CN104494840A - Unmanned helicopter ground testing console and application method thereof - Google Patents
Unmanned helicopter ground testing console and application method thereof Download PDFInfo
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- CN104494840A CN104494840A CN201410725202.2A CN201410725202A CN104494840A CN 104494840 A CN104494840 A CN 104494840A CN 201410725202 A CN201410725202 A CN 201410725202A CN 104494840 A CN104494840 A CN 104494840A
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- 238000005096 rolling process Methods 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
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Abstract
The invention relates to an unmanned helicopter ground testing console and an application method thereof. The testing console comprises an unmanned helicopter mounting disc, a data acquiring module, a support rod and a base; if an undercarriage is relatively short, an independent data acquiring module mounting disc is arranged between the unmanned helicopter mounting disc and the support rod. The support rod and the unmanned helicopter mounting disc/the data acquiring module mounting disc are connected by an universal rotating mechanism; and a removable hoop is arranged for keeping the mounting disc horizontal in the detaching of an unmanned helicopter. The testing console and the application method thereof are used for solving the problems of higher requirement of a PID parameter testing mode of traditional unmanned helicopter autostability equipment for the control skill of control staff, lower safety in the testing process and difficult guarantee of the precision degree of testing results. The testing console has such advantages as simple structure and convenience for use, disassembly, storage and carrying; and correspondingly, the application method is clear in process, is convenient for operation, and can largely shorten the PID parameter adjusting time.
Description
Technical field
The invention belongs to the ground debugging acid of depopulated helicopter, specifically relate to a kind of ground tune-up tester of depopulated helicopter, and the method step using this tune-up tester to debug unmanned plane helicopter, this tune-up tester and adjustment method are particularly useful for the ground debugging of depopulated helicopter, specifically refer to that the depopulated helicopter to being loaded with the stability augmentation equipment such as autopilot or gyroscope carries out pid parameter debugging.
Background technology
No matter be civil area or military domain, the application of depopulated helicopter is increasingly extensive.For ensureing safety and stability during flight, most depopulated helicopter is loaded with the stability augmentation equipment such as autopilot or gyroscope.When depopulated helicopter new clothes or replacing stability augmentation equipment, need the pid parameter adjusting each passage of depopulated helicopter, because most stability augmentation equipment does not still possess automatic regulating function, at least two manipulation personnel with knack are therefore usually needed to adjust manually.In general during pid parameter adjustment, first place control staff manipulates depopulated helicopter, observes the skyborne attitude of depopulated helicopter, and corresponding information is fed back to second place control staff; Second place control staff, according to feedack, revises pid parameter, and by software, new pid parameter is sent to stability augmentation equipment; So repeatedly repeatedly, until pid parameter adjustment is met the demands.
Special ground commissioning device is not had in existing debugging, the main problem existed in three in debugging: one is higher to the manipulation technical requirements of control staff, manual adjustment pid parameter is a process repeatedly, after stability augmentation equipment receives new pid parameter, its stability not necessarily gets a promotion at once, likely decline to some extent on the contrary, this brings challenges to the manipulation technology of control staff, it needs control staff to have superb manipulation technology, various emergency case can be tackled, ensure that depopulated helicopter does not crash; Two is that debug process danger is larger, and the depopulated helicopter without debugging can produce vibration usually, and when extent of vibration is excessive, depopulated helicopter meeting " is gone hither and thither ", rotor also cannot be allowed to stop operating at once even if manipulate the control staff be skilled in technique.The rotor of High Rotation Speed has the object or person person of surrounding stronger destroys ability; Three is in helicopter debug process, and the whether stable main naked-eye observation relying on control staff of airworthiness, the collimation error is comparatively large, and some small vibrations are difficult to find, is therefore difficult to the levels of precision ensureing debug results.
Therefore, need the ground tune-up tester inventing a kind of depopulated helicopter, the motion of depopulated helicopter is limited within certain area, debug process manipulates technology degree of dependence to control staff can be reduced, improve the safety of debug process; In addition, installation data acquisition module on tune-up tester, can improve the levels of precision of debug results.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of depopulated helicopter ground tune-up tester, solving existing depopulated helicopter stability augmentation equipment pid parameter debud mode and method, to manipulate technical requirements to manipulation personnel higher, debug process safety is lower, and the levels of precision of debug results is difficult to the problem of guarantee.
