CN106093806B - Helicopter AC power-supply system detection device - Google Patents
Helicopter AC power-supply system detection device Download PDFInfo
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- CN106093806B CN106093806B CN201610396641.2A CN201610396641A CN106093806B CN 106093806 B CN106093806 B CN 106093806B CN 201610396641 A CN201610396641 A CN 201610396641A CN 106093806 B CN106093806 B CN 106093806B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
- G01R31/42—AC power supplies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
Abstract
The invention discloses a kind of Helicopter AC power-supply system detection device, which includes: dragging system, for connecting with the alternating current generator of Helicopter AC power-supply system to drive alternating current generator to work；Load system, the various loads for the work carrying of helicopter simulating AC power supply system；Control and data actuation, it is communicated to connect with dragging system and load system, controls dragging system, load system and Helicopter AC power-supply system for exporting control signal respectively with the working condition of helicopter simulating AC power supply system and acquire all kinds of detection signals in real time to carry out performance detection to Helicopter AC power-supply system.The present invention can be carried out complete detection, integrated level is high, Helicopter AC power-supply system, alternating current generator, control device and current transformer can be detected through a set of detection device, and according to test request, it can be carried out open loop and closed loop detection, it manually and automatically detects, there is the Automatic analysis ability of test overall process.
Description
Technical field
The present invention relates to helicopter electronic accessories fields, particularly, are related to a kind of Helicopter AC power-supply system detection
Device.
Background technique
Helicopter AC power-supply system is made of alternating current generator, control device and current transformer, defeated to aircraft power grid
Alternating current out is used for airborne equipment.There are two major functions: first is that steady-state adjustment function, the other is failure protection function.
The AC power supply system of certain type helicopter is needed in development, test, delivery process to system, alternating current generator, control
Device and current transformer carry out Data Detection.The AC power supply system function is complicated, and the data for needing to detect are more, precision is wanted
Ask high.And existing conventional detection device has the following problems: 1), level of integrated system it is low, AC power supply system, alternative electric generation
Machine, control box and current transformer respectively need a set of detection device, and equipment is more, low efficiency, costly；2), detectable data
It is few, it is only capable of doing conventional Function detection, is unable to satisfy the demand of the AC power supply system；3), detection process is complicated, can not be direct
The failure protection function for detecting AC power supply system, can only be realized indirectly by the detection to control device defencive function；4),
Detection accuracy is low, and data only just have a higher precision in a certain specific minizone, the Data Detection precision in other sections compared with
It is low, it is unable to satisfy the demand of the AC power supply system.
Summary of the invention
The present invention provides a kind of Helicopter AC power-supply system detection devices, to solve existing Helicopter AC electricity
The technical problem that the Data Detection concentration degree of source system is low, detection process is complicated and detection accuracy is low.
The technical solution adopted by the invention is as follows:
A kind of Helicopter AC power-supply system detection device, for carrying out data inspection to Helicopter AC power-supply system
It surveys, detection device of the present invention includes:
Dragging system, for connecting with the alternating current generator of Helicopter AC power-supply system to drive alternating current generator to work；
Load system, the various loads for the work carrying of helicopter simulating AC power supply system；
Control and data actuation, communicate to connect with dragging system and load system, control respectively for exporting control signal
Dragging system, load system and Helicopter AC power-supply system processed are with the working condition of helicopter simulating AC power supply system and real
When acquire all kinds of detection signals with to Helicopter AC power-supply system carry out performance detection.
Further, it controls with data actuation and includes:
Signal sampling input unit, for acquiring all kinds of detection signals of Helicopter AC power-supply system；
Signal conditioning unit, connection signal sample input unit, all kinds of inspections for exporting signal sampling input unit
It surveys signal and passes to industrial personal computer after signal condition is converted；
Industrial personal computer, industrial personal computer is interior to be equipped with performance parameter test module, and the signal for receiving signal reason unit output is simultaneously
Corresponding data processing is carried out to detect the properties of product of Helicopter AC power-supply system；
Instruction execution unit is connect with industrial computer communication, for the control Signal Regulation Helicopter AC according to industrial personal computer
The working condition of power-supply system.
