CN102944375B - Compound pneumatic data sensor applicable to micro aerial vehicle - Google Patents
Compound pneumatic data sensor applicable to micro aerial vehicle Download PDFInfo
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- CN102944375B CN102944375B CN201210404846.2A CN201210404846A CN102944375B CN 102944375 B CN102944375 B CN 102944375B CN 201210404846 A CN201210404846 A CN 201210404846A CN 102944375 B CN102944375 B CN 102944375B
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Abstract
The invention discloses a compound pneumatic data sensor applicable to a micro aerial vehicle. The compound pneumatic data sensor comprises an airspeed tube assembly, a connecting tube assembly and two wind vane assemblies, wherein the airspeed tube assembly comprises an airspeed tube head, an airspeed tube wall, an airspeed tube tail plug, a total pressure conduit and a static pressure conduit; the connecting tube assembly comprises a transitional tube, a middle tube and a tail tube; the wind vane assembly comprises a wind vane installing base, a wind vane rod fixing base, a wind vane rod, a wind vane fin, a rotating shaft, a magnet, a Hall element, a conductive wire and a bearing. Compared with the conventional integrated pneumatic data sensor, the compound pneumatic data sensor has a relatively small volume, so that the compound pneumatic data sensor can meet relatively strict requirements of the micro aerial vehicle on the weight and the size; and compared with the conventional single-function pneumatic data sensor applicable to the micro aerial vehicle, the compound pneumatic data sensor can measure more data and the installing way thereof can ensure higher measuring precision.
Description
Technical field
The present invention relates to a kind of complex pneumatic data transducer being applicable to micro air vehicle, belong to sensor technical field.
Background technology
In order to measure the movement velocity of the relative wind of aircraft in flight course, angle and flying height information, need special aerodynamic data survey sensor is installed on board the aircraft.Need the design parameter measured mainly to comprise: 1. air speed, namely aircraft is relative to the movement velocity V of air-flow; 2. by air pressure size, flight barometer altitude, namely calculates that the relative height between aircraft and sea level obtained is poor; 3. the angle of attack, the i.e. projection of aircraft speed vector V on aircraft symmetrical plane and axis Ox
bbetween angle; 4. yaw angle, the angle between aircraft speed vector V and aircraft symmetrical plane.
Orthodox flight device adopts independently pitot and the angle of attack, sideslip sensor to carry out the measurement of above four parameters usually.Part aircraft conveniently mounting and adjusting and improve measuring accuracy in the process of taking a flight test, can install integrated pneumatic data transducer to measure three parameters in Vehicle nose.
Micro air vehicle, for conventional full-scale vehicle, has the distinguishing feature that size is little, lightweight, integrated level is high, is mainly used in as UAS flying platform, is engaged in the aerial mission that investigation, mapping etc. are dangerous or uninteresting; Or as the contracting of full-scale vehicle than aircraft, for the technical testing in aircraft development process with carry out scientific research test mission.Conventional integrated pneumatic data transducer is comparatively large due to size, weight, cannot be arranged on micro air vehicle.Although the miniature pneumatic sensor with independent function can meet the requirement of micro air vehicle dimensional weight, because such sensor mounting location is near body, the data error that it is measured is larger.
Summary of the invention
The object of the invention is to solve the problem, for the requirement of high-acruracy survey air speed, the angle of attack, yaw angle in micro air vehicle flight test process, a kind of complex pneumatic data transducer being applicable to micro air vehicle is proposed, feature is that volume is little, lightweight, integrated level is high, can be used in the measurement to air speed, barometer altitude, the angle of attack, yaw angle in micro air vehicle flight test process.