The depopulated helicopter ground tune-up tester that the present invention proposes comprises: depopulated helicopter subpanel, data acquisition module, strut bar and base.Depopulated helicopter subpanel, for installing and fixing depopulated helicopter to be debugged; Data acquisition module, for gathering the attitude information of depopulated helicopter, and is real-time transmitted to ground controlling personnel, judges the state of flight of depopulated helicopter for its Accurate Analysis.
Data acquisition module is arranged on the upper surface of depopulated helicopter subpanel; Between post upper and depopulated helicopter subpanel, connected by universal rotation mechanism; Between strut bar lower end and base, employing removably connects, and when depopulated helicopter ground tune-up tester does not use, strut bar and base can be taken apart, is convenient to store and transport; In order to avoid the quality of data acquisition module and installation site produce considerable influence to debug results, the mounting center of data acquisition module and the center superposition of depopulated helicopter subpanel.
Because data acquisition module has certain volume, when the alighting gear of depopulated helicopter is shorter, data acquisition module cannot be arranged on the center of the depopulated helicopter subpanel below alighting gear, in order to ensure the result of debugging, in the structure of aforementioned depopulated helicopter ground tune-up tester, increase data acquisition module subpanel, it is arranged between depopulated helicopter subpanel and strut bar; In order to ensure the precision of data acquisition, data acquisition module subpanel and depopulated helicopter subpanel concentric parallel are installed, between adopt the detouchable such as bolt, double end stud connection mode; Data acquisition module is arranged on the upper surface of data acquisition module subpanel; Between post upper and data acquisition module subpanel, be connected with bearing seat by universal rotation mechanism bulb bearing; The mounting center of data acquisition module and the center superposition of data acquisition module subpanel.
Data acquisition module passes dual-mode antenna by autopilot and number and forms.
The size of depopulated helicopter subpanel is greater than the length of depopulated helicopter alighting gear sled, its objective is to make depopulated helicopter can reliably be fixed in depopulated helicopter subpanel.
The length of strut bar is greater than the blade length of depopulated helicopter, its objective is to prevent in depopulated helicopter stability augmentation equipment pid parameter debug process, because depopulated helicopter attitude is unstable, the phenomenon that depopulated helicopter blade contacts to earth occurs.
The weight of base is greater than the payload capacity of depopulated helicopter, its objective is to prevent in depopulated helicopter stability augmentation equipment pid parameter debug process, there is the phenomenon of " going hither and thither " in depopulated helicopter, the danger of people and thing so that generation depopulated helicopter is injured.
For the ease of dismantling from depopulated helicopter subpanel and installing depopulated helicopter to be debugged, when the dismounting of depopulated helicopter, depopulated helicopter subpanel maintenance level should be made.By arranging removable clip at universal rotation mechanism place, this purpose can be realized.Before installation, first clip is placed on the position of universal rotation mechanism, makes depopulated helicopter subpanel maintenance level; In debugging, need the position of clip from universal rotation mechanism to remove, make depopulated helicopter that depopulated helicopter subpanel can be driven to rotate freely around universal rotation mechanism; After debugging, before dismounting depopulated helicopter, clip is placed on again the position of universal rotation mechanism, makes depopulated helicopter subpanel maintenance level.
What the present invention proposed utilizes aforementioned depopulated helicopter ground tune-up tester, and the method for debugging depopulated helicopter, specifically comprises the following steps:
S1. clip is placed on the position of universal rotation mechanism, makes depopulated helicopter subpanel maintenance level;
S2. depopulated helicopter to be debugged is mounted and fixed in depopulated helicopter subpanel;
S3. turn-on data acquisition module source switch, makes itself and surface control station carry out communication; Data acquisition module and surface control station can be wireless or wired mode carry out communication;
S4. by depopulated helicopter remote controller, the stability augmentation equipment of depopulated helicopter to be debugged is adjusted to the pattern of " increase and surely open ";
S5. the pitching of depopulated helicopter remote controller, driftage and roll channel are set to " neutrality " position, control throttle channel, make depopulated helicopter to be debugged produce lift, and just clip removes from the position of universal rotation mechanism;
S6. after waiting for certain hour, check depopulated helicopter attitude to be debugged by the flight attitude software of surface control station, if keep stabilized conditions, then enter step S8; If can not keep stable, then enter step S7; The stabilized conditions of indication herein, refers to that depopulated helicopter is without pitching, without driftage and without rolling movement;
S7. checked the unstable degree of pitching, driftage and rolling by flight attitude software, determine the adjustment amount of each channel PID parameter, and by pid parameter adjustment software, on-line tuning is carried out to the pid parameter of each passage, after adjustment, again enter step S6; By the accurate instruction of flight attitude software, the adjustment amount of each channel PID parameter can be determined more accurately, thus reduce the number of times of debugging, shorten burn in period, improve debugging efforts efficiency;
S8. control throttle channel zero, close data acquisition module source switch;
S9. clip is placed on again the position of universal rotation mechanism, makes depopulated helicopter subpanel maintenance level;
S10. by the depopulated helicopter after debugging, pull down from depopulated helicopter subpanel, complete debugging.
