CN103175679A - Comprehensive test system for characteristics of rotors of four-rotor aircrafts - Google Patents

Comprehensive test system for characteristics of rotors of four-rotor aircrafts Download PDF

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Publication number
CN103175679A
CN103175679A CN2013100660810A CN201310066081A CN103175679A CN 103175679 A CN103175679 A CN 103175679A CN 2013100660810 A CN2013100660810 A CN 2013100660810A CN 201310066081 A CN201310066081 A CN 201310066081A CN 103175679 A CN103175679 A CN 103175679A
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CN
China
Prior art keywords
rotor
test
torque axis
pressure
fixing seat
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CN2013100660810A
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Chinese (zh)
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CN103175679B (en
Inventor
张东升
陈航科
梅雪松
盛晓超
陈国良
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西安交通大学
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Publication of CN103175679A publication Critical patent/CN103175679A/en
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Publication of CN103175679B publication Critical patent/CN103175679B/en

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Abstract

The invention discloses a comprehensive test system for characteristics of rotors of four-rotor aircrafts. The comprehensive test system comprises a test device and an electric control device; the test device comprises an overall machine base, a press machine seat is placed in the overall machine base, a torque shaft is mounted at the upper end of the press machine seat, resistance strain gauges are adhered on the outer wall of the torque shaft, the top of the torque shaft is connected with a direct-current motor by a motor fixing seat base plate, the direct-current motor is provided with a rotor to be tested, a hall sensor is mounted on the motor fixing seat base plate, and magnetic bodies matched with the hall sensor are arranged below blades of the rotor to be tested; and the electric control device comprises a computer and data acquiring and counting cards, and the data acquiring and counting cards are respectively connected with the computer. Both the rotor to be tested and the direct-current motor can be replaced, so that the purpose of testing reactive torque and rotational speed parameters of the rotors of various four-rotor aircrafts can be achieved. The comprehensive test system has the advantages of simple and feasible structure, high test precision, low test cost and high running automation degree.

Description

Quadrotor rotor characteristic integrated test system

Technical field

The present invention relates to space travel power machine field, relate in particular to a kind of quadrotor rotor characteristic integrated test system.

Background technology

Along with the continuous expansion of quadrotor application, also more and more higher to the requirement of quadrotor rotor characterisitic parameter test, the acquisition of traditional quadrotor rotor characterisitic parameter relies on empirical estimating or wind tunnel test mostly.

The aircraft rotor characterisitic parameter that empirical estimating obtains is with a low credibility, and estimation result and estimator's experience are closely related, therefore in the parameter use procedure that estimation obtains, various problems very easily appears, just because of above-mentioned shortcoming, the use of empirical estimation method in quadrotor rotor characterisitic parameter acquisition process is very limited; Wind tunnel test can obtain comparatively accurate believable rotor characterisitic parameter in theory, but its high cost, for quadrotor is also inapplicable cheaply, simultaneously, the wind tunnel test complicated operation, have relatively high expectations to operating personnel are professional, so its use in the test of quadrotor rotor characterisitic parameter is extremely restricted equally.

Summary of the invention

For defects or deficiency, the invention provides a kind of simple in structure, easy to operate, quadrotor rotor characteristic integrated test system that measuring accuracy is higher.

This present invention is achieved through the following technical solutions:

Comprise proving installation, and electrical control gear, wherein,

Described proving installation comprises the inner complete machine base of cavity structure that is, be placed with the pressure support in the cavity of complete machine base, the upper end of pressure support is equipped with torque axis, post some resistance strain gages on the outer wall of torque axis, the top of torque axis is connected with direct current generator by the motor fixing seat chassis, rotor to be measured is installed in the rotating shaft of direct current generator, wherein, described motor fixing seat is equipped with Hall element on the chassis, and is provided with the magnetic that matches with Hall element below the blade of rotor to be measured;

Described electrical control gear comprises: computing machine, and respectively with the data acquisition that is connected in computing machine and numbered card, wherein, data collecting card is connected with the output signal of resistance strain gage, numbered card is connected with the pulse signal of Hall element.

The lower end of described pressure support is equipped with pressure transducer, and data collecting card is connected with the output signal of pressure transducer.

Post four resistance strain gages on the outer wall of described torque axis, described four resistance strain gages form the bridge-type metering circuit.

Described complete machine base is the concave station structure, and pressure base is boss structure, and the boss of pressure base matches with the concave station of complete machine base.

