CN103234500A - Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof - Google Patents
Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof Download PDFInfo
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- CN103234500A CN103234500A CN2013101087489A CN201310108748A CN103234500A CN 103234500 A CN103234500 A CN 103234500A CN 2013101087489 A CN2013101087489 A CN 2013101087489A CN 201310108748 A CN201310108748 A CN 201310108748A CN 103234500 A CN103234500 A CN 103234500A
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Abstract
The invention discloses a brake displacement measuring device for an unmanned dynamic delta wing and a calibration method thereof. The brake displacement measuring device comprises a pull-wire seat, a brake wire, a pull-wire encoder, a pull-wire-encoder pull wire, a signal wire and a DSP (digital signal processor) plate. The pull-wire seat is fixed on a brake pedal, one end of the brake wire is connected on the pull-wire seat, and the other end of the brake wire is connected on a brake disc. The pull-wire encoder is fixedly connected with a wheel fork. One end of the pull-wire-encoder pull wire extends from the pull-wire encoder to be fixed on the brake wire. The pull-wire encoder is connected with the DSP plate through the signal wire, and transmits pull-wire displacement signals to the DSP plate. The DSP plate calculates the displacement of the brake wire according to the pull-wire displacement signals. On the basis that original front-wheel manipulated torque and braking force mechanical structure are not changed, a new measuring device is added, and manipulating safety of airplane ground running is not affected; and the brake displacement of the unmanned dynamic delta wing during automatic take-off and landing running can be measured in real time, and high-speed collection of real-time data is completed.
Description
Technical field
The invention belongs to the detection technique field, relate to measurement mechanism and the scaling method thereof of the brake displacement of unmanned power dalta wing.
Background technology
The power dalta wing is a kind of lightweight aircraft with good gliding ability that has power, its principal feature: cheap, simple in structure, fast demountable is folding to carry out vehicle-mounted, boat-carrying and air transportation; Near-the-ground performance is good; Landing is apart from weak point, and is safe and reliable, easy simple to operate.Can be on the meadow, airstrip, highway landing.Be widely used in tourism, transportation, the prospecting of petrochemistry pipeline, agricultural deinsectization, forest fire protection early warning, aviation shooting, flight training, rescue and relief work, police patrol, taboo and cut down tasks such as forbidden zone inspection, airborne control operation, environmental monitoring, special operations, backwoodsman anti-terrorism, drug law enforcement such as (fishing, hunt) are searched for smugglers and smuggling goods and communication repeating is promptly required assistance.Also can satisfy the demand of industries such as fishery, farm industry, apiculture, geological mapping industry, scientific investigation industry and sports.
Power dalta wing load is big, generally can reach 250 kilograms.Therefore the power dalta wing is adapted as unmanned plane, will possess has remarkable advantages, and therefore unmanned power dalta wing will have remarkable economic efficiency and practical value.But unmanned power dalta wing at round-the-clock reliably working down, is necessary to realize wheeled autonomous landing owing to carry a large amount of load, to free handling the dependence of hand, is convenient to practical application and the product promotion of unmanned power dalta wing more.Autonomous landing function becomes the most important flight performance of unmanned power dalta wing.
But the prerequisite in unmanned power dalta wing design is will the operating control of people's power dalta wing be arranged now, changes unmanned electric device into.In order to realize autonomous landing function, need carry out electronic repacking to skidding and front-wheel steer; For the power output to electric device is carried out type selecting, need brake displacement, front-wheel operating torque/damping force when having people's power dalta wing to handle measure, to calculate maximum demand steering force in the whole autonomous landing ground roll-out process.
Summary of the invention
(1) technical matters that will solve
Technical matters to be solved by this invention provides a kind of unmanned power dalta wing brake displacement measuring device, to satisfy in the measurement demand of autonomous landing ground roll-out process to unmanned power dalta wing brake displacement.
(2) technical scheme
For solving the problems of the technologies described above, the present invention proposes a kind of unmanned power dalta wing brake displacement measuring device, be used for measuring the brake displacement of unmanned power dalta wing, described unmanned power dalta wing comprises girder, wheel fork, tire, brake flange and brake pedal, described girder is fixedlyed connected with wheel fork, described tire is installed in described the wheel and sticks, and the wheel hub side of described tire is installed described brake flange; Described brake flange is blocked described tire by the control of brake pedal to stop, and described brake pedal can automatically move, and described brake displacement measuring device comprises backguy seat, brake cable, backguy scrambler, the backguy of backguy scrambler, signal wire and dsp board; Described backguy seat is fixed on the described brake pedal; Described brake cable one end is connected on the backguy seat, and an end is connected on the described brake flange; Described backguy scrambler is fixedlyed connected with described wheel fork; One end of described backguy scrambler backguy is fixed on the brake cable after stretching out from the backguy scrambler; Described backguy scrambler is connected with described dsp board by described signal wire, and transmits the backguy displacement signal to this dsp board; The displacement that described dsp board calculates described brake cable according to this bit line displacement signal.
