CN107618675A - A kind of test system and control method for tiltrotor total state blowing experiment - Google Patents
A kind of test system and control method for tiltrotor total state blowing experiment Download PDFInfo
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- CN107618675A CN107618675A CN201710619079.XA CN201710619079A CN107618675A CN 107618675 A CN107618675 A CN 107618675A CN 201710619079 A CN201710619079 A CN 201710619079A CN 107618675 A CN107618675 A CN 107618675A
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Abstract
The invention discloses a kind of test system and control method for tiltrotor total state blowing experiment, including：Unmanned tilting rotor machine platform, dynamical system, transmission system, data scaling system, data catenary system, ground observing and controlling system, control system and control method.The present invention, there is tiltrotor blowing model calibration, test, the integrated blowing experiment ability of control.Ground observing and controlling system will be instructed and aircraft mounted control system interactive communication by wireless data chain, complete different cold air blast velocities and the total state blowing experiment under the matching relationship of nacelle inclination angle, particularly suitable for the interference relationships under research rotor power state between wake flow and wing/fuselage, reliable parameter foundation is provided for analysis tiltrotor aerodynamic interference mechanism, the nonlinear flight dynamics modeling of optimization tiltrotor.The integral control system, there is wiring to simplify, conventional efficient height, test mode congruence advantage, be effectively improved the efficiency of tiltrotor total state blowing experiment.
Description
Technical field
The present invention relates to a kind of unmanned plane model blowing experiment control system, especially for this complex configuration of tilting rotor
Unmanned plane carries out total state, drive blowing experiment system development, belongs to control system ground test technical field.
Background technology
Tiltrotor is a kind of aircraft for having helicopter concurrently and fixing rotor and propeller aircraft flight advantage, passes through nacelle
Vert and drive the pulling force vector of rotor system mutually to be changed in vertical and horizontal direction, and then complete helicopter and fixed-wing spiral
The switching of oar aircraft flight pattern.Its unique aerodynamic arrangement can rationally solve VTOL, high-performance cruise of unmanned plane etc.
Flight characteristic, endurance, the voyage of unmanned plane are added, expand the flight envelope of conventional configuration aircraft.
There is also many technological difficulties while tiltrotor has itself flight advantage, consider from control association area
Mainly include：Nonlinear flight dynamics modeling technique, the design of control law of syntype state of flight of syntype state of flight
Technology, the redundancy rudder face reconfiguration technique of syntype state of flight, the rotor variable speed control technology of syntype state of flight, Quan Mo
Formula flight-safety channel pre-estimating technology etc..
The nonlinear flight dynamics modeling technique of wherein syntype state of flight needs to explore the pneumatic of tiltrotor
Interference problem.Under helicopter flight mode, tiltrotor is equal to laterally disposed dual rotor type helicopter, and wing is to rotor wake
Blocking action, and tail disturbs between DCB Specimen, is formed typical " fountain effect "；In transition flight pattern of verting, with
The flexural deformation of rotor wake, rotor and wing angle change cause the process to be a high dynamic, are close coupling, nonlinear
Motion process, it is difficult to describe the movement mechanism of the process by existing theoretical modeling technology, therefore needs badly to the complex process exhibition
Blowing experiment is opened, the kinetic characteristic of the process is explored by experimental data, non-liner revision is carried out to theoretical modeling；And in fixation
Wing offline mode, DCB Specimen develop into the propeller of fixed-wing, because blade needs while meets the property of rotor and propeller
Can, therefore the aeroperformance of blade is mainly studied in the offline mode, and wake flow is acted on the aerodynamic interference of fuselage.
At this stage, the scholar having at home is real for tiltrotor model or the structure member such as expansion such as nacelle system
Test research, but the report that experiment is blowed for drive, total state tiltrotor is less, therefore at home to rotation of verting
Wing machine expansion drive, total state blowing experiment have important scientific meaning.The present invention takes into full account flying for tiltrotor
Row state, under existing laboratory basic condition, design integration management system, the syntype for including tiltrotor flies
Row state, reliable experimental data is provided for modelling by mechanism.
The content of the invention
Goal of the invention：The present invention seeks to design a kind of test system for tiltrotor total state blowing experiment with
Control method, the flight course of total state simulation tiltrotor can be completed in wind tunnel experiment room by the system, is grasped
The compound movement characteristic of the movement mechanism of each offline mode, particularly transition flight pattern, it is easy to be inclined in laboratory
The substantial amounts of data information of switch rotor machine, is effectively improved conventional efficient, and reduces the risk of verification machine Flight Test.
Technical scheme：In order to complete object above, following technical scheme is taken.
