CN103010483A - Two-DOF (Degrees of Freedom) test platform for micro aerial vehicle - Google Patents

Abstract

A two-degree-of-freedom micro-aircraft test platform is applied to flight static debugging and attitude simulation of a micro-quadcopter, and belongs to the electromechanical field. The rotating shaft (2) is fixed on the lower turntable (3), and the upper turntable (7) and the lower turntable (3) are connected through two of the rotating shafts (2) connected in a straight line, and can be connected around the upper turntable (7) and the lower turntable (3). The two rotating shafts (2) of the lower turntable (3) rotate; the two rotating shafts (2) of the lower turntable (3) that are not connected to the upper turntable (7) are connected to the two pillars (4) respectively, and the lower turntable (3) can rotate around The two rotating shafts (2) connecting the pillars (4) rotate; the two pillars (4) are fixed on the base (6). The invention has the advantages of light weight, small volume, convenient rotation, little interference to the miniature four-axis aircraft, and little energy consumed by the device for overcoming rotational friction and moment of inertia during aircraft testing. The test results of the aircraft are real and the simulation effect is good.

Description

Two-degree-of-freedom MAV test platform

technical field

The invention relates to a two-degree-of-freedom micro-aircraft test platform, which is applied to the flight static debugging and attitude simulation of a micro-four-axis aircraft, and belongs to the electromechanical field.

Background technique

At present, there are more and more researches on quadcopters at home and abroad, and they are getting deeper and deeper. Among them, the micro quadrocopter is one of the branches. When studying the attitude and control design of micro quadcopters, researchers often struggle with the inability to perform static flight simulations of the aircraft. Since frequent live flights are full of dangers of crashes, the manufacture of miniature quadcopters is complicated and the cost is not low. Therefore, it is very necessary to design a set of static flight simulation of miniature quadcopter and a mechanical device for flight attitude control research.

Contents of the invention

The purpose of the present invention is to provide a mechanical platform for static debugging and attitude simulation test of miniature four-axis aircraft.

In order to achieve the above object, the present invention has taken the following technical solutions:

Two-degree-of-freedom micro-aircraft test platform, which includes two upper turntable positioning jackscrews 1, four rotating shafts 2, lower turntable 3, upper turntable 7, two lower turntable positioning jackscrews 8, four adjustment copper sheets 9, and pillars 4 and the base 6; four rotating shafts 2 are fixed on the lower turntable 3, and the two rotating shafts 2 form a straight line, and the straight line formed by the two rotating shafts 2 perpendicularly intersects the straight line formed by the other two rotating shafts 2; the upper turntable 7 is connected with the lower turntable 3 through two of the rotating shafts 2 connected in a straight line, and can rotate around the two rotating shafts 2 connecting the upper turntable 7 and the lower turntable 3; the rotating shaft between the upper turntable 7 and the lower turntable 3 is connected There are also two adjusting copper sheets 9 for adjusting the center position of the upper turntable 7 on the 2; the rotating shaft 2 connected between the upper turntable 7 and the lower turntable 3 is also connected with the upper turntable 7 for fixing and adjusting relative to the lower turntable 3 The two upper turntable positioning jackscrews 1 of the angle of two; the lower turntable 3 is not connected to the two rotating shafts 2 of the upper turntable 7 to be connected with the two pillars 4 respectively, and the lower turntable 3 can rotate around the two rotating shafts 2 of the connecting pillar 4. The two rotating shafts 2 connecting the two pillars 4 and the lower turntable 3 are respectively provided with a copper piece 9 for adjusting the center position of the lower turntable 3; the rotating shaft 2 connecting the lower turntable 3 and the pillar 4 is also connected with a Two lower turntable positioning jackscrew 8 of lower turntable 3 angles.

The base 6 is placed on the horizontal desktop, and the two pillars 4 are fixed on the base 6. The two lower turntable rotating shaft holes 10 for connecting the upper rotating shaft 2 of the lower turntable 3 on the two pillars 4 are coaxial; the rotating shaft 2 can be rotated on the lower turntable Rotate in hole 10.

The rotating shaft 2 is vertically fixed on the lower turntable 3 by welding.

Two pillars 4 are fixed on the base 6 by pillar fixing screws 5 .

The invention adopts a purely mechanical structure, and skillfully solves the difficult problem of the static test of the miniature four-axis aircraft. The invention has the advantages of light weight, small volume, light rotation, little interference to the miniature four-axis aircraft, and little energy consumed by the device to overcome rotational friction and moment of inertia during aircraft testing. The test results of the aircraft are real and the simulation effect is good.

Description of drawings

Fig. 1 system schematic diagram of the present invention

The structural diagram of Fig. 2 pillar of the present invention

Fig. 3 is the structural diagram of the upper turntable of the present invention

The structural diagram of the lower turntable of the present invention in Fig. 4

In the figure: 1. Upper turntable positioning screw; 2. Rotary shaft; 3. Lower turntable; 4. Pillar; 5. Pillar fixing screw; 6. Base; 7. Upper turntable; Copper sheet; 10. Shaft hole of the lower turntable; 11. Pillar fixing screw hole; 12. Positioning screw hole of the lower turntable; 13. Positioning screw hole of the upper turntable; 14. Shaft hole of the upper turntable; 15. Large plane of the lower turntable; 16 , The vertical plane of the lower turntable.

