CN102991678A - Novel vibration damper applied to unmanned aerial vehicle automatic pilot - Google Patents
Novel vibration damper applied to unmanned aerial vehicle automatic pilot Download PDFInfo
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- CN102991678A CN102991678A CN2011102669115A CN201110266911A CN102991678A CN 102991678 A CN102991678 A CN 102991678A CN 2011102669115 A CN2011102669115 A CN 2011102669115A CN 201110266911 A CN201110266911 A CN 201110266911A CN 102991678 A CN102991678 A CN 102991678A
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- vibration
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- unmanned aerial
- vibration damper
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Abstract
The invention relates to the technical field of low-frequency vibration damping, in particular to a novel vibration damper applied to an unmanned aerial vehicle automatic pilot. On the basis of the existing steel wire rope vibration damper, low frequency vibration widely existing in screw propeller unmanned aerial vehicle is effectively reduced. Simultaneously the weight and size of the whole set of vibration damper are controlled strictly, and a scheme for damping low-frequency vibration of current small and medium unmanned aerial vehicles is provided. The novel vibration damper comprises a steel wire rope vibration damper and a vibration damping support for installing the unmanned aerial vehicle automatic pilot. The vibration damping support is a table body with a vibration damping installing support, and a table body plane for installing the unmanned aerial vehicle automatic pilot on the vibration damping support is lower than the vibration damper installing support. The novel vibration damper has the advantages of being capable of achieving a low-frequency vibration damping affect and reducing occupied installing space in the vertical direction.
Description
Technical field
The present invention relates to the low frequency vibration damping technical field, specifically refer to be applied to the shock attenuation unit of unmanned aerial vehicle onboard equipment.
Background technology
For propeller UAV, with reference to the explanation of GJB150.1-86 " military equipment environmental test method vibration test " vibration environment the 4th class propeller formula aircraft: " its vibration environment of equipment that is installed on the propeller formula aircraft is comprised of random spectrum superposition arrowband, broadband spike.Wideband spectrum derives from the cyclical component of various at random vibration sources and various non-pure sinusoids, cyclical component is to cause that by the relevant turning unit of turboprop (driving engine, gear case, rotating shaft etc.) the arrowband spike is to be caused by the rotational pressure field that screw blade drives.The central frequency of these peak values is positioned at propeller blade by the narrow frequency band of frequency (number of blade multiply by screw propeller per minute rotating speed divided by 60) and harmonic wave thereof.”
Affecting one of key factor of unmanned plane during flying quality, is exactly to be used for the inertial sensor meeting of attitude algorithm because the generation of vibration adverse effect.Significantly resonance or random vibration can cause sensor error in reading to occur, and then cause attitude algorithm fatal error.Therefore, subdue the ubiquitous low-frequency vibration of current propeller UAV by rational technical measures and have essentiality.From practical standpoint, solution should be taken into account the limited common situation of unmanned plane load storage capacity.
Multiple Vibration Damping Technology Study achievement occurs in the world, owing to there are overweight, the defectives such as installation dimension is excessive, low frequency vibration damping poor performance, therefore still can not generally be satisfied with the vibration damping demand of unmanned plane autopilot.Wherein can effectively solve the wire rope damper of low-frequency vibration, it highly is 28mm, if (highly about 20mm～30mm) also carries out rigidity and is fastenedly connected, and space requirement that then should the integral body in the vertical direction will reach 48mm～58mm directly to place autopilot at adapter plate; Autopilot loam cake and unmanned plane load storehouse also need be reserved certain space and prevent generating collision in addition.This will excessively take the limited space, load storehouse of middle-size and small-size unmanned plane.
Summary of the invention
The object of the invention is exactly on the basis of wire rope damper, effectively solve the ubiquitous low-frequency vibration of propeller UAV, weight and the size of a whole set of shock attenuation unit of strict control are sought a kind of low-frequency vibration solution that current middle-size and small-size unmanned plane faces that solves simultaneously.
The present invention is achieved in that a kind of novel damping device that is applicable to the unmanned plane autopilot, comprising: the vibration-absorbing mounting that wire rope damper, installation unmanned plane autopilot are used; Wherein, described vibration-absorbing mounting is the stage body with shock absorber erection support, and the stage body plane that the unmanned plane autopilot is installed on the vibration-absorbing mounting is lower than the shock absorber erection support.
Aforesaid a kind of novel damping device that is applicable to the unmanned plane autopilot, wherein, the described novel damping device that is applicable to the unmanned plane autopilot comprises 4 wire rope dampers, is installed in respectively on the shock absorber erection support on 4 angles of vibration-absorbing mounting.
Aforesaid a kind of novel damping device that is applicable to the unmanned plane autopilot, wherein, install on the stage body plane of unmanned plane autopilot on the described vibration-absorbing mounting, comprise 2 perpendicular to the side on described stage body plane, described shock absorber erection support is arranged on the side.
Aforesaid a kind of novel damping device that is applicable to the unmanned plane autopilot, wherein, vibration-absorbing mounting material selection hard aluminium alloy is one-body molded; Use loss of weight technique at the vibration-absorbing mounting back side, mill out the groove that loss of weight is used.