Adopt the technical scheme that the present invention proposes, following beneficial effect can be reached: when the depopulated helicopter ground tune-up tester using the present invention to propose carries out pid parameter debugging to depopulated helicopter stability augmentation equipment, can significantly reduce requirement manipulation personnel being manipulated to technology, ensure the safety of people and thing in debug process, the debugging number of times minimizing of pid parameter, burn in period shortening, debugging efforts efficiency increase substantially; In addition, in the tune-up tester of depopulated helicopter ground, many places adopt detouchable connection mode, are convenient to be dismantled by tune-up tester when not using, and reduce storage space, convenient transport.
Accompanying drawing explanation
Fig. 1 is depopulated helicopter ground tune-up tester structural representation;
Fig. 2 is that depopulated helicopter subpanel rotates schematic diagram around universal rotation mechanism;
Fig. 3 is C type yoke configurations schematic diagram;
Fig. 4 installs clip schematic diagram at universal rotation mechanism place;
Fig. 5 is the depopulated helicopter ground tune-up tester structural representation of band data acquisition module subpanel;
Fig. 6 is the diagram of circuit utilizing depopulated helicopter ground tune-up tester debugging depopulated helicopter stability augmentation equipment pid parameter.
Detailed description of the invention
Below in conjunction with accompanying drawing 1 to accompanying drawing 6, specifically introduce the specific embodiment of the present invention.
Embodiment 1:
For general depopulated helicopter (unless the alighting gear of depopulated helicopter is shorter, under alighting gear cannot installation data acquisition module), depopulated helicopter ground tune-up tester structure as shown in Figure 1 can be adopted.
This depopulated helicopter ground tune-up tester, comprising: depopulated helicopter subpanel 1, data acquisition module 2, strut bar 4 and base 5.
Data acquisition module 2 is arranged on the upper surface of depopulated helicopter subpanel 1 by bolt, between data acquisition module 2 and depopulated helicopter subpanel 1, shock pad is installed, and the center superposition of the mounting center of data acquisition module 2 and depopulated helicopter subpanel 1; Between strut bar 4 upper end and depopulated helicopter subpanel 1, be connected with bearing seat by bulb bearing, depopulated helicopter subpanel 1 can be rotated freely around bulb bearing and bearing seat, comprises pitching, driftage and rolling, and its coupled motions, as shown in Figure 2; Between strut bar 4 lower end and base 5, employing is threaded, and connection herein also can adopt other the mode that removably connects.
Data acquisition module 2 passes dual-mode antenna by the autopilot of commercialization with number and forms, concrete employing APM 2.5 autopilot and 3DR Radio number biography dual-mode antenna in the present embodiment.
In the present embodiment, the shape of depopulated helicopter subpanel 1 is circular, and its diameter is greater than the length of depopulated helicopter alighting gear sled; The length of strut bar 4 is greater than the blade length of depopulated helicopter; The weight of base 5 is greater than the payload capacity of depopulated helicopter.
The position of bulb bearing and bearing seat arranges removable clip, and the shape of clip is C type, for the ease of picking and placeing from the position of bulb bearing and bearing seat, at the arranged outside handle part of clip opening part relative position, as shown in Figure 3.After clip is installed, bulb bearing can not rotate around bearing seat, and now depopulated helicopter subpanel 1 keeps horizontality, as shown in Figure 4; After clip removes, bulb bearing freely can rotate around bearing seat.
Embodiment 2:
The structure of the present embodiment is that the bulb bearing in the tune-up tester structure of the depopulated helicopter mentioned in embodiment 1 ground and bearing seat are being replaced by universal-joint.In addition, connection between post upper and depopulated helicopter subpanel, can also be connected by the universal rotation mechanism of other form, as long as this universal rotation mechanism can make depopulated helicopter subpanel 1 rotate freely around universal rotation mechanism, comprise pitching, driftage and rolling, and its coupled motions.
Embodiment 3:
The depopulated helicopter ground tune-up tester structure that the present embodiment is mentioned, be mainly used in the debugging of the depopulated helicopter of alighting gear shorter (cannot at installation data acquisition module under alighting gear), its structure as shown in Figure 5.