The invention also proposes a kind of scaling method of unmanned power dalta wing brake displacement measuring device, be used for the demarcation of above-mentioned unmanned power dalta wing brake displacement measuring device, this method comprises the steps: step S1, the data pulse of described backguy scrambler measurement is converted to the displacement of described backguy scrambler backguy; Step S2, the displacement of calculating described brake cable according to the displacement of described backguy scrambler backguy.
(3) beneficial effect
(1) the present invention increases new measurement mechanism on the basis that does not influence original front-wheel operating torque and damping force mechanical structure, can not influence the sliding handling safety of running of aircraft floor.
(2) the present invention can measure in real time to the unmanned power dalta wing brake displacement of the sliding race process of autonomous landing, finishes the two-forty collection of real time data.
Description of drawings
Figure 1A and Figure 1B are the structural representations of wheel apparatus before the unmanned power dalta wing, and wherein Figure 1A is side view, and Figure 1B is front view.
Fig. 2 is structure and the installation site synoptic diagram of an embodiment of unmanned power dalta wing brake displacement measuring device of the present invention;
Fig. 3 is the structural representation of the dsp board of unmanned power dalta wing brake displacement measuring device of the present invention;
Fig. 4 is brake non-linear displacement correction principle schematic of the present invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
Figure 1A and Figure 1B are the structural representations of wheel apparatus before the power dalta wing, and wherein Figure 1A is side view, and Figure 1B is front view.Shown in Figure 1A and Figure 1B, preceding wheel apparatus comprises girder 101, rocking arm 102, wheel shaft 103, brake flange 104, tire 105, wheel fork 106, brake pedal 107, left vibroshock 108, gas pedal 109, right vibration damper 110, wheel cover 111.Girder 101 is fixedlyed connected with wheel fork 106, and tire 105 is installed on the wheel fork 106, and the wheel hub side of tire 105 is installed brake flange 104, and brake flange 104 is blocked tire by the control of brake pedal 107 to stop.For wheel apparatus before the unmanned power dalta wing, brake pedal 107 can automatically move.
Fig. 2 is structure and the installation site synoptic diagram of unmanned power dalta wing brake displacement measuring device of the present invention.As shown in Figure 2, the brake displacement measuring device comprises: backguy seat 121, brake cable 122, support 123, right nylon pulley 124, left nylon pulley 125, backguy scrambler 126, deck 127, backguy scrambler backguy 128, snap ring 129, signal wire 130, dsp board 131.
The course of work of unmanned power dalta wing brake displacement measuring device 1 is as follows:
From control brake pedal 107103, towing brake line 122 moves.Under the effect of snap ring 129, backguy scrambler backguy 128 is followed brake cable 122 and is moved, and drives backguy scrambler 126 output backguy displacement signals, by signal wire 130 the backguy displacement signal is delivered to dsp board 131, carries out high speed acquisition and record.
Fig. 3 is the structural representation of the dsp board of unmanned power dalta wing brake displacement measuring device of the present invention.As shown in Figure 3, it comprises: DSP master chip 1311, SD card 1312, RAM1313, RS232 interface 1314, power supply 1315, orthogonal encoder QEP interface 1316, AD interface 1317, spi bus 1318, SCI bus 1319.
DSP master chip 1311 for example can adopt the dsp chip TMS320F28335 (dominant frequency 150Mhz) of TI company, be connected with SD card 1312 by spi bus 1318, the external RAM interface that logical outer chip carries is connected with RAM1313, be connected with RS232 interface 1314 by SCI bus 1319, be connected with signal wire 130 by orthogonal encoder QEP interface 1316.
DSP master chip 1311 is mainly used in data acquisition, system management, communication and data recording; SD card 1312 is mainly used in the data permanent recording; RAM1313 is mainly used in image data and deposits temporarily; RS232 interface 1314 is used for and the PC communication, carries out the parameter setting; Power supply 1315 provides the power supply of DSP and various peripheral hardwares, output 5V, 3.3V and 1.8V.Orthogonal encoder QEP interface 1316 is used for gathering the orthogonal intersection code signal of backguy scrambler 126.
The present invention comprises for the demarcating steps for brake displacement (mm):
Step S1, the data pulse that backguy scrambler 126 is measured are converted to the displacement of backguy 128;
Step S2, the displacement of calculating brake cable 122 according to the displacement of backguy 128.
At first, in step S1, that backguy scrambler 126 is measured is pulsed quantity P, if the taps in a week of backguy scrambler 126 is counted T and is adopted orthogonal coding AB phase, one all pulses are 4T), backguy scrambler 126 inner hub radiuses are R mm, then the transforming relationship of pulse P and backguy displacement S is:
Then, come description of step S2 with reference to Fig. 4.Fig. 4 is brake non-linear displacement correction principle schematic of the present invention.As shown in Figure 4, because the backguy scrambler backguy 128 and brake cable 122 non-parallel installations of backguy scrambler 126 can form the brake displacement so backguy scrambler 126 readings need be revised.The minimum stroke S of backguy scrambler 126 in brake process
Min(B point), range S
Max(A point), the current point of brake displacement is the N point.Wherein lateral deviation distance B, range S
MaxCan come out by ruler measurement, when brake is carried out, backguy scrambler reading changes delta P, then the stroke Δ S of Shi Ji brake cable 122
eBe (non-linear correction formula):
Wherein: T is for adopting a contour number of backguy scrambler 126, and R is the radius of backguy scrambler 126 inner hub, and Δ P is backguy scrambler 126 umber of pulse variable quantities in the brake process.
