing and the 6th bearing respectively, an end of the 5th is fixed with the relative both sides of inside casing rectangular frame respectively with an end of the 6th, and the 5th the other end links to each other with the axle of the 3rd motor by shaft coupling.
Above-mentioned first, second, third motor all can adopt the servomotor that has the high speed optoelectronic scrambler.
Principle of work of the present invention: the housing assembly is fixed on the pedestal and moves around the x axle, and the center assembly is fixed on the outside framework and moves around the y axle, and the inside casing assembly is fixed on the middle frame and moves around the z axle, and model aircraft is fixed on the inner frame.
Three flight attitude artificial rotary tables can have following three kinds of control models: simulation model, mode position and velocity mode: under the simulation model, when carrying out ground simulation test, the 3 d pose angular data that the micro-unmanned helicopter flight process is surveyed is sent in the control system of host computer, this control system utilizes the high resolving power photoelectric encoder that carries on the servomotor accurately to control the torque of three servomotors as feedback, make three-dimensional artificial rotary table in, in, outer three frameworks produce a certain amount of mechanical corner, reappear the driftage of aircraft respectively, pitching and roll motion are so that be placed in the three-dimensional flight attitude that model aircraft above the inside casing can reproduce micro-unmanned helicopter in real time.Attitude angle during perhaps micro-unmanned helicopter flight is noted according to the seasonal effect in time series mode, and host computer is realized the flight attitude of off-line simulation helicopter by reading this file and being converted to corresponding steering order then.
Under the mode position, by host computer input angle degrees of data and send position command, make corresponding biasing to control three frameworks to servomotor.Under this pattern, can be used for demarcating the precision of inertial sensor.As, the inertial sensor that needs are demarcated places on the inside casing, carries out three-dimensional motion by three frameworks of instruction control that send three-dimensional at random, at this moment, judges by the value of measuring inertial sensor whether the reading of this sensor is good for use.
Under the rate mode, three frameworks of artificial rotary table can be according to the speed parameter continuous motion of host computer setting.Utilize three-dimensional artificial rotary table of the present invention can realize an axle in uniform rotation, two other does the demarcation condition of swing at random, and this mode can satisfy the calibration request of a certain class compass.Beneficial effect of the present invention is:
Three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude can be realized test, estimate every performance index of flight control system, the duty of detection system and tracking accuracy on ground.
Three-dimensional artificial rotary table of the present invention can be according to the test experiments requirement, course angle when aircraft flight is provided, the angle of pitch, roll angle and the caused angle of flight disturbance change, the simulated flight device attitude of aloft flying in real time, thus can the testing flying vehicle control system controlling aircraft adjust to the safe flight attitude when aircraft is subjected to external disturbance.The present invention can carry out repeated test to the flight control system effect of micro-unmanned helicopter, and the emulation extremely safe.The working condition of airborne sensor under the simulated flight condition of simultaneously, can also testing flying vehicle carrying.
The three-dimensional artificial rotary table of invention has that volume is small and exquisite, simple in structure, with low cost, precision is than advantages such as height, can be used for micro-unmanned helicopter flight control system and inertial navigation system research and test are improved the flight control quality and reduces the inertial navigation components error.
The three-dimensional artificial rotary table of invention is taked horizontal type structure, and whole stressed even, static deformation is little, and structure is installed and debugged more convenient.