The structure of the present embodiment is on the basis of the depopulated helicopter ground tune-up tester structure mentioned in embodiment 1, increase data acquisition module subpanel 3, data acquisition module subpanel 3 and depopulated helicopter subpanel 1 concentric parallel are installed, between adopt double end stud to install, also can adopt other the detouchable connection mode such as such as bolt; Data acquisition module 2 is no longer arranged on the upper surface of depopulated helicopter subpanel 1, and is mounted in the upper surface of data acquisition module subpanel 3, and the center superposition of the mounting center of data acquisition module 2 and data acquisition module subpanel 3; Between strut bar 4 upper end and data acquisition module subpanel 3, be connected with bearing seat by bulb bearing, the universal rotation mechanism also by other forms such as universal-joints connects.
In order to more clearly introduce the composition of depopulated helicopter ground tune-up tester, the annexation of each parts and use thereof, introduce the method using this tune-up tester depopulated helicopter stability augmentation equipment to be carried out to pid parameter debugging below.
The method of debugging as shown in Figure 6, comprises the following steps:
S1. clip is placed on the position of universal rotation mechanism, makes depopulated helicopter subpanel 1 maintenance level;
S2. depopulated helicopter to be debugged is mounted and fixed in depopulated helicopter subpanel 1, depopulated helicopter to be debugged is installed fixing by bandage and the mounting hole be arranged in depopulated helicopter subpanel 1;
S3. turn-on data acquisition module 2 source switch, makes itself and surface control station carry out communication; Data acquisition module and surface control station can be wireless or wired mode carry out communication, usually use wireless communication mode;
S4. by depopulated helicopter remote controller, the stability augmentation equipment of depopulated helicopter to be debugged is adjusted to the pattern of " increase and surely open ";
S5. the pitching of depopulated helicopter remote controller, driftage and roll channel are set to " neutrality " position, control throttle channel and be fixed on a certain position, make depopulated helicopter to be debugged produce lift, and the position of clip from universal rotation mechanism is removed;
S6. after waiting for certain hour, after 30 seconds, now check depopulated helicopter attitude to be debugged by the flight attitude software (using the flight attitude module in MissionPlanner software in the present embodiment) of surface control station, if keep stabilized conditions (pitch angle in software interface, yaw angle and roll angle be designated as 0, and shake not obvious), then enter step S8; If can not keep stable, then enter step S7;
S7. the unstable degree of pitching, driftage and rolling is checked by flight attitude software (using the flight attitude module in MissionPlanner software in the present embodiment), determine the adjustment amount of each channel PID parameter, and by pid parameter adjustment software, on-line tuning is carried out to the pid parameter of each passage, again enter step S6 after adjustment;
S8. control throttle channel zero, close data acquisition module source switch;
S9. clip is placed on again the position of universal rotation mechanism, makes depopulated helicopter subpanel maintenance level;
S10. by the depopulated helicopter after debugging, pull down from depopulated helicopter subpanel, complete debugging.
Claims (10)
1. a depopulated helicopter ground tune-up tester, is characterized in that, comprising:
Depopulated helicopter subpanel (1);
Data acquisition module (2), for gathering the attitude information of depopulated helicopter, and is real-time transmitted to ground controlling personnel, analyzes the state of flight judging depopulated helicopter;
Strut bar (4);
Base (5);
Data acquisition module (2) is arranged on the upper surface of depopulated helicopter subpanel (1); Between strut bar (4) upper end and depopulated helicopter subpanel (1), connected by universal rotation mechanism; Between strut bar (4) lower end and base (5), employing removably connects.
2. depopulated helicopter ground as claimed in claim 1 tune-up tester, is characterized in that, the mounting center of data acquisition module (2) and the center superposition of depopulated helicopter subpanel (1).
3. depopulated helicopter ground as claimed in claim 1 tune-up tester, it is characterized in that, installation data acquisition module subpanel (3) between depopulated helicopter subpanel (1) and strut bar (4), data acquisition module subpanel (3) and depopulated helicopter subpanel (1) concentric parallel are installed, between adopt and removably connect; Data acquisition module (2) is arranged on the upper surface of data acquisition module subpanel (3); Between strut bar (4) upper end and data acquisition module subpanel (3), connected by universal rotation mechanism.
4. depopulated helicopter ground as claimed in claim 3 tune-up tester, is characterized in that, the mounting center of data acquisition module (2) and the center superposition of data acquisition module subpanel (3).
