CN107677959A - Unmanned plane induction machine combined test stand and method of testing - Google Patents
Unmanned plane induction machine combined test stand and method of testing Download PDFInfo
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- CN107677959A CN107677959A CN201710677594.3A CN201710677594A CN107677959A CN 107677959 A CN107677959 A CN 107677959A CN 201710677594 A CN201710677594 A CN 201710677594A CN 107677959 A CN107677959 A CN 107677959A
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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
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Abstract
The present invention relates to Motor Measuring Technology field, discloses a kind of unmanned plane induction machine combined test stand and method of testing.Unmanned plane induction machine combined test stand, including experimental bench, measure voltage ＆amp, torque sensor, speed probe, microcontroller, motor drive module, pulling force sensor and host computer.Microcontroller is controlled to each motor drive module output pwm signal.Each sensor and measurement module detect each physical quantity and send detected value to host computer.Host computer is calculated according to data, and shows result by diagrammatic form.In order to reduce the interference to pulling force sensor measurement process, present invention employs slide rail design to reduce drawing friction power.The analogue simulation of the present invention external circuit and internal control signal of unmanned plane motor, the characteristics of being bonded unmanned plane motor, are tested, and experimental data is applied widely, accuracy rate is high, host computer independently completes calculating process, more saves the time, and experimental result is relatively reliable.
Description
Technical field
The present invention relates to Motor Measuring Technology field, more particularly to a kind of unmanned plane induction machine combined test stand and survey
The design of method for testing.
Background technology
In recent years with the development of microelectronics, navigation, control and communication etc., while unmanned plane industry is promoted
Development.Unmanned plane purposes is extremely wide, is not only offered convenience at civilian aspect to ruck, on army's structure in future
The figure of military unmanned air vehicle occurs, therefore design a kind of experimental bench dedicated for testing unmanned plane motor extremely to have practical valency
Value.It is to be directed to the common motor in market mostly in existing Motor Measuring Technology, although can be used for testing unmanned electromechanics
Machine, but due to the output characteristics for having no idea to test after unmanned plane motor is connected with propeller in the prior art, test knot
Fruit has limitation.In addition, each propeller production under different offline mode is considered in the test process of unmanned plane motor
Raw aerodynamic drag, and thus obtain the multi-channel PWM signal of microcontroller output.In unmanned plane electromechanical testing process
In had differences, it is necessary to obtain experimental data and calculating process with Motor Measuring Technology on the market, directly using prior art
The problem of data available is few, test result is inaccurate and experimental resources waste can be caused by carrying out test.
The content of the invention
The present invention is for the shortcomings that can not being measured in the prior art according to unmanned plane motor characteristic feature, there is provided Yi Zhongwu
Man-machine induction machine combined test stand and method of testing.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals：
Unmanned plane induction machine combined test stand, including experimental bench, microcontroller, the motor of host computer and at least six are surveyed
Examination group；Every group of electromechanical testing group includes motor mount, measure voltage ＆amp, torque sensor, speed probe and electricity
Machine drive module；Motor mount treats measured motor for installation；Treat measured motor respectively with speed probe, torque sensor and electricity
Machine drive module connects, and motor drive module electrically connects with measure voltage ＆amp, and measure voltage ＆amp is steady with exchanging
Voltage source electrically connects；Host computer electrically connects with microcontroller, and host computer is to microcontroller transfer control instruction；Microcontroller with it is every
Group motor drive module electrical connection, microcontroller receive control instruction and respectively the motor drive module output PWM letters to every group
Number；Host computer electrically connects with every group of measure voltage ＆amp, torque sensor and speed probe；Torque sensor measures
Motor torque to be measured and send measured value to host computer；Speed probe measures motor speed to be measured and sends measured value to
Host computer；Measure voltage ＆amp measurement input treats the voltage and current of measured motor and sends measured value to host computer.
Testboard fully simulates the signal flow direction of circuit connection of the unmanned plane motor in unmanned plane, can survey exactly
Obtain the running status of motor.Electromechanical testing group provides position for the unmanned plane motor to be tested, while disposes corresponding pass
Feel equipment and connecting wire.Unmanned plane on the market has polytype, wherein have the model of propeller setting symmetrical above and below,
Have and the model of propeller only is set in unmanned plane main body upper end, it is contemplated that the propeller quantity of the unmanned plane of type of foundation, 6 groups of electricity
Machine test group disclosure satisfy that most of test requests.The unmanned plane more due to having occurred propeller on the market, because
This can also connect more electromechanical testing groups and be tested.