Further, instruction execution unit includes:
Communicating circuit, the port communication with industrial personal computer；
Microprocessor is connect with communicating circuit, and the control signal of industrial personal computer is received through communicating circuit；
Switching value output circuit, for the digital output signal of microprocessor to be converted to control instruction driving switching relay
Device group controls Helicopter AC power-supply system.
Further, the output end of industrial personal computer is connected with analog output card, analog output card connecting test letter
Number device, test signal device generate AC power source simulated failure signal, AC power source under the driving of analog output card
Simulated failure signal is input to Helicopter AC power-supply system through switching relay group to carry out error protection detection.
Further, it is equipped with dragging platform in industrial personal computer and operates monitoring module, for driving dragging system to work and to dragging
System is monitored online.
Further, dragging system includes sequentially connected speed regulation device, dragging motor, shaft joint and gearbox, speed regulation
Device receives the instruction works of industrial personal computer and then drives dragging motor, shaft joint and gearbox output, further includes to dragging system
Carry out the lubrication cooling system of cooling and lubricating.
Further, load dispatch monitoring module is equipped in industrial personal computer, for manually or automatically right according to test request
Load system carries out Load-unload control and load system is monitored online.
Further, load system includes connecting with alternating current generator output end and setting for various electricity consumptions on helicopter simulating
Standby the first load cabinet connect the second load cabinet for testing pilot exciter load capacity with alternating current generator pilot exciter.
Further, signal sampling input unit is based on subsection detecting technique, according to the range area locating for sampled signal
Between drive corresponding sensor sample to meet the sampling precision in each section.
Further, it is equipped with metering module in industrial personal computer, implements metering for the acquisition precision to sensor, according to metering
As a result, modifying the configuration parameter of corresponding sampling channel.
The invention has the following advantages:
Helicopter AC power-supply system detection device of the present invention, by setting dragging system to drive alternating current generator work
Make, load system passes through control and data actuation control with the various loads of helicopter simulating AC power supply system work carrying
System output control signal is controlled dragging system, load system and Helicopter AC power-supply system respectively and is exchanged with helicopter simulating
The working condition of power-supply system simultaneously acquires all kinds of detection signals in real time to carry out performance detection, energy to Helicopter AC power-supply system
Complete detection is carried out to Helicopter AC power-supply system, integrated level is high, can be through a set of detection device to Helicopter AC power supply
System, alternating current generator, control device and current transformer are detected, and according to test request, can to AC power supply system into
Row open loop and closed loop detection, manually and automatically detect alternating current generator, have and test overall process (including stable state and transient state mistake
Journey) Automatic analysis ability, level of integrated system is high, full-featured, detection parameters precision is high.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to accompanying drawings, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structure block diagram of preferred embodiment of the present invention Helicopter AC power-supply system detection device；
Fig. 2 is the structure block diagram controlled in the preferred embodiment of the present invention with data actuation；
Fig. 3 is the structure block diagram of dragging system in the preferred embodiment of the present invention；
Fig. 4 is structural schematic diagram of the preferred embodiment of the present invention detection device in conjunction with Helicopter AC power-supply system；
Fig. 5 is the structural schematic diagram of industrial personal computer built-in module in the preferred embodiment of the present invention；
Fig. 6 is the structural schematic diagram of overvoltage protection relay assembly in preferred embodiment of the present invention switching relay group；
Fig. 7 is the structural schematic diagram of open-phase protection relay combination in preferred embodiment of the present invention switching relay group.