5. the depopulated helicopter ground tune-up tester as described in claim as arbitrary in Claims 1-4, is characterized in that, data acquisition module (2) passes dual-mode antenna by autopilot and number and forms.
6. the depopulated helicopter ground tune-up tester as described in claim as arbitrary in Claims 1-4, is characterized in that, the size of depopulated helicopter subpanel (1) is greater than the length of depopulated helicopter alighting gear sled.
7. the depopulated helicopter ground tune-up tester as described in claim as arbitrary in Claims 1-4, is characterized in that, the length of strut bar (4) is greater than the blade length of depopulated helicopter.
8. the depopulated helicopter ground tune-up tester as described in claim as arbitrary in Claims 1-4, is characterized in that, the weight of base (5) is greater than the payload capacity of depopulated helicopter.
9. the depopulated helicopter ground tune-up tester as described in claim as arbitrary in Claims 1-4, it is characterized in that, universal rotation mechanism place arranges removable clip.
10. the method using depopulated helicopter ground as claimed in claim 9 tune-up tester to debug depopulated helicopter, is characterized in that, comprise the following steps:
S1. clip is placed on the position of universal rotation mechanism, makes depopulated helicopter subpanel (1) keep level;
S2. depopulated helicopter to be debugged is mounted and fixed in depopulated helicopter subpanel (1);
S3. turn-on data acquisition module (2) source switch, makes itself and surface control station carry out communication;
S4. by depopulated helicopter remote controller, the stability augmentation equipment of depopulated helicopter to be debugged is adjusted to the pattern of " increase and surely open ";
S5. the pitching of depopulated helicopter remote controller, driftage and roll channel are set to " neutrality " position, control throttle channel, make depopulated helicopter to be debugged produce lift, and just clip removes from the position of universal rotation mechanism;
S6. after waiting for certain hour, check depopulated helicopter attitude to be debugged by the flight attitude software of surface control station, if keep stabilized conditions, then enter step S8; If can not keep stable, then enter step S7;
S7. checked the unstable degree of pitching, driftage and rolling by flight attitude software, determine the adjustment amount of each channel PID parameter, and by pid parameter adjustment software, on-line tuning is carried out to the pid parameter of each passage, after adjustment, enter step S6;
S8. control throttle channel zero, close data acquisition module (2) source switch;
S9. clip is placed on again the position of universal rotation mechanism, makes depopulated helicopter subpanel (1) keep level;
S10. by the depopulated helicopter after debugging, pull down from depopulated helicopter subpanel (1), complete debugging.
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| CN201410725202.2A CN104494840B (en) | 2014-12-03 | 2014-12-03 | A kind of depopulated helicopter ground debugger and using method |
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| CN201410725202.2A CN104494840B (en) | 2014-12-03 | 2014-12-03 | A kind of depopulated helicopter ground debugger and using method |
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| CN104965521A (en) * | 2015-06-18 | 2015-10-07 | 浙江大学 | Agricultural aircraft simulator with swinging-type carrier |
| CN105093961A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Agricultural aircraft simulation device with rotary type objective table |
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| CN105270650A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device for six-degree-of-freedom unmanned aerial vehicle |
| CN105270640A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device with external frame, for unmanned aerial vehicle |
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| CN104793628A (en) * | 2015-04-24 | 2015-07-22 | 西北农林科技大学 | Flight control debugging protecting device of multi-rotor-wing unmanned plane |
| CN104965521B (en) * | 2015-06-18 | 2017-08-22 | 浙江大学 | A kind of agricultural aircraft simulation device with swing type objective table |
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| CN105093960A (en) * | 2015-06-18 | 2015-11-25 | 浙江大学 | Device for simulating aircraft to collect crop information |
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| CN109466795A (en) * | 2018-12-04 | 2019-03-15 | 湖南山河科技股份有限公司 | A kind of unmanned helicopter automatically testing platform |
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| CN113212797A (en) * | 2021-06-23 | 2021-08-06 | 天津斑斓航空科技有限公司 | Unmanned aerial vehicle debugging device and method |
| CN113212797B (en) * | 2021-06-23 | 2023-02-07 | 天津斑斓航空科技有限公司 | Unmanned aerial vehicle debugging device and method |
| CN113602517A (en) * | 2021-08-24 | 2021-11-05 | 广东工业大学 | Unmanned aerial vehicle sea surface recycling and charging platform and control method |
| CN113602517B (en) * | 2021-08-24 | 2022-02-15 | 广东工业大学 | Control method for sea surface recovery and charging platform of unmanned aerial vehicle |
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| CN104494840B (en) | 2017-03-15 |
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