CN105620787A - Full-freedom testing platform for micro air vehicle - Google Patents
Full-freedom testing platform for micro air vehicle Download PDFInfo
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- CN105620787A CN105620787A CN201510981251.7A CN201510981251A CN105620787A CN 105620787 A CN105620787 A CN 105620787A CN 201510981251 A CN201510981251 A CN 201510981251A CN 105620787 A CN105620787 A CN 105620787A
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- movable disc
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- air vehicle
- central shaft
- micro air
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Abstract
The invention discloses a full-freedom testing platform for a micro air vehicle; the full-freedom testing platform for the micro air vehicle is applied to debugging a control algorithm and a flight attitude of a micro quadrotor, and belongs to the field of electromechanics. The full-freedom testing platform for the micro air vehicle comprises a movable disc, a center shaft and a chassis; ventilation holes are formed in and fixation hooks are arranged on the movable disc; a through hole is formed in the center shaft so as to enable the center shaft to be connected with the center shaft; the ventilation holes are used for blowing air from small-sized fans on the chassis to pass; the fixation hooks are used for fixing the micro air vehicle; the top end of the center shaft is provided with a detachable top sphere; the top sphere is used for limiting motion of the movable disc so as to prevent the movable disc from separating from a device under traction of the air vehicle; slots are formed in the chassis; each slot is used for holding the corresponding small-sized fan; and the air generated by the fans penetrates the ventilation holes of the movable disc to reach blades of the micro air vehicle to play a role of interference on the micro air vehicle. The full-freedom testing platform for the micro air vehicle is used for detecting anti-interference ability of the micro air vehicle.
Description
Technical field
The present invention relates to a kind of full degree of freedom minute vehicle test platform, be applied to control algolithm debugging and the flight attitude debugging of miniature four-axle aircraft.
Background technology
At present, in the world the research of four-axle aircraft more and more extensively and is goed deep into. Wherein, miniature four-axle aircraft has the advantages such as less costly, flexible operation, and portion is bigger. When studying four-axle aircraft control algolithm, research worker is usually suffered from does not have suitable test environment. In outdoor test, there is higher air crash dangerous, and once air crash, it is easy to aircraft is caused damage. And current existing easily-testing platform only has two-freedom, it is impossible to for more advanced control algolithm debugging. Therefore, the minute vehicle test platform designing a set of full degree of freedom has great importance.
Summary of the invention
It is an object of the invention to, it is provided that a kind of full degree of freedom, the minute vehicle mechanical test platform of capacity of resisting disturbance can be tested.
For achieving the above object, this invention takes following technical scheme:
A kind of full degree of freedom minute vehicle test platform includes central shaft, central shaft top ball, movable disc, chassis; Movable disc is used for fixing minute vehicle, and movable disc can carry out the inclination of any direction with aircraft; Central shaft is fixed on chassis, and chassis is placed in horizontal table top; Four movable disc fixation hooks symmetrical are fixed in movable disc by welding; Four movable disc air vents are symmetrically distributed in outside movable disc fixation hook; Movable disc is installed on center shaft by central shaft top ball (1), and central shaft top ball threadedly connects on center shaft, the angle that restraint disk tilts; Central shaft is coaxially connected with chassis; Four chassis fan grooves are symmetrically distributed on chassis.
The described air vent wind for being blown by small-sized fans on base plate, described fixation hook is used for fixing minute vehicle; There is dismountable top ball on described central shaft top, and described top ball, for the activity of restraint disk, stops its release unit under the traction of aircraft; Having groove, described groove to be used for placing small-sized fans on described chassis, the wind that described fan produces arrives minute vehicle flabellum through the air vent of movable disc, and it is played interference effect, for detecting the capacity of resisting disturbance of minute vehicle.
In the present invention, the groove on described chassis is symmetrical, and number is 4.
In the present invention, the air vent in described movable disc is symmetrical, and number is 4.
In the present invention, described top ball is installed on center shaft in double thread line mode.
Compared with existing apparatus, there is advantages that
1) full degree of freedom is had, it is possible to meet the minute vehicle debugging demand of four axles and the above number of axle of four axles.
2) groove placing fan and air vent are left, it is possible to meet the demand of test minute vehicle capacity of resisting disturbance.
Accompanying drawing explanation
Fig. 1 present system schematic diagram;
Fig. 2 movable disc of the present invention;
The structure chart of Fig. 3 central shaft of the present invention;
In figure: 1, central shaft top ball; 2, movable disc; 3, movable disc air vent; 4, movable disc fixation hook; 5, central shaft; 6, chassis; 7, chassis fan groove.
Detailed description of the invention
In conjunction with Fig. 1-Fig. 2, the present invention will be further described:
Full degree of freedom minute vehicle test platform, it includes central shaft 5, central shaft top ball 1, movable disc 2, chassis 6. Fixing minute vehicle in movable disc 2, movable disc 2 can carry out the inclination of any direction with aircraft. Central shaft 5 is fixed on chassis 6, and chassis 6 is placed in horizontal table top.