A kind of test system for tiltrotor total state blowing experiment, the system include ground observing and controlling system, complete
Size tilting rotor machine platform, connecting bracket, balance, platform support post, wind-tunnel and data acquisition equipment, wherein：
The full-scale tilting rotor machine platform installs connecting bracket in position of centre of gravity, is connected by connecting bracket and balance
Connect, on the surface-based platform support post of balance；
The full-scale tilting rotor machine platform is provided with data radio station on machine, and data radio station is used for and ground on the machine
TT＆C system communicates, and carries out data transmission；
The full-scale tilting rotor machine platform is provided with control system on machine, and control system receives the machine on the machine
The change in location of the data control executing agency of upper transmission radio station；
The full-scale tilting rotor machine platform is provided with executing agency, and the executing agency is according to control system on machine
Instruct execution cycle displacement, control surface deflection action；
The ground observing and controlling system is provided with ground data radio station, and the ground data radio station is by the control of ground control system
Instruction is sent to data radio station on machine, realizes that ground control system is transmitted to the control data of full-scale tilting rotor machine platform；
The ground observing and controlling system generates corresponding control instruction according to experimental status；
The wind-tunnel is arranged on entirely to be made up of full-scale tilting rotor machine platform, connecting bracket, balance, platform support post
Experimental system outside, for experiment different wind speed are provided；
Six component test datas of the data acquisition equipment collection balance measurement；
The full-scale tilting rotor machine platform includes a miniature self-service tilting rotor verification machine model, and it includes dynamical system
System and transmission system, the dynamical system include double-vane point brshless DC motor, ground high-power DC power supply, switch electricity
Source；Data radio station receives the control instruction of ground observing and controlling system on the machine, controls the rotating speed of brshless DC motor in real time；Ground is big
Power DC power supply provides the energy for double-vane point brushless electric machine, and the Switching Power Supply provides electricity for the control system of experiment porch
Source；
The transmission system includes the inclining rotary mechanism and nacelle system being connected on wing, and wherein inclining rotary mechanism uses worm gear
Worm drive mode, nacelle system include the motor driving rotor system being sequentially connected and servo driving auto-bank unit, made
It is expected rudder face control.
The terrestrial transmission radio station is connected by the controller of serial ports and ground observing and controlling system.
The data acquisition equipment is gathered the stress variation of balance, obtained in real time by data acquisition cable and day flushconnection
Obtain six power prime number evidences of tiltrotor.
The ground observing and controlling system carries out neutral point to each executing agency of full-scale tilting rotor machine platform and finely tunes, be defeated
Trip degree width, each primary control surface fine setting, and the current location of each executing agency of real-time display；The ground observing and controlling system
Complete startup and stalling, offline mode conversion, trim data storage and extraction, the executing agency's reset function of motor.
The primary control surface angle include always away from, always away from differential, horizontal displacement, longitudinal displacement, longitudinal differential, flaperon,
Elevator, rudder and nacelle angle.
The present invention also provides a kind of control method for tiltrotor total state blowing experiment test system, this method
Rate-determining steps are as follows：First, whole experimental system is placed in wind-tunnel environment,
A. ground observing and controlling system is powered, and after the completion of TT＆C system initialization, is opened data catenary system, is completed ground observing and controlling
The control instruction of system initial state sends task, then opens the control that floor switches power supply is full-scale tilting rotor machine platform
System power supply, after control system receives the initialization control instruction on ground, reset state is arrived into the control of full machine rudder face position；
B. after the completion of initializing, if the static unpowered experiment of blowing experiment or rotor is carried out, according to requirement of experiment, on ground
In the TT＆C system of face, the initial angle of full-scale tilting rotor machine platform is instructed and is sent to control system on machine, on the machine
Control system completes the control surface drive control of full-scale tilting rotor machine platform according to the control instruction of reception, and then data are adopted
Collect the six power element of device systems collection original state, wind-tunnel starts wind speed and starts, is adjusted to stable state, then carries out data acquisition work
Make；
If c. entering action edge blowing experiment, after system completes initialization, high-power DC power supply switch in ground is closed
Close, powered for dynamical system, according to requirement of experiment, first send rudder face control instruction, retransmit startup motor command, until motor
Reach the six power element that rated speed gathers original state again, wind-tunnel starts wind speed and starts, is adjusted to stable state, then carries out data acquisition
Work.
The initial angle of full-scale tilting rotor machine platform in step b include always away from, always become away from differential, horizontal cycle
Away from, longitudinal feathering, longitudinal feathering is differential, the angle at double breasted aileron rudder, elevator, rudder and nacelle inclination angle.
Control system drives executing agency to act by pwm signal on the machine.
The present invention is with the advantages of prior art：
(a) relative to single static pattern blowing experiment, total state blowing experiment of the present invention, rotation of verting is embodied
The characteristics of wing machine, possesses the flight course that the unmanned plane plurality of flight is simulated in laboratory total state.In the stage die that verts
Formula, nacelle inclination angle is any given in flight envelope, is easy to further investigate the movement mechanism of this special offline mode, and then visit
The conversion corridor of the rope configuration aircraft, handling characteristic etc..Substantial amounts of experimental data is obtained by blowing experiment, is Flight Test
Theory support is provided, and reduces the risk of Flight Test.
(b) drive blowing experiment of the present invention at utmost simulates real environment of taking a flight test, and rotor is in work shape
State, rotor wake cross fuselage with blowing air-flow mixed flow.Unpowered experiment shape is combined by the test flight data analysis to the process
State, the aerodynamic interference effect between rotor, between rotor/wing, rotor/fuselage can be more deeply grasped, and with short
Cabin is verted, cold air blast velocity change, the incision of fixed-wing rudder face and rotary wing changing away from the handling characteristic such as wash-off, obtain experiment and test
Card.