Preferably, every group of electromechanical testing group also includes pulling force sensor and slide rail, motor mount passes through slide rail and reality
The connection of platform upper surface is tested, motor mount one end is connected by metallic cable with single pulling force sensor one end, pulling force sensor
The other end is fixed on experimental bench, pulling force sensor and upper mechatronics.It is flight in view of the characteristics of unmanned plane maximum, surveys
Test stand is provided with pulling force sensor, and aerodynamic drag caused by propeller rotational is driven for measurement motor.And in order to subtract
Few interference to pulling force sensor measurement process, slide rail design is employed to reduce frictional force when pulling motor mount.
Preferably, every group of electromechanical testing group also includes unmanned plane propeller, unmanned plane propeller is by shaft coupling with turning
Square sensor connects.For unmanned plane motor, the output characteristics of a measurement motor is simultaneously inadequate, it is also necessary in view of when propeller and
Output characteristics after motor coaxle connection to be measured.
According to unmanned plane induction machine combined test stand provided by the invention, there is provided a kind of unmanned plane induction machine test
Method, comprise the following steps：
Unmanned plane propeller number n, atmospheric density ρ, the propeller tension coefficient to be tested are inputted on host computer
Ct, i-th of propeller area Si, i-th of propeller blade leaf length Ri(i=1 ..., n), unmanned plane gross mass and that to be tested fly
Row mode；
Host computer calculates the theoretical aerodynamics pulling force F of each propeller of unmanned plane under the offline modei, according to Fi=
ρ·Ct·Si·(ωi·Ri)2The theoretical angular velocity of rotation ω of i-th of propeller is calculatedi；
N electromechanical testing group is selected, by the n electricity treated measured motor and be arranged on n electromechanical testing group corresponding with propeller
It is each to treat that measured motor is connected with single speed probe, torque sensor and motor drive module in machine mounting seat；
Host computer is conveyed to microcontroller and instructed, and microcontroller output n roads pwm signal controls all motor operations to be measured；
When measured motor reaches stable operation, host computer receives the measure voltage ＆amp of each electromechanical testing group, turned
The measured value of square sensor and speed probe, calculate each power input to a machine P1i, P1i=U1i·I1i, wherein, U1iFor
The magnitude of voltage measured, I1iFor the current value measured；Host computer calculates the power output P of each motor2iWith actual efficiency η1i, its
In,ω1iFor the tachometer value measured, T1iFor the torque value measured,
User can carry out the test of multiple electric motors simultaneously, can also only test one, surveyed in all motors during test
N groups installation n platforms are selected to treat measured motor and propeller to be tested in examination group.Unmanned plane motor is tested with testing common electric machine not
Together, the characteristic of unmanned plane in itself is considered, especially to produce the motor reached required for enough aerodynamic drags
Rotating speed.In unmanned plane, microcontroller according to environmental variance, such as air pressure and temperature, and receive from the distant of ground
Signal is controlled, exports corresponding pwm signal to control the operating of each motor.In the present invention, detect environmental variance and receive distant
Data are all transmitted to be simulated in the part for controlling signal by host computer to microcontroller, and different situations are tested indoors so as to realize
Under motor output characteristics.
It is preferably, further comprising the steps of：
Using propeller as the output loading for treating measured motor, propeller is connected with torque sensor by shaft coupling；
Sliding motor mounting seat, and pulling force sensor measured value exceptionally straight in metallic cable run motor to be measured when being zero；
When motor reaches stable operation, host computer receives pulling force sensor, the measure voltage ＆ current of each electromechanical testing group
The measured value of module, torque sensor and speed probe, calculate each power input to a machine P3i, P3i=U2i·I2i, its
In, U2iFor the magnitude of voltage measured, I2iFor the current value measured；Host computer calculates the power output P of each motor4iWith actual effect
Rate η2i, wherein,ω2iFor the tachometer value measured, T2iFor the torque value measured,
This special load for propeller, the present invention being capable of output of the testing of electric motors after being connected with propeller coaxial
Characteristic.
It is preferably, further comprising the steps of：
Different offline mode is selected to be tested on host computer, host computer is shown under different mode by form
All measurement data and obtained result of calculation；
Host computer generates the P of each motor according to the every measured value and result of calculation under different offline mode2i-T1i
Performance diagram, η1i-T1iPerformance diagram, P4i-T2iPerformance diagram, η2i-T2iUnder performance diagram, different offline mode
ωi、ω1iAnd ω2iBlock diagram and different mode under FiAnd F1iBlock diagram, wherein F1iFor pulling force sensor measured value.