Described motor fixing seat chassis and direct current generator are connected with torque axis by second group of trip bolt by first group of trip bolt be connected motor fixing seat chassis, and torque axis passes through the 3rd group of trip bolt and is connected with pressure base.

The invention provides a kind of quadrotor rotor characteristic integrated test system, be installed on the torque axis that is pasted with resistance strain gage by the direct current generator that will carry rotor to be measured, due to rotor to be measured when being rotated, torque axis will produce torsional deflection under the antitorque of rotor effect, this torsional deflection causes sticking on the resistance strain gage output skew signal on torque axis, this deformation signal is by the data collecting card collection and return to computing machine and carry out corresponding calculating, therefore, reach the purpose of accurate test antitorque of rotor; On the other hand, due on the motor fixing seat chassis, Hall element is installed, and be provided with the magnetic that matches with Hall element below the blade of rotor to be measured, therefore, when rotor to be measured rotates through Hall element, can export set of pulses signal, this group pulse signal returns to computing machine by numbered card, reaches the purpose of accurate test gyroplane rotate speed.Compared with prior art, rotor to be measured of the present invention and direct current generator are all replaceable, therefore, can reach the purpose of the multiple quadrotor antitorque of rotor of test and gyroplane rotate speed parameter, and the present invention has simple for structure, measuring accuracy is high, and testing cost is cheap, has the high characteristics of system's operation automaticity.

Further, because the lower end at the pressure support is equipped with pressure transducer, therefore, when rotor to be measured when being rotated, torque axis produces acting force upwards to pressure base, the pressure signal that is arranged in the pressure transducer output below pressure base this moment changes, and this pressure signal is by the data collecting card collection and return to computing machine, reaches the purpose of test rotor lift.

Description of drawings

Fig. 1 is proving installation structural representation of the present invention;

Fig. 2 is the structural representation of torque axis part in proving installation of the present invention;

Fig. 3 is the structural representation of pressure base part in proving installation of the present invention;

Fig. 4 is the structural representation of complete machine base portion in proving installation of the present invention;

Fig. 5 is the structured flowchart of electric control system of the present invention.

In figure, 1-rotor to be measured; The 2-direct current generator; First group of trip bolt group of 3-; 4-motor fixed underpan; Second group of trip bolt group of 5-; The 6-resistance strain gage; The 7-torque axis; The 8-pressure transducer; 9-complete machine base; The 10-pressure base; The 3rd group of trip bolt group of 11-; The 12-Hall element; The 13-magnetic; The 14-computing machine; The 15-data collecting card; The 16-numbered card.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in detail.

shown in Figure 1, the invention provides a kind of quadrotor rotor characteristic integrated test system, comprise proving installation, and electrical control gear, wherein, described proving installation comprises the inner complete machine base 9 of cavity structure that is, be placed with pressure support 10 in the cavity of complete machine base 9, the lower end of pressure support 10 is equipped with pressure transducer 8, the upper end of pressure support 10 is connected with torque axis 7 by the 3rd group of trip bolt 11, shown in Figure 2, post some resistance strain gages 6 on the outer wall of torque axis 7, the top of torque axis 7 is connected with direct current generator 2 by motor fixing seat chassis 4, wherein, torque axis 7 is connected with motor fixing seat chassis 4 by second group of trip bolt 5, motor fixing seat chassis 4 is connected with direct current generator 2 by first group of trip bolt 3, therefore, rotor 1 to be measured is all replaceable with direct current generator 2, and then reach the test multiple quadrotor rotor characterisitic parameter purpose, need to prove, in the present invention, direct current generator used is brshless DC motor.In addition, rotor 1 to be measured is installed in the rotating shaft of direct current generator 2, wherein, on described motor fixing seat chassis 4, Hall element 12 is installed, and is provided with the magnetic 13 that matches with Hall element 12 below the blade of rotor to be measured 1;

Described electrical control gear comprises: computing machine 14, and respectively with the data acquisition 15 that is connected in computing machine 14 and numbered card 16, wherein, data collecting card 15 is connected with the output signal of resistance strain gage 6 and pressure transducer 8, and numbered card 16 is connected with the pulse signal of Hall element.

The precision of measuring in order to increase reactive torque by paste four resistance strain gages on torque axis, forms the torque measurement error that the bridge-type metering circuit causes to reduce temperature variation etc., improves measuring accuracy.

Shown in Fig. 3,4, described complete machine base 9 is the concave station structure, and pressure base 10 is boss structure, and the boss of pressure base 10 matches with the concave station of complete machine base 9, twists under the rotor torsional interaction to prevent pressure base 10.

