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

Two-DOF (Degrees of Freedom) test platform for micro aerial vehicle Download PDF

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CN103010483A
CN103010483A CN2012105004565A CN201210500456A CN103010483A CN 103010483 A CN103010483 A CN 103010483A CN 2012105004565 A CN2012105004565 A CN 2012105004565A CN 201210500456 A CN201210500456 A CN 201210500456A CN 103010483 A CN103010483 A CN 103010483A
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turntable
lower turntable
rotating shafts
rotating shaft
pillars
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王静
陈洪芳
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Beijing University of Technology
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Beijing University of Technology
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Abstract

一种两自由度微型飞行器测试平台,应用于微型四轴飞行器的飞行静态调试和姿态模拟,属于机电领域。转轴(2)固定在下转台(3)上,上转台(7)与下转台(3)通过所述的其中两个连接成直线的转轴(2)连接,并可绕连接上转台(7)与下转台(3)的两个转轴(2)转动;下转台(3)未连接上转台(7)的两个转轴(2)分别与两个支柱(4)连接,下转台(3)可以绕连接支柱(4)的两个转轴(2)转动;两个支柱(4)固定在底座(6)。本发明重量轻,体积小,转动轻便,对微型四轴飞行器的干扰小,飞行器测试时在该装置上克服转动摩擦和转动惯量所消耗的能量小。飞行器测试结果真实,模拟效果较好。

Figure 201210500456

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.

Figure 201210500456

Description

两自由度微型飞行器测试平台Two-degree-of-freedom MAV test platform

技术领域technical field

本发明涉及一种两自由度微型飞行器测试平台,应用于微型四轴飞行器的飞行静态调试和姿态模拟,属于机电领域。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.

背景技术Background technique

目前,国内外对四轴飞行器的研究越来越多,越来越深入。其中,微型四轴飞行器算是其中的一个分支。在研究微型四轴飞行器的姿态和对其进行控制设计时,研究人员常常苦恼于无法对飞行器进行静态飞行模拟。由于经常性地实况飞行充满了坠机的危险,微型四轴飞行器制作复杂,成本不低。因此设计出一套微型四轴飞行器静态飞行模拟和用于飞行姿态控制研究的机械装置变得十分必要。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.

发明内容Contents of the invention

本发明的目的在于提供一种用于微型四轴飞行器飞行静态调试和姿态模拟测试的机械平台。The purpose of the present invention is to provide a mechanical platform for static debugging and attitude simulation test of miniature four-axis aircraft.

为了实现上述目的,本发明采取了如下技术方案:In order to achieve the above object, the present invention has taken the following technical solutions:

两自由度微型飞行器测试平台,其包括有两个上转台定位顶丝1、四个转轴2、下转台3、上转台7、两个下转台定位顶丝8、四个调整铜片9、支柱4和底座6;四个转轴2固定在下转台3上,所述的转轴2两两成直线,且其中两个转轴2连成的直线与另外两个转轴2连成的直线垂直相交;上转台7与下转台3通过所述的其中两个连接成直线的转轴2连接,并可绕连接上转台7与下转台3的两个转轴2转动;连接上转台7和下转台3之间的转轴2上还分别有两个用于调整上转台7的中心位置的调整铜片9;连接上转台7和下转台3之间的转轴2上还连接有用于固定调整上转台7相对于下转台3的角度的两个上转台定位顶丝1;下转台3未连接上转台7的两个转轴2分别与两个支柱4连接,下转台3可以绕连接支柱4的两个转轴2转动。连接两个支柱4和下转台3的两个转轴2上还分别有用于调整下转台3的中心位置调整铜片9;连接下转台3和支柱4之间的转轴2上还连接有用于固定调整下转台3角度的两个下转台定位顶丝8。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.

底座6放置在水平桌面上,两个支柱4固定在底座6上,两个支柱4上的用于连接下转台3上转轴2的两个下转台转轴孔10同轴;转轴2可在下转台转轴孔10内转动。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.

转轴2通过焊接垂直地固定在下转台3上。The rotating shaft 2 is vertically fixed on the lower turntable 3 by welding.

两个支柱4通过支柱固定螺钉5固定在底座6上。Two pillars 4 are fixed on the base 6 by pillar fixing screws 5 .

本发明采用纯机械结构,巧妙地解决了微型四轴飞行器静态测试的难题。本发明的重量轻,体积小,转动轻便,对微型四轴飞行器的干扰小,飞行器测试时在该装置上克服转动摩擦和转动惯量所消耗的能量小。飞行器测试结果真实,模拟效果较好。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.

附图说明Description of drawings

图1本发明系统示意图Fig. 1 system schematic diagram of the present invention

图2本发明支柱的结构图The structural diagram of Fig. 2 pillar of the present invention

图3本发明上转台的结构图Fig. 3 is the structural diagram of the upper turntable of the present invention

图4本发明下转台的结构图The structural diagram of the lower turntable of the present invention in Fig. 4

图中:1、上转台定位顶丝;2、转轴;3、下转台;4、支柱;5、支柱固定螺钉;6、底座;7、上转台;8、下转台定位顶丝;9、调整铜片;10、下转台转轴孔;11、支柱固定螺钉孔;12、下转台定位顶丝孔;13、上转台定位顶丝孔;14、上转台转轴孔;15、下转台大平面;16、下转台垂直面。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.