Be applicable to a complex pneumatic data transducer for micro air vehicle, comprise pitot assembly, connecting pipe component and two cover weathercock assemblies;
Described pitot assembly, comprises pitot tube head, pitot tube wall, pitot pipe tail plug, stagnation pressure conduit and static pressure conduit, wherein, baroport is had in the middle part of pitot tube wall, pitot tube head is connected to one end of pitot tube wall, pitot pipe tail plug is fixed on the other end of pitot tube wall, two cylindricality circular holes are provided with in pitot pipe tail plug, pitot tube head is provided with bellmouth, osculum one end of bellmouth is by being welded to connect in one end of stagnation pressure conduit, it is inner that stagnation pressure conduit is positioned at pitot tube wall, the other end passes the cylindricality circular hole of pitot pipe tail plug, static pressure conduit is through the cylindricality circular hole of pitot pipe tail plug, it is inner that a part is positioned at pitot tube wall, a part is positioned at pitot tube wall outside in addition, stagnation pressure conduit, static pressure conduit extends to tail pipe always,
Described connecting pipe component comprises transition conduit, middle pipe and tail pipe; Wherein, transition conduit, middle pipe and tail pipe are fixedly connected sequentially, transition conduit is connected with pitot assembly with in pitot pipe tail plug one end, middle pipe interior parallel is in axially having four elongated holes, wherein two for by stagnation pressure conduit and static pressure conduit, two other wire for being drawn by weathercock assembly, middle pipe side time interval 90 ° has the installation locating slot that two connect weathercock assemblies;
Described weathercock assembly comprises weathercock mount pad, weathercock bar holder, weathercock bar, weathercock fin, rotating shaft, magnet, Hall element, wire and bearing; Wherein weathercock bar holder is drilled with a cross-drilled hole and a vertical hole respectively along level, vertical direction, and weathercock bar is fixed in the cross-drilled hole of weathercock bar holder by jackscrew; Weathercock fin is fixed on one end of weathercock bar, and rotating shaft one end is fixed in the vertical hole of weathercock bar holder, and the other end and magnet glued joint; During weathercock component operation, weathercock bar holder, weathercock bar, weathercock fin, rotating shaft, magnet five parts connect firmly as a whole; Vertically be drilled with vertical hole in weathercock mount pad, bottom is processed with rectangular opening; Rotating shaft is positioned at the vertical hole of weathercock mount pad, and magnet is positioned at rectangular opening; Bearing is arranged on weathercock mount pad and indulges two ends, hole, smooth pivotal when working for supporting revolving shaft; Hall element measures the rotational angle of magnet, and exported by wire, Hall element and wire are arranged in weathercock mount pad bottom rectangle hole; Be provided with mount pad bottom weathercock bar holder, mount pad is plane of orientation, and weathercock assembly is fixed in the locating slot of middle pipe side by mount pad, and wire enters in the elongated hole of middle pipe.
The invention has the advantages that:
(1) the present invention is compared with traditional integrated pneumatic data transducer, and volume of the present invention is less, can adapt to the comparatively harsh weight of micro air vehicle and dimensional requirement;
(2) the present invention is compared with the existing independent function aerodynamic data sensor for micro air vehicle, and the present invention can measure more data, the measuring accuracy that mounting means can make acquisition higher;
(3) in the present invention, the measurement of angle of attack yaw angle adopts Hall element as sensor, achieve contactless measurement, while raising measuring accuracy, the sensitivity of measurement mechanism can be improved, more adapt to micro air vehicle flying speed compared with the air angle measurement demand under low condition;
(4) version that in the present invention, pitot assembly adopts can effectively reduce because the aircraft angle of attack, yaw angle change stagnation pressure, the static pressure measurement error brought.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of pitot assembly of the present invention;
Fig. 3 is the structure for amplifying schematic diagram in A-A face in Fig. 2 of the present invention;
Fig. 4 is the structural representation of connecting pipe component of the present invention;
Fig. 5 is the structural representation of weathercock assembly of the present invention;
Fig. 6 is the structural representation of pipe in the present invention;
Fig. 7 is the structure for amplifying schematic diagram in B-B face in Fig. 6 of the present invention.