Description of symbols:
10, dragging system；11, speed regulation device；12, dragging motor；
13, shaft joint；14, gearbox；15, cooling system is lubricated；
20, load system；
30, control and data actuation；
31, signal sampling input unit；32, signal conditioning unit；33, industrial personal computer；331, performance parameter test module；
332, dragging platform operates monitoring module；333, load dispatch monitoring module；334, metering module；
34, instruction execution unit；35, communicating circuit；36, analog output card；
37, signal device is tested；38, switch relay group.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
The preferred embodiment of the present invention provides a kind of Helicopter AC power-supply system detection device, for helicopter
AC power supply system carries out Data Detection, and to meet the performance test of Helicopter AC power-supply system, strong guarantee product is ground
System, test and delivery.Referring to Fig.1, the present embodiment detection device includes: dragging system 10, is used for and Helicopter AC power supply system
The alternating current generator of system is connected to drive alternating current generator to work；Load system 20 works for helicopter simulating AC power supply system
The various loads of carrying；Control and data actuation 30, communicate to connect with dragging system 10 and load system 20, for exporting control
Signal processed controls dragging system 10, load system 20 and Helicopter AC power-supply system respectively with helicopter simulating AC power source system
The working condition of system simultaneously acquires all kinds of detection signals in real time to carry out performance detection to Helicopter AC power-supply system.
The present embodiment is by setting dragging system to drive alternating current generator to work, and load system is with helicopter simulating alternating current
The various loads of source system work carrying, and dragging system is controlled by control and data actuation control output control signal respectively
System, load system and Helicopter AC power-supply system are acquired with the working condition of helicopter simulating AC power supply system and in real time
All kinds of detection signals can carry out Helicopter AC power-supply system comprehensive with carrying out performance detection to Helicopter AC power-supply system
Detection, integrated level is high, can be through a set of detection device to Helicopter AC power-supply system, alternating current generator, control device and electric current
Mutual inductor is detected, and according to test request, open loop can be carried out to AC power supply system and closed loop detects, to alternating current generator into
Row manually and automatically detects, and has the Automatic analysis ability of test overall process (including stable state and transient process), system collection
At spending, high, full-featured, detection parameters precision is high.
The Digital electronic control system that the present embodiment control is combined using industrial personal computer with single-chip microcontroller with data actuation 30, ginseng
According to Fig. 2 comprising:
Signal sampling input unit 31, for acquiring all kinds of detection signals of Helicopter AC power-supply system；Specifically, respectively
Class detection signal include: 1), on-off model: for example on-off models such as the starting and stopping of helicopter, protection；The present embodiment
Each on-off model is used for the control process of helicopter simulating central controller；2), analog signals: including electric current, voltage and
Temperature signal, wherein electric current, voltage are needed using mutual inductor or Hall sensor detection alternating current generator, control device and mutual inductance
The corresponding voltage of device, electric current, temperature detect the operating temperature of the present embodiment detection device using thermal resistance temperature sensor；3),
Frequency quantity signal: including revolving speed and electric voltage frequency, revolving speed of the revolving speed using magnetoelectric tachometric transducer detection alternating current generator, voltage
Frequency signal is using voltage signal or signal detection alternating current generator, control device and the corresponding voltage of mutual inductor of Hall sensor
Frequency.
Signal conditioning unit 32, connection signal samples input unit 31, for export signal sampling input unit 31
All kinds of detection signals pass to industrial personal computer 33 after signal condition is converted；In the present embodiment, signal conditioning unit 32 is by all kinds of inspections
Signal is surveyed to be converted to input card required standard signal and import industrial personal computer 33 and convert the digital signal of industrial personal computer output
The electric signal required for relay.Signal conditioning unit 32 includes analog signals conditioning module and frequency quantity signal condition mould
Block, wherein analog signals conditioning module is used to become analog input signal the standard signal of 0~5V (or -5V~5V),
Including voltage, electric current and temperature signal regulation, wherein signal condition part is physically isolated with sensing part,
Ensure that system it is reliable with it is safe；Frequency quantity signal conditioning module is used to become frequency quantity input signal the standard block of 5V
Signal, frequency quantity signal condition include the conditioning of tach signal, alternating current generator output signal and secondary excitation output signal etc..Frequency
Signal condition is measured using existing mature circuit, is mainly characterized by Zero-cross comparator and filtering processing.