Brief description of the drawings
Fig. 1 is the scheme of installation of the present invention；
Fig. 2 is the power and transmission parts figure of the present invention；
Fig. 3 is the TT＆C software flow chart of the present invention；
Fig. 4 is the pwm signal of the control system output of the present invention；
Fig. 5 is the principle schematic of the present invention；
Fig. 6 is the data transfer schematic diagram of present system；
Fig. 7 is the physical connection schematic diagram of present system；
The implication of reference is in figure：1- fuselages；2- wings；3- horizontal stabilizers (including elevator)；4- vertically pacifies
Determine face (including rudder)；5- nacelle systems；6- rotor systems；7- inclining rotary mechanisms；8- undercarriages；9- connecting brackets；10- six divides
Measure balance；11- platform support posts；12- ground high-power DC power supply；13- silica gel lines；14- Switching Power Supplies；15- propeller hubs；16-
Blade；17- auto-bank units；18- digital rudder controllers；19- brushless electric machines；20- deceleration fluted discs；21- tilt angles；22- tiliting axis.
Embodiment
In order that technical problem solved by the invention is more readily apparent, technical scheme is more specifically feasible, below in conjunction with the accompanying drawings and
The invention will be further described for specific implementation process.Wherein experiment porch uses certain full-scale mould of miniature self-service tiltrotor
Type machine, it should be appreciated that embodiment described herein is merely to illustrate the present invention rather than limits the present invention.
As shown in Figures 1 to 7, a kind of test system for tiltrotor total state blowing experiment of the invention, this is
System includes ground observing and controlling system, full-scale tilting rotor machine platform, connecting bracket, balance, platform support post, wind-tunnel and data
Collecting device, wherein：
Connecting bracket is installed on the full-scale tilting rotor machine platform position of centre of gravity, connected by connecting bracket and balance
Connect, on the surface-based platform support post of balance；
The full-scale tilting rotor machine platform is provided with data radio station on machine, and data radio station is used for and ground on the machine
TT＆C system communicates, and carries out data transmission；
The full-scale tilting rotor machine platform is provided with control system on machine, and control system receives the machine on the machine
The change in location of the data control executing agency of upper transmission radio station；
The full-scale tilting rotor machine platform is provided with executing agency, and the executing agency is according to control system on machine
Instruct execution cycle displacement, control surface deflection action；
The ground observing and controlling system is provided with ground data radio station, and the ground data radio station is by the control of ground control system
Instruction is sent to data radio station on machine, realizes that ground control system is transmitted to the control data of full-scale tilting rotor machine platform；
The ground observing and controlling system generates corresponding control instruction according to experimental status；
The wind-tunnel is arranged on entirely to be made up of full-scale tilting rotor machine platform, connecting bracket, balance, platform support post
Experimental system outside, for experiment different wind speed are provided；
The data acquisition equipment system is arranged on data acquisition center, gathers six component test datas of balance measurement；
The full-scale tilting rotor machine platform includes a miniature self-service tilting rotor verification machine model, and it includes dynamical system
System and transmission system, the dynamical system include double-vane point brshless DC motor, ground high-power DC power supply, switch electricity
Source；Data radio station receives the control instruction of ground observing and controlling system on the machine, controls the rotating speed of brshless DC motor in real time；Ground is big
Power DC power supply provides the energy for double-vane point brushless electric machine, and the Switching Power Supply provides electricity for the control system of experiment porch
Source；
The transmission system includes the inclining rotary mechanism and nacelle system being connected on wing, and wherein inclining rotary mechanism uses worm gear
Worm drive mode, nacelle system include the motor driving rotor system being sequentially connected and servo driving auto-bank unit, made
It is expected rudder face control.
The terrestrial transmission radio station is connected by the controller of serial ports and ground observing and controlling system.
The data acquisition equipment is gathered the stress variation of balance, obtained in real time by data acquisition cable and day flushconnection
Obtain six power prime number evidences of tiltrotor.
The ground observing and controlling system carries out neutral point to each executing agency of full-scale tilting rotor machine platform and finely tunes, be defeated
Trip degree width, each primary control surface fine setting, and the position of each executing agency of real-time display；The ground observing and controlling system is completed
The startup and stalling of motor, offline mode conversion, trim data storage and extraction, executing agency's reset function.
The primary control surface angle include always away from, always away from differential, horizontal displacement, longitudinal displacement, longitudinal differential, flaperon,
Elevator, rudder and nacelle angle.
Fig. 1 is total system equipment scheme of installation, and Fig. 2 is power and transmission parts figure.Main flow is unfolded as follows：Full chi
Very little tiltrotor experiment porch is connected by connecting bracket 9 with six COMPONENT BALANCEs 10, and six COMPONENT BALANCEs 10 are surface-based
It is connected on platform support post 11 with ground.AC-220V is converted into direct current output 60V-100A by ground high-power DC power supply 12,
And electrical energy transportation to digital electricity is adjusted by silicon special tree lace.