In figure:
10-pitot assembly, 20-connecting pipe component, 30-weathercock assembly
11-pitot tube head, 12-pitot tube wall, 13-pitot pipe tail plug
14-stagnation pressure conduit, 15-static pressure conduit
21-transition conduit, 22-middle pipe 23-tail pipe
31-weathercock mount pad, 32-weathercock bar holder, 33-weathercock bar
34-weathercock fin, 35-rotating shaft, 36-magnet
37-Hall element, 38-wire, 39-bearing
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is a kind of complex pneumatic data transducer being applicable to micro air vehicle, as shown in Figure 1, comprises pitot assembly 10, connecting pipe component 20 and two cover weathercock assemblies 30;
Described pitot assembly 10 as shown in Figure 2, comprises pitot tube head 11, pitot tube wall 12, pitot pipe tail plug 13, stagnation pressure conduit 14 and static pressure conduit 15.
Wherein, in the middle part of pitot tube wall 12, have ten baroports, as shown in Figure 3, four, upside baroport, pitch of holes angle 13.3 °, six, downside baroport, pitch of holes angle 12 °.Pitot tube head 11 is welded on one end of pitot tube wall 12, pitot pipe tail plug 13 is welded on the other end of pitot tube wall 12, two cylindricality circular holes are provided with in pitot pipe tail plug 13, bellmouth angle in pitot tube head 11 is 30 °, and osculum one end of bellmouth is by being welded to connect in one end of stagnation pressure conduit 14.Stagnation pressure conduit 14 is inner through pitot tube wall 12, and the other end passes from the cylindricality circular hole of pitot pipe tail plug 13.Static pressure conduit 15 is through the cylindricality circular hole of pitot pipe tail plug 13, it is inner that a part is positioned at pitot tube wall 12, to be positioned at pitot tube wall 12 outside for a part in addition, and the connected mode of stagnation pressure conduit 14, static pressure conduit 15 and pitot pipe tail plug 13 cylindricality circular hole is for welding.Stagnation pressure conduit 14, static pressure conduit 15 extend to tail pipe 23 always.
Described connecting pipe component 20 as shown in Figure 4, comprises transition conduit 21, middle pipe 22 and tail pipe 23.
Wherein, transition conduit 21, to be interfixed by screw between middle pipe 22 and tail pipe 23, transition conduit 21 is connected with pitot assembly 10 with in pitot pipe tail plug 13 one end, and pitot tube wall 12 inserts in transition conduit 21 central circular hole, and is fixed by jackscrew.As shown in Figure 6, Figure 7, interior parallel is in axially having four elongated holes, and wherein two for by stagnation pressure conduit 14 and static pressure conduit 15 for middle pipe 22, two other wire 38 for being drawn by weathercock assembly 30.In addition, middle pipe 22 side time interval 90 ° has the installation locating slot that two connect weathercock assembly 30.Tail pipe 23 is can carry out installing the hollow circular-tube coordinated with middle pipe 22.
Described weathercock assembly 30 as shown in Figure 5, comprises weathercock mount pad 31, weathercock bar holder 32, weathercock bar 33, weathercock fin 34, rotating shaft 35, magnet 36, Hall element 37, wire 38 and bearing 39.
Wherein weathercock bar holder 32 is drilled with a cross-drilled hole and a vertical hole respectively along level, vertical direction, and weathercock bar 33 is fixed in the cross-drilled hole of weathercock bar holder 32 by jackscrew.Weathercock fin 34 is fixed on one end of weathercock bar 33, adopts interference fit.Rotating shaft 35 one end is fixed in the vertical hole of weathercock bar holder 32 by jackscrew, and the other end and magnet 36 glued joint.When weathercock assembly 30 works, weathercock bar holder 32, weathercock bar 33, weathercock fin 34, rotating shaft 35, magnet 36 5 parts connect firmly as a whole.
Vertically be drilled with vertical hole in weathercock mount pad 31, bottom is processed with rectangular opening.Rotating shaft 35 is positioned at the vertical hole of weathercock mount pad 31, and magnet 36 is positioned at rectangular opening.Bearing 39 is arranged on weathercock mount pad 31 and indulges two ends, hole, smooth pivotal when working for supporting revolving shaft 35.
Magnet 36 adopts diametrical magnetization mode, and Hall element 37 adopts MLX90316 angular position sensing chip, and be arranged in weathercock mount pad 31 bottom rectangle hole with wire 38, Hall element 37, for measuring the rotational angle of magnet 36, is exported by wire 38.