具体实施方式Detailed ways

结合图1-图4对本发明做进一步说明:The present invention is further described in conjunction with Fig. 1-Fig. 4:

两自由度微型飞行器测试平台,其包括有两个上转台定位顶丝1、四个转轴2、下转台3、上转台7、两个下转台定位顶丝8、四个调整铜片9、支柱4和底座6。上转台7上固定飞行器,并可以绕着下转台3与上转台7之间的两个转轴2转动,从而实现飞行器一个自由度的转动。下转台3上与支柱连接的两个转轴2与上转台7上的两个转轴2垂直,并可以绕支柱4上的下转台转轴孔10转动,从而实现飞行器的另一个自由度的转动。支柱4固定在底座6上,底座6安置在水平桌面上,用于支撑整个装置。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.

四个转轴2通过焊接,两两垂直地固定在下转台3上的下转台大平面15上。上转台7上的上转台转轴孔14与下转台3上的两个转轴2配合,并可绕转轴2转动。两个上转台定位顶丝1安装在上转台定位顶丝孔13内,用于固定上转台7和下转台3之间的夹角。松开上转台定位顶丝1,飞行器便可以在该自由度内自由转动。连接上转台7和下转台3的转轴2上还分别有两个调整铜片9,用于调整上转台7和下转台3上的下转台垂直面16之间的距离,从而使上转台7位于下转台3的中心位置。下转台3上的另两个转轴2分别与两个支柱4上的下转台转轴孔10配合,下转台3可以绕支柱4上的下转台转轴孔10转动。两个下转台定位顶丝8安装在下转台定位顶丝孔12内,用于固定下转台3和底座6之间的夹角。松开下转台定位顶丝8,飞行器便可以在该自由度内自由转动。连接支柱4和下转台3的转轴2上还分别有两个调整铜片9,用于调整支柱4和下转台3上的下转台垂直面16之间的距离,从而使下转台3位于底座6的中心位置。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.

上述的上转台7材料为碳纤维,厚度约为0.001米,长度约为0.05米,宽度约为0.01米。转轴2的材料为45钢,表面镀铬,直径为0.002米,长度为0.01米。每两个转轴2之间的角度均为90°,且四个转轴2在同一平面内。下转台3材料为碳纤维,厚度约为0.001米,长度约为0.01米。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.

底座6放置在水平桌面上,两个支柱4通过支柱螺钉孔11用四个支柱固定螺钉5固定在底座6上,并使两个支柱4上的下转台转轴孔10同轴心。两个转轴2可在下转台转轴孔10内转动。底座6材料为45钢,高度约为0.015米,重量约为200克。支柱4厚度约为0.008米,高度约为0.04米。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.

本发明操作简单,体积小巧。可用于微型四轴飞行器静态飞行模拟和用于飞行姿态控制研究。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).
CN2012105004565A 2012-11-29 2012-11-29 Two-DOF (Degrees of Freedom) test platform for micro aerial vehicle Pending CN103010483A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105620787A (en) * 2015-12-23 2016-06-01 浙江大学 Full-freedom testing platform for micro air vehicle
CN106785328A (en) * 2017-02-08 2017-05-31 西安天圆光电科技有限公司 A kind of carbon fibre composite three-axle table
CN110641732A (en) * 2019-09-29 2020-01-03 蚌埠和能信息科技有限公司 Two-degree-of-freedom miniature aircraft test platform

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2413266Y (en) * 2000-02-17 2001-01-03 大连方舟科贸有限公司 Multi-purpose horizontal stable platform
CN102230801A (en) * 2011-03-30 2011-11-02 北京航空航天大学 Light-type triaxial ISP (inertially stabilized platform) system using aerial remote sensing technology
CN202229764U (en) * 2011-08-02 2012-05-23 王靖微 Triaxial rotary table with dynamic stabilizing function

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2413266Y (en) * 2000-02-17 2001-01-03 大连方舟科贸有限公司 Multi-purpose horizontal stable platform
CN102230801A (en) * 2011-03-30 2011-11-02 北京航空航天大学 Light-type triaxial ISP (inertially stabilized platform) system using aerial remote sensing technology
CN202229764U (en) * 2011-08-02 2012-05-23 王靖微 Triaxial rotary table with dynamic stabilizing function

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105620787A (en) * 2015-12-23 2016-06-01 浙江大学 Full-freedom testing platform for micro air vehicle
CN106785328A (en) * 2017-02-08 2017-05-31 西安天圆光电科技有限公司 A kind of carbon fibre composite three-axle table
CN106785328B (en) * 2017-02-08 2023-09-05 西安天圆光电科技有限公司 Carbon fiber composite material triaxial revolving stage
CN110641732A (en) * 2019-09-29 2020-01-03 蚌埠和能信息科技有限公司 Two-degree-of-freedom miniature aircraft test platform

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Application publication date: 20130403