The course of work of the present invention is:

shown in Figure 5, when brshless DC motor 2 energising running, can drive tested rotor 1 rotates, tested rotor 1 will produce lift, thereby produce acting force upwards by motor fixed underpan 4,7 pairs of pressure base of torque axis 10, the pressure signal that is arranged in pressure transducer 8 outputs of pressure base 10 belows this moment changes, and this pressure signal returns to computing machine by the data collecting card collection through pci bus by terminal board, reaches the purpose of test rotor lift, simultaneously, rotor 1 to be measured can produce reactive torque in rotation process, this reactive torque acts on torque axis 7 by motor fixed underpan 4, because torque axis 7 lower ends are fixedly connected with pressure base 10, pressure base 10 coordinates and can not rotate with the complete machine base by square opening, therefore, torque axis can produce torsional deflection under antitorque of rotor effect to be measured, resistance strain gage 6 output signals that this torsional deflection causes sticking on torque axis 7 change, this deformation signal returns to computing machine by the data collecting card collection through pci bus by terminal board, and carry out corresponding calculating by computing machine, reach the purpose of test antitorque of rotor, in addition, when rotor 1 to be measured rotates, stick on magnetic 13 on torque axis 7 periodically through Hall element 12 tops, whenever rotor 1 to be measured through Hall element 12 tops, Hall element 12 will be exported set of pulses signal, this group pulse signal returns to computing machine by numbered card through pci bus by terminal board, reaches the purpose of test gyroplane rotate speed.After in the calculation machine, corresponding software being installed, data collecting card and numbered card are carried out the data acquisition command of corresponding software, the detecting information of sensor in the collection machinery part, and this detecting information is calculated, thereby obtain pulling force, reactive torque and the rotating speed that under current rotating speed, tested rotor is corresponding.

Claims (5)

1. quadrotor rotor characteristic integrated test system is characterized in that: comprise proving installation and electrical control gear, wherein,
described proving installation comprises the inner complete machine base (9) of cavity structure that is, be placed with pressure support (10) in the cavity of complete machine base (9), the upper end of pressure support (10) is equipped with torque axis (7), post some resistance strain gages (6) on the outer wall of torque axis (7), the top of torque axis (7) is connected with direct current generator (2) by motor fixing seat chassis (4), rotor to be measured (1) is installed in the rotating shaft of direct current generator (2), wherein, Hall element (12) is installed on described motor fixing seat chassis (4), and be provided with the magnetic (13) that matches with Hall element (12) below the blade of rotor to be measured (1),
Described electrical control gear comprises: computing machine (14), and respectively with the data collecting card (15) that is connected in computing machine (14) and numbered card (16), wherein, data collecting card (15) is connected with the output signal of resistance strain gage (6), and numbered card (16) is connected with the pulse signal of Hall element.
2. quadrotor rotor characteristic integrated test system according to claim 1, it is characterized in that: the lower end of described pressure support (10) is equipped with pressure transducer (8), and data collecting card (15) is connected with the output signal of pressure transducer (8).
3. quadrotor rotor characteristic integrated test system according to claim 1, is characterized in that: post four resistance strain gages (6) on the outer wall of described torque axis (7), described four resistance strain gages (6) composition bridge-type metering circuit.
4. quadrotor rotor characteristic integrated test system according to claim 1, it is characterized in that: described complete machine base (9) is the concave station structure, pressure base (10) is boss structure, and the boss of pressure base (10) matches with the concave station of complete machine base (9).
5. quadrotor rotor characteristic integrated test system according to claim 1, it is characterized in that: described motor fixing seat chassis (4) and direct current generator (2) are connected with torque axis (7) by second group of trip bolt (5) by first group of trip bolt (3) motor fixing seat chassis (4) that is connected, and torque axis (7) passes through the 3rd group of trip bolt (11) and is connected with pressure base (10).
CN201310066081.0A 2013-03-01 2013-03-01 Quadrotor rotor characteristic integrated test system CN103175679B (en)