Detailed ways

The present invention is further described in conjunction with Fig. 1-Fig. 4:

Two-degree-of-freedom micro-aircraft test platform, which includes two upper turntable positioning jackscrews 1, four rotating shafts 2, lower turntable 3, upper turntable 7, two lower turntable positioning jackscrews 8, four adjustment copper sheets 9, and pillars 4 and base 6. The aircraft is fixed on the upper turntable 7 and can rotate around the two rotating shafts 2 between the lower turntable 3 and the upper turntable 7, thereby realizing the rotation of the aircraft with one degree of freedom. The two rotating shafts 2 connected with the pillars on the lower turntable 3 are perpendicular to the two rotating shafts 2 on the upper turntable 7, and can rotate around the lower turntable shaft holes 10 on the pillars 4, thereby realizing the rotation of another degree of freedom of the aircraft. The pillar 4 is fixed on the base 6, and the base 6 is placed on the horizontal desktop for supporting the whole device.

Four rotating shafts 2 are fixed vertically in twos on the large plane 15 of the lower turntable on the lower turntable 3 by welding. The upper turntable rotating shaft hole 14 on the upper turntable 7 cooperates with the two rotating shafts 2 on the lower turntable 3, and can rotate around the rotating shaft 2. Two upper turntable positioning jackscrews 1 are installed in the upper turntable positioning jackscrew holes 13 for fixing the angle between the upper turntable 7 and the lower turntable 3 . Loosen the positioning screw 1 of the upper turntable, and the aircraft can rotate freely within this degree of freedom. There are also two adjusting copper sheets 9 on the rotating shaft 2 connecting the upper turntable 7 and the lower turntable 3, which are used to adjust the distance between the upper turntable 7 and the vertical surface 16 of the lower turntable on the lower turntable 3, so that the upper turntable 7 is located at The center position of lower turntable 3. Another two rotating shafts 2 on the lower turntable 3 cooperate with the lower turntable rotating shaft holes 10 on the two pillars 4 respectively, and the lower turntable 3 can rotate around the lower turntable rotating shaft holes 10 on the pillar 4 . Two lower turntable positioning jackscrews 8 are installed in the lower turntable positioning jackscrew holes 12 for fixing the angle between the lower turntable 3 and the base 6 . Loosen the positioning screw 8 of the lower turntable, and the aircraft can rotate freely in this degree of freedom. There are also two adjusting copper sheets 9 on the rotating shaft 2 connecting the pillar 4 and the lower turntable 3, which are used to adjust the distance between the pillar 4 and the vertical surface 16 of the lower turntable on the lower turntable 3, so that the lower turntable 3 is located on the base 6 central location.

The above-mentioned upper turntable 7 is made of carbon fiber, with a thickness of about 0.001 meters, a length of about 0.05 meters, and a width of about 0.01 meters. The material of the rotating shaft 2 is 45 steel, the surface is chrome-plated, the diameter is 0.002 meters, and the length is 0.01 meters. The angle between every two rotating shafts 2 is 90°, and the four rotating shafts 2 are in the same plane. The material of the lower turntable 3 is carbon fiber, the thickness is about 0.001 meter, and the length is about 0.01 meter.

Base 6 is placed on the horizontal desktop, and two pillars 4 are fixed on the base 6 with four pillar fixing screws 5 through pillar screw holes 11, and the lower turntable shaft holes 10 on the two pillars 4 are coaxial. Two rotating shafts 2 can rotate in the rotating shaft hole 10 of the lower turntable. The material of the base 6 is 45 steel, the height is about 0.015 meters, and the weight is about 200 grams. The pillar 4 has a thickness of about 0.008 meters and a height of about 0.04 meters.

The invention has simple operation and small size. It can be used for static flight simulation of miniature quadcopter and for flight attitude control research.

Claims (3)

1. two-freedom minute vehicle test platform is characterized in that:

It includes two upper turntable location jackscrews (1), four rotating shafts (2), lower turntable (3), upper turntable (7), two lower turntable location jackscrews (8), four adjustment copper sheet (9), pillar (4) and bases (6); Four rotating shafts (2) are fixed on the lower turntable (3), and described rotating shaft (2) is in line in twos, and wherein the straight line that is linked to be of the straight line that is linked to be of two rotating shafts (2) and two other rotating shaft (2) intersects vertically; Upper turntable (7) and lower turntable (3) by described wherein two be connected straight rotating shaft (2) and connect, and can rotate with two rotating shafts (2) of lower turntable (3) around connecting upper turntable (7); Also there are respectively two to be used for adjusting the upward adjustment copper sheet (9) of the center of turntable (7) in the rotating shaft (2) between turntable in the connection (7) and the lower turntable (3); Also be connected with in the rotating shaft (2) between turntable in the connection (7) and the lower turntable (3) for two the upper turntable location jackscrews (1) of turntable on the fixed adjustment (7) with respect to the angle of lower turntable (3); Two rotating shafts (2) that lower turntable (3) does not connect turntable (7) are connected with two pillars (4) respectively, and lower turntable (3) can rotate around two rotating shafts (2) of connecting struts (4); Connect and also be useful on respectively the center of adjusting lower turntable (3) in two rotating shafts (2) of two pillars (4) and lower turntable (3) and adjust copper sheet (9); Connect two lower turntable location jackscrews (8) that also are connected with in the rotating shaft (2) between lower turntable (3) and the pillar (4) for turntable under the fixed adjustment (3) angle;

Base (6) is placed on the horizontal table top, and two pillars (4) are fixed on the base (6), and two lower turntable shaft holes (10) of the upper rotating shaft (2) of turntable (3) were coaxial under being used on two pillars (4) connected; Rotating shaft (2) can be rotated in lower turntable shaft hole (10).

2. two-freedom minute vehicle test platform according to claim 1, its

Be characterised in that: rotating shaft (2) is vertically fixed on lower turntable (3) by welding

On.

3. two-freedom minute vehicle test platform according to claim 1, its

Be characterised in that: two pillars (4) are fixed on by pillar fix screw (5)

On the base (6).

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