Digital electricity adjusts the control instruction for receiving control system, speed regulating control is carried out to brushless motor speed in real time, due to electricity
Machine rotating speed is high, it is necessary to be controlled output speed in operating rotational speed range by deceleration fluted disc 20, then by rotor shaft (in figure
Do not mark) drive rotor system work.
Described full-scale tiltrotor aerodynamic configuration is mainly by fuselage 1, wing 2, horizontal stabilizer 3, vertical stable
The part such as face 4, undercarriage 8 forms, the nacelle system 5 and rotor system 6 that can be verted in wing tip arrangement, and in the middle part cloth of fuselage
Put inclining rotary mechanism 7 and complete nacelle and vert control.Control system, wireless data transmission module are installed in the middle part of fuselage, are not marked in figure
Know.
The patten transformation that verts illustrates, according to the tilt angle 21 identified in Fig. 2, is defined as by tiliting axis 22 and perpendicular to machine
Angle between body horizontal plane and rotor shaft.Helicopter mode tilt angle is 0 °, as nacelle tilts forward, from helicopter to admittedly
Determine wing transition and conversion, inclination angle is gradually increased to 90 °, and tilt angle can also vert -5 ° backward in helicopter mode, backward to increase
Manipulation effect of longitudinal feathering, improve the ability flown backward.Needed number in data scaling according to angular region of verting
The dimension relation of word amount and angle is recorded, is fitted, and is easy to the ground observing and controlling software in experiment to provide in excursion
Any nacelle inclination angle.
Before experiment is blowed, data scaling is carried out to Quan Ji13Ge executing agencies first, is quantified, the criterion of quantization
It is using the manipulated variable of passage as foundation, always away from manipulating is such as the completion that is synchronized with the movement by auto-bank unit 17, and wing drop
The motion of device is driven by three digital rudder controllers 18 on nacelle, i.e., always needs three digital rudder controllers to be synchronized with the movement away from manipulation.Cycle
Displacement equally by three digital servo drivings, now needs to determine the control wire of steering wheel according to the physical packaging position of three steering wheels
System.Auto-bank unit uses CCPM structure type in the present invention, therefore the linkage of feathering is three steering wheel outputs
Linear combination.The manipulated variable of each passage is subjected to quantification treatment, behaviour of the final output in units of spending according to needed for experiment
Vertical amount, quantized data is recorded in a text form, so that ground observing and controlling system calls.
It is pointed out that because the reasons such as structure design, processing can cause system dead band, gap etc. to be unavoidably present
Non-linear factor.Such as the angle calibration of nacelle inclining rotary mechanism, about 0.5 °~1 ° of dead band scope, also can the problem of these objective realities
Certain error is brought to data scaling.
The control instruction of ground observing and controlling system is sent to airborne control by the data catenary system by wireless data transmission module
System.It is more complicated in laboratory environment electromagnetic signal, and strong and weak signals mix, therefore it is required that data catenary system is with stronger
Antijamming capability.The present invention using high-power, transmission range is long, data security is good radio station module as transmission means, by
It is Transistor-Transistor Logic level in radio station acquiescence output, TTL and RS232 conversions is completed by designing level shifting circuit, while in order to ensure electricity
The high-power operation of platform, it is desirable to which the power supply of design has 3A fan-out capabilities.
The ground observing and controlling system is integrated with the unmanned operation platform that control instruction is sent, rudder face manipulation is testing integrated.
Operation ground TT＆C software is required according to experiment outline, the data scaling and amendment, linkage of each actuation unit can be completed
Linear/non-linear combination control, offline mode switching, engine start and parking, rotor rotating speed are controlled, and completed in experiment
The manipulation trim of helicopter mode, vert transition mode and fixed-wing pattern.
Ground observing and controlling system software flow calls control initialization interface, and press form as shown in figure 3, after system operation
Trim data are read, initial configuration, including the function such as baud rate, data valid bit, even-odd check are carried out to serial ports, if configuration
Failure does not find that serial ports then interrupts alarm, checks error identification code；If serial ports configuration successful, send steering wheel to control system and answer
Bit instruction, steering wheel is checked whether the zero-bit or card rudder phenomena such as, interrupt alarm if steering wheel initialization mistake, prompt DTC；
Otherwise program initialization finishes, and according to requirement of experiment, can send the manipulated variable of each rudder face, if desired dynamic experiment, can be by
Order pneumatic motor, when rotor reaches rated speed, experiment is being blowed.
Described control system is installed on waist, and functional requirement design is carried out by a piece of AVR single chip.Control system
System is responsible for receiving the instruction of ground observing and controlling system, in order to improve the real-time of system, by the way of serial ports is received and interrupted, and data
Agreement is as follows：Each frame data totally 39 bytes, remove 2 bytes of frame head, 1 byte of frame number, 2 bytes of postamble and CRC
2 bytes of check bit, other data totally 32 bytes, are arranged with 2 byte representations, one passage respectively according to channel sequence
Row.Control system is decoded the data of reception, obtains the manipulated variable of each executing agency, re-sends to steerable system progress
Linear system combines.