Under different offline mode, each motor needs the rotating speed difference exported, in order to collect all flight conditions
The output characteristics of lower unmanned plane motor is, it is necessary to which all to treat that measured motor is carried out multiple under different offline mode by PC control
Experiment, it is ensured that the accuracy of data.The data collected are shown by chart, and experimental result is more directly perceived, and experimenter is more
It is readily obtained conclusion.
Preferably, in host computer selectable offline mode include hover, rise, declining, advancing, retreating, moving to left and
Move to right.Include the basic flare maneuver of all unmanned planes in host computer, and different letters is exported according to the offline mode of selection
Number, unmanned plane course of normal operation is simulated completely.
Experimental bench and motor mount are make use of by technical solution of the present invention, unmanned plane motor is arranged on motor mount
On, experimental bench is that propeller has reserved space, can be tested after motor is connected with propeller coaxial.Slide rail is make use of again
And pulling force sensor, in propeller rotational, caused aerodynamic drag pulls motor mount, and is passed by pulling force
Sensor measures pulling force size.Electronic device on other experimental bench reduces circuit of the unmanned plane motor in unmanned plane and connected as far as possible
Connect and signal transduction process, host computer have preset control command and calculating process, greatly according to the state operationally of unmanned plane
The big operation and calculating for reducing manpower, avoids measurement and the mistake calculated.
Meanwhile the present invention has significant technique effect as a result of above technical scheme：Analogue simulation unmanned plane
The external circuit and internal control signal of motor, the characteristics of being bonded unmanned plane motor, are tested, can be to propeller pair
The influence of motor output measures, the running status of unmanned plane motor that can be under analogue simulation different condition.Experimental data
Applied widely, accuracy rate is high, and host computer independently completes calculating process, saves the time and efforts of researcher, experimental result is more
Add reliable.
Brief description of the drawings
Fig. 1 is the electromechanical testing group structural representation of the embodiment of the present invention 1.
Fig. 2 is circuit modular structure schematic diagram of the present invention.
Fig. 3 is method of testing flow chart of the present invention.
The toponym that each number designation is referred in the figures above is as follows：Wherein, 1-experimental bench, 2-host computer, 3-
Motor mount, 4-pulling force sensor, 5-slide rail, 6-metallic cable.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in figure 1, unmanned plane induction machine combined test stand, including experimental bench 1, host computer 2 and electromechanical testing group；Often
There is the motor mount 3 that measured motor is treated for installing in individual electromechanical testing group.Treat measured motor and speed probe and torque sensing
Device connects.Also include pulling force sensor 4 and slide rail 5, motor mount 3 is connected by slide rail 5 with the upper surface of experimental bench 1, motor
The one end of mounting seat 3 is connected with single metallic cable 6, and each metallic cable 6 is connected with single one end of pulling force sensor 4, and pulling force passes
The other end of sensor 4 is fixed on experimental bench 1, and pulling force sensor 4 electrically connects with host computer 2.Also include unmanned plane propeller, nothing
Man-machine propeller is connected by shaft coupling with torque sensor.
As shown in Fig. 2 motor connection speed probe, torque sensor and motor driving to be measured in each electromechanical testing group
Module, motor drive module electrically connect with measure voltage ＆amp, and measure voltage ＆amp is electrically connected with alternating current steady voltage plug
Connect.Host computer 2 electrically connects with microcontroller, and host computer 2 is to microcontroller transfer control instruction；Microcontroller drives with all motors
Dynamic model block electrically connects, and microcontroller receives control instruction and respectively to each motor drive module output pwm signal.Host computer 2
Electrically connected with measure voltage ＆amp, torque sensor and speed probe；Torque sensor measure motor torque to be measured and
Send measured value to host computer 2；Speed probe measures motor speed to be measured and sends measured value to host computer 2；Voltage
Current detection module measurement input treats the voltage and current of measured motor and sends measured value to host computer 2.Pulling force sensor 4 with
Host computer 2 electrically connects.Pulling force sensor measures pulling force caused by propeller and sends measured value to host computer 2.
As shown in figure 3, first input test needs on host computer 2 first data and the offline mode to be tested of selection,
The data class of input includes unmanned plane propeller number n, atmospheric density ρ, propeller tension coefficient Ct, i-th of propeller face
Product Si, i-th of propeller blade leaf length Ri(i=1 ..., n) and unmanned plane gross mass, selectable offline mode include hovering,
Rise, decline, advance, retreat, move to left and move to right.