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CN103471805A (en) * 2013-07-05 2013-12-25 西北工业大学 Three-freedom-degree minisize flapping-test measurement and control system
CN103983403A (en) * 2014-01-21 2014-08-13 浙江大学 Apparatus and method for measuring operating performance and parameters of motor propeller system
CN103984339A (en) * 2014-05-20 2014-08-13 西南交通大学 Mechanical failure debugging device for rotor craft
CN104176269A (en) * 2014-08-13 2014-12-03 北京航空航天大学 Rotor wing system fixing device for improving safety of ground test for engine of unmanned helicopter
CN104908941A (en) * 2015-05-19 2015-09-16 北京航空航天大学 Rotor wing distance adjusting structure of helicopter test bed and upper rotor wing assembly
CN105044599A (en) * 2015-07-24 2015-11-11 华南农业大学 Unmanned aerial vehicle motor-propeller efficiency test device and method
CN106092441A (en) * 2016-08-30 2016-11-09 北京安达维尔测控技术有限公司 A kind of simulator stand measuring dynamic balancing data
CN107117331A (en) * 2017-05-11 2017-09-01 广东华南农业航空工程研究院有限公司 A kind of device and detection method for detecting rotor wing unmanned aerial vehicle aerodynamic characteristic
CN107585327A (en) * 2017-09-04 2018-01-16 西北工业大学 A kind of multi-rotor unmanned aerial vehicle dynamic experiment device and experimental method
CN108438261A (en) * 2018-03-20 2018-08-24 哈尔滨工业大学 A kind of rotary wind type Mars unmanned plane single rotor system gas dynamic characteristic test device and its test method
CN108955972A (en) * 2018-04-20 2018-12-07 天津大学 A kind of shaft dynamic torque test method

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CN106143949B (en) * 2016-07-06 2018-03-30 西安交通大学 A kind of unmanned vehicle testboard and its method of testing
CN108593169A (en) * 2018-04-19 2018-09-28 哈尔滨工业大学 Rotary wind type Mars unmanned plane single rotor system gas dynamic characteristic test device and torsion-testing method and lift test method

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Cited By (17)

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Publication number Priority date Publication date Assignee Title
CN103471805A (en) * 2013-07-05 2013-12-25 西北工业大学 Three-freedom-degree minisize flapping-test measurement and control system
CN103983403B (en) * 2014-01-21 2016-05-11 浙江大学 Measure the apparatus and method of motor propeller system service behaviour and parameter
CN103983403A (en) * 2014-01-21 2014-08-13 浙江大学 Apparatus and method for measuring operating performance and parameters of motor propeller system
CN103984339A (en) * 2014-05-20 2014-08-13 西南交通大学 Mechanical failure debugging device for rotor craft
CN103984339B (en) * 2014-05-20 2016-08-24 西南交通大学 Mechanical breakdown debugging apparatus for rotor craft
CN104176269B (en) * 2014-08-13 2016-03-30 北京航空航天大学 A kind of rotor system anchor fitting improving depopulated helicopter engines ground experiment safety
CN104176269A (en) * 2014-08-13 2014-12-03 北京航空航天大学 Rotor wing system fixing device for improving safety of ground test for engine of unmanned helicopter
CN104908941A (en) * 2015-05-19 2015-09-16 北京航空航天大学 Rotor wing distance adjusting structure of helicopter test bed and upper rotor wing assembly
CN105044599A (en) * 2015-07-24 2015-11-11 华南农业大学 Unmanned aerial vehicle motor-propeller efficiency test device and method
CN105044599B (en) * 2015-07-24 2018-03-20 华南农业大学 A kind of efficiency test device and method suitable for unmanned plane motor oar
CN106092441A (en) * 2016-08-30 2016-11-09 北京安达维尔测控技术有限公司 A kind of simulator stand measuring dynamic balancing data
CN106092441B (en) * 2016-08-30 2019-05-21 北京安达维尔测控技术有限公司 A kind of simulator stand measuring dynamic balancing data
CN107117331A (en) * 2017-05-11 2017-09-01 广东华南农业航空工程研究院有限公司 A kind of device and detection method for detecting rotor wing unmanned aerial vehicle aerodynamic characteristic
CN107117331B (en) * 2017-05-11 2019-06-07 安阳全丰航空植保科技股份有限公司 A kind of device and detection method detecting rotor wing unmanned aerial vehicle aerodynamic characteristic
CN107585327A (en) * 2017-09-04 2018-01-16 西北工业大学 A kind of multi-rotor unmanned aerial vehicle dynamic experiment device and experimental method
CN108438261A (en) * 2018-03-20 2018-08-24 哈尔滨工业大学 A kind of rotary wind type Mars unmanned plane single rotor system gas dynamic characteristic test device and its test method
CN108955972A (en) * 2018-04-20 2018-12-07 天津大学 A kind of shaft dynamic torque test method

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