Control system is interrupted using the spilling of the bit timer of Resources on Chip 16 and two independent comparison match units are carried out
The PWM of 16 paths.Its principle can be described as：Overflow and interrupt completion timing function, comparison match unit completes passage
Control.Timer timing cycle is 2.5ms, enters per 2.5ms and overflows interrupt processing function, resets current comparison match unit
Passage exports；Two comparison match location counters receive the channel data of steerable system respectively, and current control passage is carried out
Set operation, after next controlling cycle is entered, gap marker increases by 1 time, is counted again again until increasing big 8th passage,
Reach the PWM controls of 16 paths, Fig. 4 gathers 1-4 passages respectively and the PWM outputs of the 1st and the 9th passage are compared.
Fig. 5 is the schematic diagram of the control method of the present invention, is deployed according to following steps：
(a) ground testing system is first powered, and is completed initialization and is detected, including page loading, serial ports detect with configuration, initially
The tasks such as state control instruction packing；Data catenary system (5) is powered, and the control instruction of ground observing and controlling system original state is passed through
The sending module of ground wireless station transmits away instruction, then opens the control system that floor switches power supply is experiment porch
System power supply, by the way of serial ports is received and interrupted, Triggering Control System decodes control system to data, and control system obtains
After the valid data of each passage, full machine rudder face position is output to zero-bit state, can effectively prevent that rudder face is stuck by mistake, stall
Phenomena such as；By the back to zero state of each control surface of ground observing and controlling system observation experiment platform, judge whether system initialization is completed；
If it was found that some rudder faces have initial zero position, the page can be finely tuned by the steering wheel of TT＆C system and complete independent position adjustment.
(b) static blowing experiment (and rotor is unpowered), after system completes initialization task, required according to experiment outline,
By ground observing and controlling system will always away from, always away from differential, horizontal feathering, longitudinal feathering, longitudinal feathering be differential, double breasted
Aileron rudder, elevator, the angle command of rudder and nacelle inclination angle rudder are sent to control system, and control system is according to reception
Control instruction completes the control surface drive control of experiment porch, and data collecting system gathers the power of original state six of experiment porch
Element, wind-tunnel start wind speed and start, are adjusted to stable state, data acquisition work.
(c) drive blowing experiment, after system completes initialization, ground high-power power switch is closed, is
Force system is powered, and according to experiment outline, is first sent rudder face control instruction, startup motor command is retransmited, when motor reaches specified
Rotating speed, the six power element of data collecting system measurement original state, wind-tunnel starts wind speed and starts, is adjusted to speed of experiment, then carries out
Data collection task.
Fig. 6, Fig. 7 are respectively the control data transmission schematic diagram and physical connection schematic diagram of the present invention, in order to understand this
The specific implementation process of invention.
The specific implementation process of the preferred scheme described above for being only the present invention is described, with the technology of the technical field
Personnel understand the present invention.It should be pointed out that the invention is not restricted to present embodiment, for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements can also be made, these improvement parts also should be regarded as
Protection scope of the present invention.
Claims (9)
1. a kind of test system for tiltrotor total state blowing experiment, it is characterised in that the system is surveyed including ground
Control system, full-scale tilting rotor machine platform, connecting bracket, balance, platform support post, wind-tunnel and data acquisition equipment, its
In：
Connecting bracket is installed on the position of centre of gravity of the full-scale tilting rotor machine platform, by connecting bracket and day flushconnection,
On the surface-based platform support post of balance；
The full-scale tilting rotor machine platform is provided with data radio station on machine, and data radio station is used for and ground observing and controlling on the machine
System communication, carry out data transmission；
The full-scale tilting rotor machine platform is provided with control system on machine, and control system receives the machine upload on the machine
The change in location of the data control executing agency of transmission of electricity platform；
The full-scale tilting rotor machine platform is provided with executing agency, and the executing agency is according to the instruction of control system on machine
Execution cycle displacement, control surface deflection action；
The ground observing and controlling system is provided with ground data radio station, and the ground data radio station is by the control instruction of ground control system
Data radio station on machine is sent to, realizes that ground control system is transmitted to the control data of full-scale tilting rotor machine platform；
The ground observing and controlling system generates corresponding control instruction according to experimental status；
The wind-tunnel is arranged on the reality being entirely made up of full-scale tilting rotor machine platform, connecting bracket, balance, platform support post
Outside check system, different cold air blast velocities is provided for experiment；
The data acquisition equipment is used for the six component test datas for gathering balance measurement.
2. a kind of test system for tiltrotor total state blowing experiment according to claim 1, its feature exist
In：
The tilting rotor machine platform includes a miniature self-service tilting rotor verification machine model, and it includes dynamical system and transmission
System, the dynamical system include double-vane point brshless DC motor, ground high-power DC power supply, Switching Power Supply；On the machine
Control system receives the control instruction of ground observing and controlling system, controls the rotating speed of brshless DC motor in real time；Ground high power DC electricity
Source provides the energy for double-vane point brushless electric machine, and the Switching Power Supply provides power supply for the control system of experiment porch；
The transmission system includes the inclining rotary mechanism and nacelle system being connected on wing, and wherein inclining rotary mechanism uses worm and gear
Type of drive, nacelle system include the motor driving rotor system being sequentially connected and servo driving auto-bank unit, make it is expected
Rudder face controls.