Then, treat that measured motor is arranged on motor mount 3 by n is corresponding with propeller, treat measured motor with it is single
Speed probe, torque sensor and motor drive module electrical connection.Control instruction is transmitted to microcontroller by host computer 2.
During motor operation to be measured, the measured value of the receiving voltage current detection module of host computer 2, torque sensor and speed probe, on
Position machine 2 shows the data received and corresponding result of calculation.
Then, cut off after motor power to be measured by propeller be used as corresponding to treat the output loading of measured motor, pass through shaft coupling
Propeller is connected by device with torque sensor.Sliding motor mounting seat 3, and pulling force sensor 4 measured value exceptionally straight in metallic cable 6 are
Motor to be measured is run when zero.During motor operation to be measured, host computer 2 receives pulling force sensor, measure voltage ＆amp, torque biography
The measured value of sensor and speed probe, host computer 2 show the data received and corresponding result of calculation.
Finally, select different offline mode to carry out many experiments on host computer 2, obtain the data and meter of all measurements
Result is calculated, host computer 2 generates chart and experimental result is shown.
In the present embodiment, a kind of unmanned plane symmetrical above and below that propeller is set of test, 6 unmanned plane motors are surveyed
Examination.User first inputs n=6 on host computer 2, and current atmospheric density is 1.185kg/m3, looked into according to the angle of attack of propeller
The tension coefficient that table obtains is 0.6, propeller area 40cm2, length of blade 12cm, unmanned plane quality 240g, offline mode hangs
Stop.The theoretical angular velocity of rotation of each propeller can be calculated in host computer.Now rise in theory caused by 6 propellers
Power and the weight that difference between opposite power is unmanned plane is produced, the rotating speed difference of two kinds of propellers can be obtained according to this value
About 138r/min.Further according to the relatively stable rotary speed data of unmanned plane in usually use, optimum speed, host computer root can be obtained
Numerical value assigns control instruction to microcontroller accordingly.
During testing of electric motors, microprocessor control motor operates, and detects rotating speed, torque and the voltage x current of each motor.On
Position machine calculates power input to a machine, power output and efficiency.Then propeller is connected, sliding motor mounting seat 3 is surveyed
Examination.Detect rotating speed, torque, voltage x current and the caused pulling force of each motor.Host computer calculates power input to a machine, output
Power and efficiency, and whether the difference for calculating pulling force caused by each propeller meets previous result of calculation.
Embodiment 2
A kind of unmanned plane that 4 propellers are provided with unmanned plane main body upper end is tested in the present embodiment.User is first
N=4 is inputted on host computer 2, current atmospheric density is 1.185kg/m3, the pulling force tabling look-up to obtain according to the angle of attack of propeller
Coefficient is 0.6, propeller area 40cm2, length of blade 12cm, unmanned plane quality 240g, offline mode hovering.Host computer can
The theoretical angular velocity of rotation of each propeller is calculated.Now climbing power caused by 4 propellers is unmanned plane in theory
Weight, the rotating speed that propeller can be obtained according to this value is 120r/min.
During testing of electric motors, microprocessor control motor operates, and detects rotating speed, torque and the voltage x current of each motor.On
Position machine calculates power input to a machine, power output and efficiency.Then propeller is connected, sliding motor mounting seat 3 is surveyed
Examination.Detect rotating speed, torque, voltage x current and the caused pulling force of each motor.Host computer calculates power input to a machine, output
Power and efficiency, and whether the difference for calculating pulling force caused by each propeller meets previous result of calculation.
Embodiment 3
A kind of unmanned plane that 8 propellers are provided with unmanned plane main body upper end is tested in the present embodiment.User is first
N=8 is inputted on host computer 2, current atmospheric density is 1.185kg/m3, the pulling force tabling look-up to obtain according to the angle of attack of propeller
Coefficient is 0.6, propeller area 40cm2, length of blade 12cm, unmanned plane quality 240g, offline mode hovering.Host computer can
The theoretical angular velocity of rotation of each propeller is calculated.Now climbing power caused by 8 propellers is unmanned plane in theory
Weight, the rotating speed that propeller can be obtained according to this value is 85r/min.
During testing of electric motors, microprocessor control motor operates, and detects rotating speed, torque and the voltage x current of each motor.On
Position machine calculates power input to a machine, power output and efficiency.Then propeller is connected, sliding motor mounting seat 3 is surveyed
Examination.Detect rotating speed, torque, voltage x current and the caused pulling force of each motor.Host computer calculates power input to a machine, output
Power and efficiency, and whether the difference for calculating pulling force caused by each propeller meets previous result of calculation.