Industrial personal computer 33, industrial personal computer 33 is interior to be equipped with performance parameter test module 331, exports for receiving signal reason unit 32
Signal and carry out corresponding data processing to detect the properties of product of Helicopter AC power-supply system.The present embodiment industrial personal computer 33 is logical
Cross plug-in carry out signal acquisition automatically and output order to instruction execution unit 34 carry out working condition switching and load cut
The adjustment such as change, in the present embodiment, performance parameter test module 331 is used for that (for example: control to fill to product according to related technical requirements
Set, alternating current generator, mutual inductor) it is tested.Signal sampling input unit 31 acquires the relevant parameter of subject product in real time, passes through
Network is transmitted to industrial personal computer 33, carries out data processing as required by industrial personal computer 33, and processing result is shown over the display.
Preferably, data processing includes: that switch amount signal survey, and is counted, is counted to analog signals and frequency quantity signal
It calculates (average value, extreme value, Fourier transform etc.), and compares with standard value, judge whether product is qualified.In the present embodiment, standard
Value is inputted by user, and testing result is shown with chart, the modes such as curve, and can export printing, referring to Fig. 2, by with industry control
The display or printer of machine communication connection execute corresponding display and printing.
Instruction execution unit 34, and 33 communication connection of industrial personal computer, for being gone straight up to according to the control Signal Regulation of industrial personal computer 33
The working condition of machine AC power supply system.The maximum deficiency of industrial computer system is no house dog, in electric source disturbance and external letter
Under number disturbed condition, program may fly away, and cause system disorders, cause the damage of detection device and testpieces.To improve inspection
The reliability of measurement equipment, the present embodiment instruction execution unit 34 use the SCM system with house dog.It is soft equipped with controlling
The instruction execution unit 34 of part includes: communicating circuit 35, the port communication with industrial personal computer 33；Microprocessor, with communicating circuit 35
Connection receives the control signal of industrial personal computer 33 through communicating circuit 35；Switching value output circuit, for the number of microprocessor is defeated
Signal is converted to control instruction driving switching relay group 38 and controls Helicopter AC power-supply system out.
Preferably, referring to Fig. 2, the output end of the present embodiment industrial personal computer 33 is connected with analog output card 36, analog quantity
36 connecting test signal device 37 of output board card, test signal device 37 generate exchange under the driving of analog output card 36
Power supply simulated failure signal, AC power source simulated failure signal are input to Helicopter AC power-supply system through switching relay group 38
To carry out error protection detection.The failure protection function of Helicopter AC power-supply system, i.e., when AC power supply system breaks down
Or since electrical equipment failure causes AC power supply system parameter exceeded, AC power supply system should stop powering, and simultaneously switch off
Electrical equipment.When normal work, AC power supply system output is normal signal, can not detect defencive function, while alternating current
Machine places it in malfunction when running at high speed rashly has higher risk that can damage to testpieces even testing crew.
The present embodiment uses AC power source simulated failure signal, and is switched by relay assembly by the fault-signal input AC of simulation
Power-supply system realizes the detection of AC power supply system failure protection function.What it is due to AC power supply system output is three-phase alternating current
AC power source can be used from the similitude of characteristics of signals to simulate in signal.When carrying out protection detection, instruction execution unit
34 issue signal by receiving the instruction of industrial personal computer 33, switch relay group 38 for simulated failure signal input ac power system
System, alternating current generator is still within normal operating conditions, foundation of the output signal not as protection judgement at this time.It is being protected
When Function detection, detection guard time is also needed.One group of output of all switching relays connects 5V monitoring signal, for detecting protection
Time or confirmation switching action.
Fig. 6 illustrates the structural schematic diagram of the relay assembly of overvoltage protection, uses the relay of four groups of output:
Control signal: 24V (generation of instruction execution unit 34)；
First group of output: normally closed pin connects 5V, normally opened pin ground connection；
Other three groups of outputs: normally closed pin connects normal signal, and normally opened pin connects fault-signal.
5V monitoring signal is used to measure guard time.
Fig. 7 illustrates the structural schematic diagram of the relay assembly of open-phase protection, uses the relay of two groups of output:
Control signal: 24V (generation of instruction execution unit 34)；
First group of output: normally closed pin connects 5V, normally opened pin ground connection；
Second group of output: normally closed pin connects normal signal, normally opened pin floating.