3. a kind of test system for tiltrotor total state blowing experiment according to claim 1, its feature exist
In：The terrestrial transmission radio station is connected by serial ports with ground observing and controlling system.
4. a kind of test system for tiltrotor total state blowing experiment according to claim 1, its feature exist
In：The data acquisition equipment is gathered the stress variation of balance, verted in real time by data acquisition cable and day flushconnection
Six power prime number evidences of gyroplane.
5. a kind of test system for tiltrotor total state blowing experiment according to claim 1, its feature exist
In：The ground observing and controlling system carries out neutral point fine setting, delivery stroke amplitude limit to each executing agency of tilting rotor machine platform,
Primary control surface is finely tuned, and real-time display executing agency position；The ground observing and controlling system completes the startup and stalling, flight of motor
Patten transformation, trim data storage and extraction, executing agency's reset function.
6. a kind of test system for tiltrotor total state blowing experiment according to claim 4, its feature exist
In：The control surface include always away from, always away from differential, horizontal displacement, longitudinal displacement, longitudinal differential, flaperon, elevator, direction
Rudder and nacelle angle.
7. a kind of control method for tiltrotor total state blowing experiment test system according to claim 1,
Characterized in that, this method rate-determining steps are as follows：Whole experimental system is placed in wind-tunnel environment,
A. ground observing and controlling system is powered, and after the completion for the treatment of observing and controlling system initialization, is opened data catenary system, is completed ground observing and controlling system
The control instruction of original state sends task, restarts the control system that floor switches power supply is tilting rotor machine platform and powers,
After control system receives the initialization control instruction on ground, reset state is arrived into the control of full machine rudder face position；
B. after the completion of initializing, if carrying out the static unpowered experiment of blowing experiment or rotor, according to requirement of experiment, surveyed on ground
In control system, the initial angle of tilting rotor machine platform is instructed and is sent to control system on machine, control system root on the machine
The control surface drive control of tilting rotor machine platform is completed according to the control instruction of reception, then data acquisition equipment collection initial shape
The six power element of state, wind-tunnel starts wind speed and starts, is adjusted to stable state, then carries out data collection task；
If c. entering action edge blowing experiment, after system completes initialization, ground high-power DC power supply is switched and closed, is
Dynamical system is powered, and according to requirement of experiment, is first sent rudder face control instruction, is retransmited startup motor command, until motor reaches
Rated speed gathers the six power element of original state again, and wind-tunnel starts wind speed and starts, is adjusted to stable state, then carries out data acquisition work
Make.
8. a kind of control method for tiltrotor total state blowing experiment test system according to claim 7,
Characterized in that, the initial angle of tilting rotor machine platform in step b include always away from, always away from differential, horizontal feathering, vertical
To feathering, longitudinal feathering is differential, the angle at double breasted aileron rudder, elevator, rudder and nacelle inclination angle.
9. a kind of control method for tiltrotor total state blowing experiment test system according to claim 7,
Characterized in that, control system drives executing agency to act by pwm signal on the machine.
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275287A (en) * | 2018-02-05 | 2018-07-13 | 南京航空航天大学 | Multi-rotor aerocraft aerodynamic interference and ground effect integrated experiment device and method |
| CN108445895A (en) * | 2018-02-05 | 2018-08-24 | 天津大学 | Robust control method for the control of three rotor wing unmanned aerial vehicle position of tilting type |
| CN109164717A (en) * | 2018-09-05 | 2019-01-08 | 中国航空工业集团公司北京长城航空测控技术研究所 | In conjunction with the system-level experimental control method of simulated flight packet |
| CN109186922A (en) * | 2018-11-16 | 2019-01-11 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of wind tunnel test methods of helicopter co-axis double propeller hub model |