Description of drawings
Fig. 1 is the three-dimensional turntable longitudinal diagram of the present invention;
Fig. 2 is the three-dimensional turntable of a Fig. 1 left side pseudosection;
Fig. 3 is three-dimensional flight attitude turntable PC control process flow diagram.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1, Fig. 2, three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude comprises following ingredient:
1) pedestal 2, are fixed with two vertical and apart parallel wallboard 3A, 3B on pedestal;
2) housing assembly, comprise housing rectangular frame 9, clutch shaft bearing 7, second bearing 23, first 8, second 21 and first motor 4, the outer ring of the outer ring of clutch shaft bearing 7 and second bearing 23 is separately fixed on the two wallboard 3A and 3B of pedestal 2, first 8 and second 21 fastening with the inner ring of the clutch shaft bearing 7 and second bearing 23 respectively, an end of first 8 is fixed with the relative both sides of housing rectangular frame 9 respectively with an end of second 21, and first 8 the other end links to each other with the axle of first motor 4 by shaft coupling 5;
3) center assembly, comprise center rectangular frame 10, the 3rd bearing 27, the 4th bearing 32, the 3rd 25, the 4th 30 and second motors 24, the outer ring of the outer ring of the 3rd bearing 27 and the 4th bearing 32 is separately fixed on the other relative both sides of housing rectangular frame 9, the 3rd 25 and the 4th 30 fastening with the inner ring of the 3rd bearing 27 and the 4th bearing 32 respectively, an end of the 3rd 25 is fixed with the relative both sides of center rectangular frame 10 respectively with an end of the 4th 30, and the 3rd 25 the other end links to each other with the axle of second motor 24 by shaft coupling 26;
4) inside casing assembly, comprise inside casing rectangular frame 16, the 5th bearing 13, the 6th bearing 18, the 5th 15, the 6th the 17 and the 3rd motors 11, the outer ring of the outer ring of the 5th bearing 13 and the 6th bearing 18 is separately fixed on the other relative both sides of center rectangular frame 10, the 5th 15 and the 6th 17 fastening with the inner ring of the 5th bearing 13 and the 6th bearing 18 respectively, an end of the 5th 15 is fixed with the relative both sides of inside casing rectangular frame 16 respectively with an end of the 6th 18, and the 5th 15 the other end links to each other with the axle of the 3rd motor 11 by shaft coupling 12;
Among the figure, 22 is bearing cap.
In order to guarantee the enough physical strengths and the stability of whole turntable, the pedestal of three artificial rotary tables adopts cast iron materials HT200 monoblock cast structure.Install in the bottom of pedestal 4 can free spinning in and out foundation leg 1, be convenient to keep and ground level by adjusting the position of 4 pin of pedestal.
Outside framework and middle frame can use good rigidity, LY12 duralumin, hard alumin ium alloy material that processing characteristics is good, form with the cutting of monoblock line, do like this and can obtain good effect aspect framework bulk strength and the inhibition deformation improving.Inner frame adopts the flat surface stage structure, is convenient to lay Devices to test.The spring bearing of three motor shaft systems is selected the angular contact ball bearing of mounted in pairs for use, the C class precision, and model is 7006 and 7004, the advantage of this class bearing is to bear radial load and axial load simultaneously.For the consideration of avoiding backlash, hysterisis error, adopt the servomotor direct drive mode, use the metallic membrane shaft joint that servomotor and turntable shaft system are rigidly connected.
Claims (1)
1. three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude is characterized in that comprising following ingredient:
1) pedestal (2) is fixed with two blocks of vertical and apart parallel wallboards (3A, 3B) on pedestal;
2) housing assembly, comprise housing rectangular frame (9), clutch shaft bearing (7), second bearing (23), first (8), second (21) and first motor (4), the outer ring of clutch shaft bearing (7) is fixed on first wallboard (3A) of pedestal (2), the outer ring of second bearing (23) is fixed on second wallboard (3B) of pedestal (2), first (8) and second (21) are fastening with the inner ring of clutch shaft bearing (7) and second bearing (23) respectively, one end of first (8) is fixed with the relative both sides of housing rectangular frame (9) respectively with an end of second (21), and the other end of first (8) links to each other with the axle of first motor (4) by shaft coupling (5);