Weathercock assembly 30 is plane of orientation by the mount pad bottom weathercock bar holder 32, adopts two screws to be arranged on by weathercock assembly 30 in the locating slot of middle pipe 22 side.Wire 38 enters in the elongated hole of middle pipe 22.
Principle of work and process:
The present invention needs when carrying out flight vehicle aerodynamic DATA REASONING to be fixedly mounted on aircraft head section, and pitot assembly 10 is parallel with aircraft fuselage axis direction and before pointing to.The forward weathercock in position downwards as sideslip sensor, position weathercock rearward towards side as angle of attack sensor.
Pitot assembly 10 can gather aircraft altitude and velocity information.
Flying height information is obtained by air base attribute.Along with the increase of height, air pressure can change thereupon.By being connected with baroceptor by the static pressure conduit 15 of drawing in pitot assembly 10, read static pressure information thus.Aircraft flight barometer altitude information can be obtained again by air pressure being substituted into interpolation in table of standard atmosphere.
Airspeed information utilizes bernoulli principle to calculate and obtains.According to Bernoulli equation relation:
p in formula
0for flow field stagnation pressure, P is any static pressure of people in flow field, and ρ is atmospheric density, and V is the speed in flow field.By being connected with baroceptor respectively with static pressure conduit 15 by the stagnation pressure conduit 14 of drawing in pitot assembly 10, read stagnation pressure and the static pressure size in flow field, recycling Bernoulli equation can obtain flying speed.Atmospheric density data ρ in equation solution process, needs to obtain by utilizing barometer altitude to substitute into interpolation in table of standard atmosphere.
The weathervane that the similar wind direction of weathercock assembly 30 principle of work uses in measuring.When flow field velocity and weathercock bar 33 direction exist angle, fin 34 place of weathercock bar 33 end can produce certain lift, impels weathercock bar 33 to rotate until the angle between itself and flow field velocity is zero.In weathercock bar 33 rotation process, be with moving magnet 36 to rotate by rotating shaft 35, the relative angle between magnet 36 and Hall element 37 is changed.The output voltage of Hall element 37 can change along with angle between the magnetic line of force of magnet 36 and Hall element 37 and change.Read the output voltage of Hall element 37 via wire 38, the aircraft angle of attack and yaw angle information can be obtained.
The present invention in actual use, completely can by utilize to collect between conventional flight data recorder or automated driving system flying speed, highly with angle of attack sideslip angle information.Its method is for be connected respectively to flight data recorder or the corresponding baroceptor interface of automated driving system by stagnation pressure conduit 14, static pressure conduit 15.Wire 38 and flight data recorder or automated driving system A/D acquisition port that weathercock assembly 30 connects, then the angle of attack sideslip angle information in flight course after carrying out voltage demarcation according to weathercock drift angle, can be obtained.