5V monitoring signal is used to measure guard time, and principle is as follows: the switching of the reception industrial personal computer 33 of instruction execution unit 34
Instruction issues switching relay control signal, and industrial personal computer records T1 at the time of first group of output 0 changes to 5V, then records alternating current
T2 at the time of source system protection signal exports, T2-T1 is guard time.
Referring to Fig. 3 and Fig. 4, the present embodiment dragging system 10 includes sequentially connected speed regulation device 11, dragging motor 12, connects
Axis device 13 and gearbox 14, speed regulation device 11 receive the instruction works of industrial personal computer 33 and then drive dragging motor 12, shaft joint 13
And gearbox 14 exports, and further includes the lubrication cooling system 15 that cooling and lubricating is carried out to dragging system 10.
Preferably, 33 in house software main program module of industrial personal computer is referring to Fig. 5, in which:
It drags platform and operates monitoring module 332, for driving dragging system 10 to work and being supervised online to dragging system 10
Control.Its management work mainly includes starting, the stopping, rotational speed setup for dragging platform, acceleration, deceleration degree setting, according to subject alternating current
Machine is cooling to require cooling system to implement control etc..Monitoring work is mainly implemented dragging platform and cooling system operating status
Line monitoring, real-time display relevant information provide warning information, and take measures automatically once breaking down automatically, isolation event
Barrier.In the present embodiment, the connection alternating current generator of dragging system 10 is to drive alternating current generator to rotate, when a failure occurs it, such as speedup
Case oil-break, exchange side phase shortage, overcurrent, Motor Over Speed, cooling fan power-off etc., can cut off rapidly major loop, while showing alarm
Region and fault point.Failure does not exclude, and motor does not allow to start.
Load dispatch monitoring module 333, for manually or automatically add to load system 20 according to test request, unload
It carries and controls and load system 20 is monitored online.When a failure occurs, software is alarmed.In the present embodiment, load system 20
The first load cabinet and alternating current generator including being connect with alternating current generator output end and for various electrical equipments on helicopter simulating
Pilot exciter connects the second load cabinet for testing pilot exciter load capacity.
Preferably, the present embodiment signal sampling input unit 31 is based on subsection detecting technique, according to locating for sampled signal
Range section drive corresponding sensor sample to meet the sampling precision in each section.The present embodiment is based on segmentation detection skill
Art will be divided into several sections by sampled signal in gamut scope, using suitable sampling sensor, signal can be made to exist
Sampling precision in each section is all satisfied technical requirements.Preferably, the also built-in metering module 334 of industrial personal computer 33, for sensing
The acquisition precision of device implements metering, according to metric results, modifies the configuration parameter of corresponding sampling channel.The present embodiment passes through program
Judge the range section locating for sampled signal, control the switching of relay, by the signal sampling in different sensors to control
With data actuation, gamut detection accuracy is improved.