Unmanned power dalta wing brake displacement measuring device of the present invention can be measured in real time to the power dalta wing brake displacement in autonomous landing ground roll-out stage, finishes the two-forty collection of real time data, sampling rate 10Khz.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; be understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. unmanned power dalta wing brake displacement measuring device, be used for measuring the brake displacement of unmanned power dalta wing, described unmanned power dalta wing comprises girder (101), wheel fork (106), tire (105), brake flange (104) and brake pedal (107), described girder (101) is fixedlyed connected with wheel fork (106), described tire (105) is installed on the described wheel fork (106), and the wheel hub side of described tire (105) is installed described brake flange (104); Described brake flange (104) is blocked described tire (105) by the control of brake pedal (107) to stop, and described brake pedal (107) can automatically move, it is characterized in that,
Described brake displacement measuring device comprises backguy seat (121), brake cable (122), backguy scrambler (126), backguy scrambler backguy (128), signal wire (130) and dsp board (131);
Described backguy seat (121) is fixed on the described brake pedal (107);
Described brake cable (122) one ends are connected on the backguy seat (121), and an end is connected on the described brake flange (104);
Described backguy scrambler (126) is fixedlyed connected with described wheel fork (106);
After stretching out from backguy scrambler (126), one end of described backguy scrambler backguy (128) is fixed on the brake cable (122);
Described backguy scrambler (126) is connected with described dsp board (131) by described signal wire (130), and transmits the backguy displacement signal to this dsp board (131);
The displacement that described dsp board (131) calculates described brake cable according to this bit line displacement signal.
2. unmanned power dalta wing brake displacement measuring device as claimed in claim 1 is characterized in that also comprise support (123), described support (123) one ends are fixed on the wheel fork 106, and an end is unsettled; Be separately installed with left chain wheel (125) and right pulley (124) at the two ends, the left and right sides of described support (123); Described brake cable (122) is passed through described right pulley (124) and left chain wheel (125) successively between described backguy seat (121) and brake flange (104).
3. unmanned power dalta wing brake displacement measuring device as claimed in claim 1 is characterized in that also wrap hand deck (127), described deck (127) is fixedlyed connected with described wheel fork (106), and described backguy scrambler (126) is fixed on this deck (127).
4. unmanned power dalta wing brake displacement measuring device as claimed in claim 1 is characterized in that described backguy scrambler backguy (128) is fixed on the described brake cable (122) by snap ring (129).
5. unmanned power dalta wing brake displacement measuring device as claimed in claim 1 is characterized in that described dsp board (131) is High-Speed DSP Board.
6. unmanned power dalta wing brake displacement measuring device as claimed in claim 5 is characterized in that described dsp board (131) comprises orthogonal encoder QEP interface (1316), and it is used for gathering the orthogonal intersection code signal of described backguy scrambler (126).
7. the scaling method of a unmanned power dalta wing brake displacement measuring device, described unmanned power dalta wing brake displacement measuring device is each described unmanned power dalta wing brake displacement measuring device in the claim 1 to 6, it is characterized in that, comprise the steps:
Step S1, the data pulse that described backguy scrambler (126) is measured are converted to the displacement of described backguy scrambler backguy (128);
Step S2, calculate the displacement of described brake cable (122) according to the displacement of described backguy scrambler backguy (128).
8. the scaling method of unmanned power dalta wing brake displacement measuring device as claimed in claim 7 is characterized in that, in step S2, calculates the displacement of brake cable according to following formula:
D is the lateral deviation distance, S
MaxBe the range of backguy scrambler (126), Δ P is that backguy scrambler reading changes, and T is all taps numbers of backguy scrambler (126).
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| CN201310108748.9A CN103234500B (en) | 2013-03-29 | 2013-03-29 | Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof |
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| CN201310108748.9A CN103234500B (en) | 2013-03-29 | 2013-03-29 | Brake displacement measuring device for unmanned dynamic delta wing and calibration method thereof |
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| CN103234500B CN103234500B (en) | 2015-05-06 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105973152A (en) * | 2016-05-12 | 2016-09-28 | 中国航空工业集团公司西安飞机设计研究所 | Take-off and landing sliding distance measurement device for unmanned plane, and unmanned plane therewith |
| CN108663151A (en) * | 2017-04-01 | 2018-10-16 | 中国商用飞机有限责任公司 | The test device and method of airplane tread |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105973152A (en) * | 2016-05-12 | 2016-09-28 | 中国航空工业集团公司西安飞机设计研究所 | Take-off and landing sliding distance measurement device for unmanned plane, and unmanned plane therewith |
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| CN108663151A (en) * | 2017-04-01 | 2018-10-16 | 中国商用飞机有限责任公司 | The test device and method of airplane tread |
| CN108663151B (en) * | 2017-04-01 | 2021-05-07 | 中国商用飞机有限责任公司 | Device and method for testing airplane pedal |
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