Claims (8)
1. be applicable to a complex pneumatic data transducer for micro air vehicle, it is characterized in that, comprise pitot assembly, connecting pipe component and two cover weathercock assemblies;
Described pitot assembly, comprises pitot tube head, pitot tube wall, pitot pipe tail plug, stagnation pressure conduit and static pressure conduit, wherein, baroport is had in the middle part of pitot tube wall, pitot tube head is connected to one end of pitot tube wall, pitot pipe tail plug is fixed on the other end of pitot tube wall, two cylindricality circular holes are provided with in pitot pipe tail plug, pitot tube head is provided with bellmouth, osculum one end of bellmouth is by being welded to connect in one end of stagnation pressure conduit, it is inner that stagnation pressure conduit is positioned at pitot tube wall, the other end passes the cylindricality circular hole of pitot pipe tail plug, static pressure conduit is through the cylindricality circular hole of pitot pipe tail plug, it is inner that a part is positioned at pitot tube wall, a part is positioned at pitot tube wall outside in addition, stagnation pressure conduit, static pressure conduit extends to tail pipe always,
Described connecting pipe component comprises transition conduit, middle pipe and tail pipe; Wherein, transition conduit, middle pipe and tail pipe are fixedly connected sequentially, transition conduit is connected with pitot assembly with in pitot pipe tail plug one end, middle pipe interior parallel is in axially having four elongated holes, wherein two for by stagnation pressure conduit and static pressure conduit, two other wire for being drawn by weathercock assembly, middle pipe side time interval 90 ° has the installation locating slot that two connect weathercock assemblies;
Described weathercock assembly comprises weathercock mount pad, weathercock bar holder, weathercock bar, weathercock fin, rotating shaft, magnet, Hall element, wire and bearing; Wherein, weathercock bar holder is drilled with a cross-drilled hole and a vertical hole respectively along level, vertical direction, and weathercock bar is fixed in the cross-drilled hole of weathercock bar holder; Weathercock fin is fixed on one end of weathercock bar; Rotating shaft one end is fixed in the vertical hole of weathercock bar holder, and the other end and magnet glued joint; During weathercock component operation, weathercock bar holder, weathercock bar, weathercock fin, rotating shaft, magnet five parts connect firmly as a whole; Vertically be drilled with vertical hole in weathercock mount pad, bottom is processed with rectangular opening; Rotating shaft is positioned at the vertical hole of weathercock mount pad, and magnet is positioned at rectangular opening; Bearing is arranged on weathercock mount pad and indulges two ends, hole, smooth pivotal when working for supporting revolving shaft; Hall element measures the rotational angle of magnet, and exported by wire, Hall element and wire are arranged in weathercock mount pad bottom rectangle hole; Be provided with mount pad bottom weathercock bar holder, mount pad is plane of orientation, and weathercock assembly is fixed in the locating slot of middle pipe side by mount pad, and wire enters in the elongated hole of middle pipe.
2. a kind of complex pneumatic data transducer being applicable to micro air vehicle according to claim 1, is characterized in that, have ten baroports in the middle part of described pitot tube wall, four baroports in upside, pitch of holes angle 13.3 °, six, downside baroport, pitch of holes angle 12 °.
3. a kind of complex pneumatic data transducer being applicable to micro air vehicle according to claim 1, it is characterized in that, the bellmouth angle in described pitot tube head is 30 °.
4. a kind of complex pneumatic data transducer being applicable to micro air vehicle according to claim 1, is characterized in that, described magnet adopts diametrical magnetization mode.
5. a kind of complex pneumatic data transducer being applicable to micro air vehicle according to claim 1, is characterized in that, described Hall element adopts MLX90316 angular position sensing chip.
6. a kind of complex pneumatic data transducer being applicable to micro air vehicle according to claim 1, is characterized in that, described static pressure tubes connection baroceptor, obtains static pressure by baroceptor.
7. a kind of complex pneumatic data transducer being applicable to micro air vehicle according to claim 1, is characterized in that, described stagnation pressure tubes connection baroceptor, obtains stagnation pressure by baroceptor.
8. a kind of complex pneumatic data transducer being applicable to micro air vehicle according to claim 1, it is characterized in that, the output voltage of described Hall element is read by wire, obtains the aircraft angle of attack and yaw angle information.
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| CN201210404846.2A CN102944375B (en) | 2012-10-22 | 2012-10-22 | Compound pneumatic data sensor applicable to micro aerial vehicle |
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| CN201210404846.2A CN102944375B (en) | 2012-10-22 | 2012-10-22 | Compound pneumatic data sensor applicable to micro aerial vehicle |
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| CN102944375B true CN102944375B (en) | 2015-05-20 |
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| CN109470401B (en) * | 2018-11-08 | 2021-09-07 | 中国航天空气动力技术研究院 | Straight-rod airspeed tube with attack angle resolving function |
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| CN112697380B (en) * | 2020-12-10 | 2023-04-07 | 中国航空工业集团公司沈阳飞机设计研究所 | Standard airspeed tube position error calibration structure |
| CN112881004A (en) * | 2021-01-11 | 2021-06-01 | 中国空气动力研究与发展中心高速空气动力研究所 | Airspeed tube wind tunnel check test device and check test method |
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