Preferably, the present embodiment industrial personal computer 33 is also built-in controls monitoring module by test specimen state, exchanges for real-time display
Motor pilot exciter voltage, pilot exciter frequency, pilot exciter electric current, exciting current, excitation voltage, generator three-phase output electricity
The parameters such as pressure, electric current and frequency.Preferably, alternating current generator operating status is monitored by camera.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of Helicopter AC power-supply system detection device, for carrying out Data Detection to Helicopter AC power-supply system,
It is characterized in that, the detection device includes:
Dragging system (10), for connecting with the alternating current generator of the Helicopter AC power-supply system to drive the alternating current generator
Work；
Load system (20), for simulating the various loads of the Helicopter AC power-supply system work carrying；
Control and data actuation (30), communicate to connect with the dragging system (10) and the load system (20), for defeated
Out control signal control respectively the dragging system (10), the load system (20) and the Helicopter AC power-supply system with
It simulates the working condition of the Helicopter AC power-supply system and acquires all kinds of detection signals in real time to the Helicopter AC
Power-supply system carries out performance detection；
The control with data actuation (30) includes:
Signal sampling input unit (31), for acquiring all kinds of detection signals of the Helicopter AC power-supply system；
Signal conditioning unit (32) connects the signal sampling input unit (31), is used for the signal sampling input unit
(31) all kinds of detection signals exported pass to industrial personal computer (33) after signal condition is converted；
Industrial personal computer (33), the industrial personal computer (33) is interior to be equipped with performance parameter test module (331), for receiving the signal condition
The signal of unit (32) output simultaneously carries out corresponding data processing to detect the properties of product of the Helicopter AC power-supply system；
Instruction execution unit (34) is used to be believed according to the control of the industrial personal computer (33) with the industrial personal computer (33) communication connection
Number adjust the working condition of the Helicopter AC power-supply system；
Described instruction execution unit (34) includes:
Communicating circuit (35), the port communication with the industrial personal computer (33)；
Microprocessor is connect with the communicating circuit (35), and the control of the industrial personal computer (33) is received through the communicating circuit (35)
Signal processed；
Switching value output circuit, for the digital output signal of the microprocessor to be converted to control instruction driving switching relay
Device group (38) controls the Helicopter AC power-supply system.
2. Helicopter AC power-supply system detection device according to claim 1, which is characterized in that
The output end of the industrial personal computer (33) is connected with analog output card (36), analog output card (36) connection
It tests signal device (37), the test signal device (37) generates exchange under the driving of the analog output card (36)
Power supply simulated failure signal, the AC power source simulated failure signal are switched relay group (38) and are input to the helicopter friendship
Power-supply system is flowed to carry out error protection detection.
3. Helicopter AC power-supply system detection device according to claim 1, which is characterized in that
Dragging platform operation monitoring module (332) is equipped in the industrial personal computer (33), for driving the dragging system (10) to work
And the dragging system (10) is monitored online.
4. Helicopter AC power-supply system detection device according to claim 3, which is characterized in that
The dragging system (10) includes sequentially connected speed regulation device (11), dragging motor (12), shaft joint (13) and speedup
Case (14), the speed regulation device (11) receive the instruction works of the industrial personal computer (33) so that drive the dragging motor (12),
The shaft joint (13) and the gearbox (14) output, further include the lubrication that the dragging system (10) are carried out with cooling and lubricating
Cooling system (15).
5. Helicopter AC power-supply system detection device according to claim 1, which is characterized in that
Load dispatch monitoring module (333) are equipped in the industrial personal computer (33), for manually or automatically right according to test request
The load system (20) carries out Load-unload control and the load system (20) is monitored online.
6. Helicopter AC power-supply system detection device according to claim 5, which is characterized in that
The load system (20) includes connecting with alternating current generator output end and for various electrical equipments on helicopter simulating
First load cabinet connect the second load cabinet for testing the pilot exciter load capacity with alternating current generator pilot exciter.
7. Helicopter AC power-supply system detection device according to claim 1, which is characterized in that
The signal sampling input unit (31) is based on subsection detecting technique, is driven according to the range section locating for sampled signal
Corresponding sensor sample is to meet the sampling precision in each section.
8. Helicopter AC power-supply system detection device according to claim 7, which is characterized in that
Metering module (334) are equipped in the industrial personal computer (33), implement metering for the acquisition precision to sensor, according to metering
As a result, modifying the configuration parameter of corresponding sampling channel.
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| CN108226815A (en) * | 2016-12-14 | 2018-06-29 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of airborne AC power quality real-time monitoring system |
| CN107748339A (en) * | 2017-11-29 | 2018-03-02 | 成都飞亚航空设备应用研究所有限公司 | A kind of power of alterating and direct current multi-function test stand |
| CN109946508A (en) * | 2019-04-04 | 2019-06-28 | 乳源东阳光机械有限公司 | A kind of portable type current detection recording device |
| CN111103478B (en) * | 2019-11-22 | 2022-06-28 | 中国人民解放军总参谋部第六十研究所 | Steering engine automatic detection equipment for unmanned helicopter |
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