Four movable disc fixation hooks 4 are by welding symmetrical being fixed in movable disc. Four movable disc air vents 3 are symmetrically distributed in outside movable disc fixation hook 4, for by the air-flow from fan. Central shaft top ball 1 is threadedly connected on central shaft 5, thus restraint disk 2 tilt angle and prevent movable disc 2 with minute vehicle release unit. Central shaft 5 is coaxially connected with chassis 6. Four chassis fan grooves 7 are symmetrically distributed on chassis 6, are used for placing small-sized fan, and the air-flow that blower fan blows out is for testing the capacity of resisting disturbance of minute vehicle. During use, minute vehicle is lain in a horizontal plane in movable disc 2, the four of minute vehicle legs are fixed on movable disc fixation hook 4, blower fan is positioned in chassis fan groove 7, tests.
According to one embodiment of present invention, above-mentioned movable disc 2 material is carbon fiber, and thickness is about 0.001 meter, and diameter is about 0.35 meter. Movable disc air vent 3 diameter is about 0.1 meter. Central shaft 5 diameter is about 0.05 meter.
Chassis 6 is placed in horizontal table top, is coaxially connected with central shaft 5. Chassis 6 material is 45 steel, and thickness is about 0.01 meter, and diameter is about 0.4 meter.
The present invention is simple to operate, and degree of freedom is high. Can be used for the debugging of minute vehicle control algolithm and flight attitude debugging.
Claims (4)
1. a full degree of freedom minute vehicle test platform, it is characterised in that:
Including central shaft (5), central shaft top ball (1), movable disc (2), chassis (6); Movable disc (2) is used for fixing minute vehicle, and movable disc (2) can carry out the inclination of any direction with aircraft; Central shaft (5) is fixed on chassis (6), and chassis (6) are placed in horizontal table top; Four movable disc fixation hooks (4) symmetrical are fixed in movable disc (2) by welding; Four movable disc air vents (3) are symmetrically distributed in movable disc fixation hook (4) outside; Movable disc (2) is arranged on central shaft (5) by central shaft top ball (1), central shaft top ball (1) is threadedly connected on central shaft (5), the angle that restraint disk (2) tilts; Central shaft (5) is coaxially connected with chassis (6); Four chassis fan groove (7) are symmetrically distributed on chassis (6).
2. full degree of freedom minute vehicle test platform according to claim 1, it is characterised in that: described chassis fan groove (7), each 4 of movable disc air vent (3), and each symmetrical.
3. full degree of freedom minute vehicle test platform according to claim 1, it is characterised in that: described central shaft (5) top is equipped with central shaft top ball (1).
4. full degree of freedom minute vehicle test platform according to claim 1, it is characterised in that: described chassis fan groove (7) is provided with fan.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981251.7A CN105620787A (en) | 2015-12-23 | 2015-12-23 | Full-freedom testing platform for micro air vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981251.7A CN105620787A (en) | 2015-12-23 | 2015-12-23 | Full-freedom testing platform for micro air vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105620787A true CN105620787A (en) | 2016-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510981251.7A Pending CN105620787A (en) | 2015-12-23 | 2015-12-23 | Full-freedom testing platform for micro air vehicle |
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| Country | Link |
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| CN (1) | CN105620787A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114903A (en) * | 2016-07-23 | 2016-11-16 | 广东容祺智能科技有限公司 | A kind of VUAV flight attitude test platform |
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| CN103365214A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Single rotor wing unmanned aerial vehicle three-freedom degree semi-physical simulation platform and experimental method |
| CN103365215A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Semi-physical simulation experimental system for quad-rotor unmanned aerial vehicle and experimental method of semi-physical simulation experimental system |
| CN104724298A (en) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | Three-axle turntable capable of moving in all directions |
| CN105083588A (en) * | 2015-08-17 | 2015-11-25 | 华南农业大学 | Performance test platform and method for multi-rotor unmanned aerial vehicle |
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2015
- 2015-12-23 CN CN201510981251.7A patent/CN105620787A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620033A (en) * | 2008-07-02 | 2010-01-06 | 中国科学院自动化研究所 | Micro air vehicle experimental device |
| US8353199B1 (en) * | 2009-04-17 | 2013-01-15 | Arrowhead Center, Inc. | Multi-degree-of-freedom test stand for unmanned air vehicles |
| CN101788376A (en) * | 2010-01-18 | 2010-07-28 | 清华大学 | Wind-tunnel model supporting device |
| CN101793592A (en) * | 2010-01-18 | 2010-08-04 | 清华大学 | Wind tunnel model supporting device |
| CN103010483A (en) * | 2012-11-29 | 2013-04-03 | 北京工业大学 | Two-DOF (Degrees of Freedom) test platform for micro aerial vehicle |
| CN103278277A (en) * | 2013-05-22 | 2013-09-04 | 北京航空航天大学 | One-dimensional force sensor-based test platform for four-degree-of-freedom aircraft |
| CN103365214A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Single rotor wing unmanned aerial vehicle three-freedom degree semi-physical simulation platform and experimental method |
| CN103365215A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Semi-physical simulation experimental system for quad-rotor unmanned aerial vehicle and experimental method of semi-physical simulation experimental system |
| CN104724298A (en) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | Three-axle turntable capable of moving in all directions |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114903A (en) * | 2016-07-23 | 2016-11-16 | 广东容祺智能科技有限公司 | A kind of VUAV flight attitude test platform |
| CN106114903B (en) * | 2016-07-23 | 2018-07-17 | 广东容祺智能科技有限公司 | A kind of vertical take-off and landing drone flight attitude test platform |
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Application publication date: 20160601 |
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