3) center assembly, comprise center rectangular frame (10), the 3rd bearing (27), the 4th bearing (32), the 3rd (25), the 4th (30) and second motor (24), the outer ring of the outer ring of the 3rd bearing (27) and the 4th bearing (32) is separately fixed on the other relative both sides of housing rectangular frame (9), the 3rd (25) and the 4th (30) are fastening with the inner ring of the 3rd bearing (27) and the 4th bearing (32) respectively, one end of one end of the 3rd (25) and the 4th (30) is fixed with the relative both sides of center rectangular frame (10) respectively, and the other end of the 3rd (25) links to each other with the axle of second motor (24) by shaft coupling (26);
4) inside casing assembly, comprise inside casing rectangular frame (16), the 5th bearing (13), the 6th bearing (18), the 5th (15), the 6th (17) and the 3rd motor (11), the outer ring of the outer ring of the 5th bearing (13) and the 6th bearing (18) is separately fixed on the other relative both sides of center rectangular frame (10), the 5th (15) and the 6th (17) are fastening with the inner ring of the 5th bearing (13) and the 6th bearing (18) respectively, one end of one end of the 5th (15) and the 6th (18) is fixed with the relative both sides of inside casing rectangular frame (16) respectively, and the other end of the 5th (15) links to each other with the axle of the 3rd motor (11) by shaft coupling (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100490650A CN100507493C (en) | 2006-01-13 | 2006-01-13 | Three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100490650A CN100507493C (en) | 2006-01-13 | 2006-01-13 | Three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude |
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| CN1811368A CN1811368A (en) | 2006-08-02 |
| CN100507493C true CN100507493C (en) | 2009-07-01 |
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| CNB2006100490650A Expired - Fee Related CN100507493C (en) | 2006-01-13 | 2006-01-13 | Three-dimensional artificial rotary table for micro-unmanned helicopter flight attitude |
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Families Citing this family (21)
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| CN101162857B (en) * | 2006-10-13 | 2010-05-19 | 中国航空工业集团公司北京长城航空测控技术研究所 | Novel direct current driving turntable structure |
| CN101950157B (en) * | 2010-07-30 | 2012-07-04 | 北京航空航天大学 | Flight simulation system with high instantaneity |
| CN102180270B (en) * | 2011-03-10 | 2013-08-14 | 北京航空航天大学 | Microminiature rotorcraft experiment platform and application thereof |
| CN102435217B (en) * | 2011-09-06 | 2014-04-09 | 中国航空工业第六一八研究所 | Two-shaft automatic turntable structure with built-in air ducts |
| CN102890451B (en) * | 2012-09-29 | 2014-11-05 | 浙江大学 | Semi-physical simulation platform for vehicle-mounted controller test |
| CN103033209B (en) * | 2012-10-23 | 2015-04-08 | 吉林大学 | Three-dimensional motion testing device |
| CN103697913B (en) * | 2013-12-17 | 2016-02-03 | 陕西宝成航空仪表有限责任公司 | For the turntable clamper of testing airplane course precision |
| CN103963032B (en) * | 2014-05-05 | 2015-11-25 | 中国科学院长春光学精密机械与物理研究所 | The four-dimensional adjusting device of a kind of large space optical sensor |
| CN105158004B (en) * | 2015-09-29 | 2018-02-13 | 华东师范大学 | A kind of rotor craft test platform |
| CN105923168B (en) * | 2016-06-24 | 2018-07-17 | 济宁学院 | Gyroplane flight simulation platform for airborne tripod head test |
| CN106200658B (en) * | 2016-07-21 | 2019-01-04 | 华中科技大学 | A kind of varistructure multi-rotor unmanned aerial vehicle experiment porch |
| CN106352894B (en) * | 2016-08-12 | 2019-01-18 | 浙江大学 | A kind of caliberating device of wearable sensor output attitude angle |
| CN108091204B (en) * | 2016-11-21 | 2019-11-12 | 北京仿真中心 | A kind of accurate installation method of flight simulation bed stage body based on positioning plate |
| CN106742059B (en) * | 2016-12-28 | 2023-06-13 | 河南工程学院 | Unmanned spacecraft landing simulation platform and method in bumpy environment |
| CN111578978B (en) * | 2020-05-13 | 2021-06-08 | 青岛智腾微电子有限公司 | High-precision sensor calibration workbench |
| CN112344962B (en) * | 2020-11-02 | 2023-12-15 | 南京理工大学 | Light-weight miniaturized high-rotation-speed electric three-axis turntable |
| CN112392858B (en) * | 2020-11-02 | 2022-04-01 | 天津津航技术物理研究所 | Assembling and adjusting method for inhibiting inclination angle rotation error of two-end support shafting structure |
| CN112828837A (en) * | 2020-12-30 | 2021-05-25 | 上海新跃联汇电子科技有限公司 | Heavy-load two-degree-of-freedom turntable |
| CN114355787A (en) * | 2021-09-17 | 2022-04-15 | 北京星途探索科技有限公司 | Shaft-lacking turntable semi-physical simulation verification technology based on certain type supersonic cruise target |
| CN114184210A (en) * | 2021-12-03 | 2022-03-15 | 江西洪都航空工业集团有限责任公司 | Simulation test method, device and system based on horizontal turntable |
| CN115903868B (en) * | 2022-11-10 | 2024-01-16 | 北京新风航天装备有限公司 | Device and method for testing turning gesture control system |
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| US4908558A (en) * | 1988-04-22 | 1990-03-13 | Contraves Goerz Corporation | Spherical motion simulator |
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