Advantage of the present invention is: shown in the three-dimensional erection plan of Fig. 4, steel wire shock absorber mounting seat is installed fastening by four M3 screws and unmanned plane body; Steel wire shock absorber mount pad is installed fastening by four supporting M3 screws and vibration-absorbing mounting; Vibration-absorbing mounting is installed fastening by four supporting M3 screws and autopilot.When the driving engine of propeller UAV was in running order, the low-frequency vibration of generation was delivered to by being rigidly connected on the whole that autopilot and vibration-absorbing mounting form by four wire rope dampers, can realize the effect of low frequency vibration damping.In addition, reduced taking of the installing space on the vertical direction.
Description of drawings
Fig. 1 is wire rope damper structural representation in the novel damping device that is applicable to the unmanned plane autopilot of the present invention;
Fig. 2 is vibration-absorbing mounting structural representation in the novel damping device that is applicable to the unmanned plane autopilot of the present invention;
Fig. 3 is bolt structure scheme drawing in the novel damping device that is applicable to the unmanned plane autopilot of the present invention;
Fig. 4 is the three-dimensional erection plan of novel damping device that is applicable to the unmanned plane autopilot of the present invention;
Fig. 5 is X-axis sine sweep real-time curve;
Fig. 6 is Y-axis sine sweep real-time curve;
Fig. 7 is Z axis sine sweep real-time curve.
Wherein, the 1st, wire rope damper mount pad (vibration-absorbing mounting mounting bracket side), the 2nd, wire rope damper mounting seat (airframe), the 3rd, special-shaped stone dead wire, the 4th, hammer riveting, the 11st, vibration-absorbing mounting mounting bracket, the 12nd, vibration-absorbing mounting triangular side, the 13rd, loss of weight technique.
The specific embodiment
The present invention is described further below in conjunction with the drawings and specific embodiments:
The novel damping device that is applicable to the unmanned plane autopilot of the present invention comprises: 4 of wire rope dampers, 1 of vibration-absorbing mounting, 12 on supporting M3 screw.Referring to Fig. 1, Fig. 2, Fig. 3, and the three-dimensional erection plan of Fig. 4.
The unmanned plane autopilot is installed on the vibration-absorbing mounting, and wire rope damper one end is installed on the vibration-absorbing mounting, and the other end is installed on the unmanned plane; Vibration-absorbing mounting is the stage body with 4 shock absorber erection supports, and the stage body plane that vibration-absorbing mounting is installed the unmanned plane autopilot is lower than the shock absorber erection support, so, has reduced the space after shock attenuation unit is installed.
As shown in Figure 1, this low frequency wire rope damper by order part 1 mount pad, order part 2 mounting seat and order part 3 special-shaped stone dead wires (have certain sinuousness, provide elastic force just can) form.Order part 3 is the stone dead wire of diameter 1.5mm, and processing length is 180mm; After order part 3 penetrated order part 1 and 2, the mode by the hammer riveting was fixed, and guarantees mutually fricton-tight; Fitting process guarantees order part 1 and 2 two planar horizontal of order part, and steel wire evenly distributes.
As shown in Figure 2, the length of four mounting brackets of vibration-absorbing mounting, highly all follow effective vibration damping, joint space-efficient principle of design, that is: the mount pad of each mounting bracket and wire rope damper is connected by screw, when both having guaranteed the in the horizontal direction low-frequency vibration of vibration-absorbing mounting and wire rope damper without frictional impact, guarantee again vibration-absorbing mounting and steel wire shock absorber mounting seat plane of living in when the vertical direction low-frequency vibration without frictional impact.
For fully guaranteeing rigidity and the lightweight of vibration-absorbing mounting, vibration-absorbing mounting material selection hard aluminium alloy is one-body molded; Add and keep triangular side 12 man-hour to improve rigidity; Simultaneously use loss of weight technique at the vibration-absorbing mounting back side, milled 8 round rectangles.Be used for four screw mounting holes that vibration-absorbing mounting and autopilot are fastenedly connected, its size, position are determined according to the concrete size of different model autopilot.
Certain the model unmanned plane that needs mounting dampers is the two paddle blade structures of single cylinder engine, the installation site of autopilot is in the fuselage sections before the screw propeller, rotating speed is 1400rpm during engine idle, and rotating speed is 4600rpm when cruising, and rotating speed is 5600rpm during maximum throttle.1400rpm～5600rpm range of speed can produce the low-frequency vibration of 47Hz～187Hz.Simultaneously, also have other random vibration etc. in the flight course.The autopilot free height 31mm that this unmanned plane is equipped with, the height after being fastenedly connected with the novel damping device of this paper is 47mm, being fastenedly connected with the body attachment face has the above space of 10mm more than the space, back upper place.Therefore this novel damping device can satisfy practical application on installation dimension.