| CN109255203A (en) * | 2018-11-09 | 2019-01-22 | 中国直升机设计研究所 | A kind of helicopter digital prototype Fast design method and system |
| CN109515747A (en) * | 2018-11-28 | 2019-03-26 | 中国农业大学 | Lap siding unmanned plane experimental rig |
| CN109612681A (en) * | 2018-11-16 | 2019-04-12 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of aerodynamic interference measurement method of the coaxial rigid rotor model of helicopter |
| CN109911189A (en) * | 2019-03-27 | 2019-06-21 | 南京航空航天大学 | A kind of horizontal double rotor unmanned plane based on 3D printing |
| CN109932123A (en) * | 2019-03-22 | 2019-06-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Propeller single-blade leaf determination of six components of foree device |
| CN110282155A (en) * | 2019-07-03 | 2019-09-27 | 中国人民解放军国防科技大学 | Two-degree-of-freedom unmanned aerial vehicle power test system |
| CN111223384A (en) * | 2019-12-09 | 2020-06-02 | 中国民用航空飞行学院 | Teaching experiment platform for characteristics and control of variable-pitch aviation power system |
| CN111328317A (en) * | 2019-03-22 | 2020-06-23 | 深圳市大疆创新科技有限公司 | Test method, device and equipment of movable platform and storage medium |
| CN111413997A (en) * | 2020-04-14 | 2020-07-14 | 中国人民解放军32180部队 | High-wind-resistance tilting rotor mooring unmanned aerial vehicle and flight control method thereof |
| CN111591462A (en) * | 2020-07-27 | 2020-08-28 | 中国空气动力研究与发展中心低速空气动力研究所 | Helicopter tail rotor simulation system for wind tunnel test |
| CN112033638A (en) * | 2020-08-31 | 2020-12-04 | 中国人民解放军国防科技大学 | Tilt rotor unmanned aerial vehicle's area power wind tunnel test closed-loop control collection system |
| CN112068612A (en) * | 2020-09-14 | 2020-12-11 | 中国空气动力研究与发展中心高速空气动力研究所 | Wind tunnel operation safety shutdown control method based on configuration mode |
| CN112141359A (en) * | 2020-09-30 | 2020-12-29 | 中航(成都)无人机系统股份有限公司 | Tilt rotor unmanned aerial vehicle test bench |
| CN112373721A (en) * | 2020-11-03 | 2021-02-19 | 哈尔滨飞机工业集团有限责任公司 | Method for adjusting reference of main-rotor steering engine of helicopter in ground state |
| CN113670559A (en) * | 2021-10-19 | 2021-11-19 | 中国空气动力研究与发展中心低速空气动力研究所 | Helicopter rotor noise active control wind tunnel test method based on trailing edge winglet |
| CN114001919A (en) * | 2022-01-04 | 2022-02-01 | 中国空气动力研究与发展中心低速空气动力研究所 | Ground simulation method for full-size tilt rotor axial flow forward flight performance test |
| CN114235324A (en) * | 2021-09-19 | 2022-03-25 | 中国航空工业集团公司西安飞机设计研究所 | Full-aircraft power influence wind tunnel test method for tilt rotor aircraft |
| CN114323551A (en) * | 2022-03-15 | 2022-04-12 | 中国空气动力研究与发展中心低速空气动力研究所 | Tilting transition corridor wind tunnel experiment balancing method and system for tilting rotorcraft |
| CN114397905A (en) * | 2022-03-25 | 2022-04-26 | 中国空气动力研究与发展中心低速空气动力研究所 | Tilting transition wind tunnel flight experiment method and system of tilting rotorcraft |
| CN115993233A (en) * | 2023-03-22 | 2023-04-21 | 之江实验室 | Pneumatic experimental device, pneumatic simulation experimental device, vehicle and experimental method |
| CN116605416A (en) * | 2023-07-17 | 2023-08-18 | 四川腾盾科技有限公司 | Automatic inclinator calibration equipment and calibration method |
| CN116754174A (en) * | 2023-08-16 | 2023-09-15 | 中国空气动力研究与发展中心低速空气动力研究所 | Layout conversion method for thrust-tension type tail rotor of helicopter wind tunnel test |
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| CN108275287A (en) * | 2018-02-05 | 2018-07-13 | 南京航空航天大学 | Multi-rotor aerocraft aerodynamic interference and ground effect integrated experiment device and method |
| CN108445895A (en) * | 2018-02-05 | 2018-08-24 | 天津大学 | Robust control method for the control of three rotor wing unmanned aerial vehicle position of tilting type |
| CN108275287B (en) * | 2018-02-05 | 2023-12-19 | 南京航空航天大学 | Comprehensive test device and method for aerodynamic interference and ground effect of multi-rotor aircraft |
| CN109164717A (en) * | 2018-09-05 | 2019-01-08 | 中国航空工业集团公司北京长城航空测控技术研究所 | In conjunction with the system-level experimental control method of simulated flight packet |
| CN109255203A (en) * | 2018-11-09 | 2019-01-22 | 中国直升机设计研究所 | A kind of helicopter digital prototype Fast design method and system |
| CN109186922A (en) * | 2018-11-16 | 2019-01-11 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of wind tunnel test methods of helicopter co-axis double propeller hub model |
| CN109612681A (en) * | 2018-11-16 | 2019-04-12 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of aerodynamic interference measurement method of the coaxial rigid rotor model of helicopter |
| CN109515747A (en) * | 2018-11-28 | 2019-03-26 | 中国农业大学 | Lap siding unmanned plane experimental rig |