For simulating the effectiveness in vibration suppression of this shock attenuation unit, integral body to compositions such as autopilot, vibration-absorbing mounting, wire rope damper, screws, carried out successively X-axis, Y-axis, three axial vibration tests of Z axis at single shaft on joggling table, test condition is 1g 7Hz～400Hz sine sweep.
Test results shows: be subjected to the test product natural frequency to be 18Hz when X-axis, Y-axis sine sweep, and 7Hz～18Hz do not amplify unattenuatedly yet, the vibration of 18Hz resonance point is amplified to 2.8 times, and 18Hz～400Hz high band is from normally to decaying to 0.01 times; Be subjected to test product natural frequency 60Hz during the Z axis sine sweep, 7Hz～60Hz does not amplify unattenuated yet, and the vibration of 60Hz resonance point is amplified to 3 times, and 60Hz～400Hz high band decays to 0.1 times.Accompanying drawing is X-axis, Y-axis, Z axis 1g 7Hz～400Hz sine sweep real-time curve.
The low-frequency vibration that certain model unmanned plane uses engine petrol can produce 47Hz～187Hz.In this range of speed, X-axis, Y-axis resonance point correspondence not in the real work range of speed, the Z axis resonance point in this scope but vibration amplify and to be no more than 3 times.Therefore this novel damping system can solve the attitude data divergence problem that vibration causes well.
Claims (4)
1. a novel damping device that is applicable to the unmanned plane autopilot comprises: the vibration-absorbing mounting that wire rope damper, installation unmanned plane autopilot are used; It is characterized in that: described vibration-absorbing mounting is for having the stage body of shock absorber erection support (11), and the stage body plane that the unmanned plane autopilot is installed on the vibration-absorbing mounting is lower than shock absorber erection support (11).
2. a kind of novel damping device that is applicable to the unmanned plane autopilot as claimed in claim 1, it is characterized in that: the described novel damping device that is applicable to the unmanned plane autopilot comprises 4 wire rope dampers, is installed in respectively on the shock absorber erection support (11) on 4 angles of vibration-absorbing mounting.
3. a kind of novel damping device that is applicable to the unmanned plane autopilot as claimed in claim 2, it is characterized in that: install on the described vibration-absorbing mounting on the stage body plane of unmanned plane autopilot, comprise 2 sides perpendicular to described stage body plane (12), described shock absorber erection support (11) is arranged on the side (12).
4. a kind of novel damping device that is applicable to the unmanned plane autopilot as claimed in claim 3, it is characterized in that: vibration-absorbing mounting material selection hard aluminium alloy is one-body molded; Use loss of weight technique at the vibration-absorbing mounting back side, mill out the groove (13) that loss of weight is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2011102669115A CN102991678A (en) | 2011-09-09 | 2011-09-09 | Novel vibration damper applied to unmanned aerial vehicle automatic pilot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011102669115A CN102991678A (en) | 2011-09-09 | 2011-09-09 | Novel vibration damper applied to unmanned aerial vehicle automatic pilot |
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| CN102991678A true CN102991678A (en) | 2013-03-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105443649A (en) * | 2016-01-15 | 2016-03-30 | 重庆大学 | High-damp magnesium alloy vibration isolation structure and application thereof |
| CN108750068A (en) * | 2015-04-08 | 2018-11-06 | 深圳市大疆创新科技有限公司 | Aircraft |
| US10640210B2 (en) | 2017-08-11 | 2020-05-05 | Purdue Research Foundation | Method and apparatus for cable-driven adaptive vibration control |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201538432U (en) * | 2009-11-27 | 2010-08-04 | 中国航天科工集团第三研究院第八三五七研究所 | Silica gel damping device for unmanned vehicle autopilot |
| CN102295292A (en) * | 2010-06-25 | 2011-12-28 | 富士施乐株式会社 | Silica particles and method of producing the same |
| CN202295292U (en) * | 2011-09-09 | 2012-07-04 | 中国航天科工集团第三研究院第八三五七研究所 | Novel vibration reduction device suitable for automatic driving instrument of unmanned plane |
-
2011
- 2011-09-09 CN CN2011102669115A patent/CN102991678A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201538432U (en) * | 2009-11-27 | 2010-08-04 | 中国航天科工集团第三研究院第八三五七研究所 | Silica gel damping device for unmanned vehicle autopilot |
| CN102295292A (en) * | 2010-06-25 | 2011-12-28 | 富士施乐株式会社 | Silica particles and method of producing the same |
| CN202295292U (en) * | 2011-09-09 | 2012-07-04 | 中国航天科工集团第三研究院第八三五七研究所 | Novel vibration reduction device suitable for automatic driving instrument of unmanned plane |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108750068A (en) * | 2015-04-08 | 2018-11-06 | 深圳市大疆创新科技有限公司 | Aircraft |
| CN105443649A (en) * | 2016-01-15 | 2016-03-30 | 重庆大学 | High-damp magnesium alloy vibration isolation structure and application thereof |
| US10640210B2 (en) | 2017-08-11 | 2020-05-05 | Purdue Research Foundation | Method and apparatus for cable-driven adaptive vibration control |
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Application publication date: 20130327 |