| CN109515747B (en) * | 2018-11-28 | 2024-03-22 | 中国农业大学 | Tandem unmanned aerial vehicle test device |
| CN109932123B (en) * | 2019-03-22 | 2020-10-16 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Propeller single-blade six-component measuring device |
| CN111328317A (en) * | 2019-03-22 | 2020-06-23 | 深圳市大疆创新科技有限公司 | Test method, device and equipment of movable platform and storage medium |
| CN109932123A (en) * | 2019-03-22 | 2019-06-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Propeller single-blade leaf determination of six components of foree device |
| CN109911189A (en) * | 2019-03-27 | 2019-06-21 | 南京航空航天大学 | A kind of horizontal double rotor unmanned plane based on 3D printing |
| CN110282155A (en) * | 2019-07-03 | 2019-09-27 | 中国人民解放军国防科技大学 | Two-degree-of-freedom unmanned aerial vehicle power test system |
| CN111223384A (en) * | 2019-12-09 | 2020-06-02 | 中国民用航空飞行学院 | Teaching experiment platform for characteristics and control of variable-pitch aviation power system |
| CN111413997A (en) * | 2020-04-14 | 2020-07-14 | 中国人民解放军32180部队 | High-wind-resistance tilting rotor mooring unmanned aerial vehicle and flight control method thereof |
| CN111413997B (en) * | 2020-04-14 | 2023-08-22 | 中国人民解放军32180部队 | High-wind-resistance tilting rotor wing mooring unmanned aerial vehicle and flight control method thereof |
| CN111591462A (en) * | 2020-07-27 | 2020-08-28 | 中国空气动力研究与发展中心低速空气动力研究所 | Helicopter tail rotor simulation system for wind tunnel test |
| CN111591462B (en) * | 2020-07-27 | 2020-10-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Helicopter tail rotor simulation system for wind tunnel test |
| CN112033638A (en) * | 2020-08-31 | 2020-12-04 | 中国人民解放军国防科技大学 | Tilt rotor unmanned aerial vehicle's area power wind tunnel test closed-loop control collection system |
| CN112068612B (en) * | 2020-09-14 | 2022-10-18 | 中国空气动力研究与发展中心高速空气动力研究所 | Wind tunnel operation safety shutdown control method based on configuration mode |
| CN112068612A (en) * | 2020-09-14 | 2020-12-11 | 中国空气动力研究与发展中心高速空气动力研究所 | Wind tunnel operation safety shutdown control method based on configuration mode |
| CN112141359A (en) * | 2020-09-30 | 2020-12-29 | 中航(成都)无人机系统股份有限公司 | Tilt rotor unmanned aerial vehicle test bench |
| CN112373721B (en) * | 2020-11-03 | 2023-02-10 | 哈尔滨飞机工业集团有限责任公司 | Method for adjusting reference of main-rotor steering engine of helicopter in ground state |
| CN112373721A (en) * | 2020-11-03 | 2021-02-19 | 哈尔滨飞机工业集团有限责任公司 | Method for adjusting reference of main-rotor steering engine of helicopter in ground state |
| CN114235324A (en) * | 2021-09-19 | 2022-03-25 | 中国航空工业集团公司西安飞机设计研究所 | Full-aircraft power influence wind tunnel test method for tilt rotor aircraft |
| CN114235324B (en) * | 2021-09-19 | 2024-03-19 | 中国航空工业集团公司西安飞机设计研究所 | Full-power influence wind tunnel test method for tiltrotor aircraft |
| CN113670559A (en) * | 2021-10-19 | 2021-11-19 | 中国空气动力研究与发展中心低速空气动力研究所 | Helicopter rotor noise active control wind tunnel test method based on trailing edge winglet |
| CN114001919B (en) * | 2022-01-04 | 2022-03-15 | 中国空气动力研究与发展中心低速空气动力研究所 | Ground simulation method for full-size tilt rotor axial flow forward flight performance test |
| CN114001919A (en) * | 2022-01-04 | 2022-02-01 | 中国空气动力研究与发展中心低速空气动力研究所 | Ground simulation method for full-size tilt rotor axial flow forward flight performance test |
| CN114323551A (en) * | 2022-03-15 | 2022-04-12 | 中国空气动力研究与发展中心低速空气动力研究所 | Tilting transition corridor wind tunnel experiment balancing method and system for tilting rotorcraft |
| CN114397905A (en) * | 2022-03-25 | 2022-04-26 | 中国空气动力研究与发展中心低速空气动力研究所 | Tilting transition wind tunnel flight experiment method and system of tilting rotorcraft |
| CN115993233A (en) * | 2023-03-22 | 2023-04-21 | 之江实验室 | Pneumatic experimental device, pneumatic simulation experimental device, vehicle and experimental method |
| CN115993233B (en) * | 2023-03-22 | 2024-01-09 | 之江实验室 | Pneumatic experimental device, pneumatic simulation experimental device, vehicle and experimental method |
| CN116605416A (en) * | 2023-07-17 | 2023-08-18 | 四川腾盾科技有限公司 | Automatic inclinator calibration equipment and calibration method |
| CN116605416B (en) * | 2023-07-17 | 2023-10-24 | 四川腾盾科技有限公司 | Automatic inclinator calibration equipment and calibration method |
| CN116754174B (en) * | 2023-08-16 | 2023-10-31 | 中国空气动力研究与发展中心低速空气动力研究所 | Layout conversion method for thrust-tension type tail rotor of helicopter wind tunnel test |
| CN116754174A (en) * | 2023-08-16 | 2023-09-15 | 中国空气动力研究与发展中心低速空气动力研究所 | Layout conversion method for thrust-tension type tail rotor of helicopter wind tunnel test |
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