In a word, presently preferred embodiments of the present invention, all equalizations made according to scope of the present invention patent be the foregoing is only
Change and modification, it should all belong to the covering scope of patent of the present invention.
Claims (7)
1. unmanned plane induction machine combined test stand, it is characterised in that：Including experimental bench (1), microcontroller, host computer (2) and
The electromechanical testing group of at least six；Every group of electromechanical testing group includes motor mount (3), measure voltage ＆amp, torque sensing
Device, speed probe and motor drive module；Motor mount (3) treats measured motor for installation；Treat measured motor respectively with rotating speed
Sensor, torque sensor connect with motor drive module, and motor drive module electrically connects with measure voltage ＆amp, voltage
Current detection module electrically connects with alternating current steady voltage plug；Host computer (2) electrically connects with microcontroller, and host computer (2) is to microcontroller
Device transfer control instruction；Microcontroller electrically connects with every group of motor drive module, microcontroller receive control instruction and respectively to
Every group of motor drive module output pwm signal；Host computer (2) and every group of measure voltage ＆amp, torque sensor and
Speed probe electrically connects；Torque sensor measures motor torque to be measured and sends measured value to host computer (2)；Revolution speed sensing
Device measures motor speed to be measured and sends measured value to host computer (2)；Measured motor is treated in measure voltage ＆amp measurement input
Voltage and current and send measured value to host computer (2).
2. unmanned plane induction machine combined test stand according to claim 1, it is characterised in that：Every group of electromechanical testing group is also
Including pulling force sensor (4) and slide rail (5), motor mount (3) is connected by slide rail (5) with experimental bench (1) upper surface, motor
Mounting seat (3) one end is connected by metallic cable (6) with single pulling force sensor (4) one end, and pulling force sensor (4) other end is solid
It is scheduled on experimental bench (1), pulling force sensor (4) electrically connects with host computer (2).
3. unmanned plane induction machine combined test stand according to claim 2, it is characterised in that：Every group of electromechanical testing group is also
Including unmanned plane propeller, unmanned plane propeller is connected by shaft coupling with torque sensor.
A kind of 4. method of testing using unmanned plane induction machine combined test stand described in claim 3, it is characterised in that including
Following steps：
Unmanned plane propeller number n, atmospheric density ρ, the propeller tension coefficient C to be tested are inputted on host computer (2)t、
I-th of propeller area Si, i-th of propeller blade leaf length Ri(i=1 ..., n), unmanned plane gross mass and the flight to be tested
Pattern；
Host computer (2) calculates the theoretical aerodynamics pulling force F of each propeller of unmanned plane under the offline modei, according to Fi=
ρ·Ct·Si·(ωi·Ri)2The theoretical angular velocity of rotation ω of i-th of propeller is calculatedi；
N electromechanical testing group is selected, by the n motor peaces treated measured motor and be arranged on n electromechanical testing group corresponding with propeller
Fill on seat (3), treat that measured motor is connected with speed probe, torque sensor and motor drive module；
Host computer (2) is conveyed to microcontroller and instructed, and microcontroller output n roads pwm signal controls all motor operations to be measured；
When measured motor reaches stable operation, host computer (2) receives the measure voltage ＆amp of each electromechanical testing group, torque
The measured value of sensor and speed probe, calculate each power input to a machine P1i, P1i=U1i·I1i, wherein, U1iTo survey
The magnitude of voltage obtained, I1iFor the current value measured；
Host computer (2) calculates the power output P of each motor2iWith actual efficiency η1i, wherein,ω1i
For the tachometer value measured, T1iFor the torque value measured,
5. a kind of unmanned plane induction machine test method according to claim 4, it is characterised in that further comprising the steps of：
By propeller be used as corresponding to treat the output loading of measured motor, propeller is connected with torque sensor by shaft coupling；
Sliding motor mounting seat (3), and pulling force sensor (4) measured value exceptionally straight in metallic cable (6) run motor to be measured when being zero；
When motor reaches stable operation, host computer (2) receives the pulling force sensor (4) of each electromechanical testing group, voltage x current inspection
The measured value of module, torque sensor and speed probe is surveyed, calculates each power input to a machine P3i, P3i=U2i·I2i, its
In, U2iFor the magnitude of voltage measured, I2iFor the current value measured；
Host computer (2) calculates the power output P of each motor4iWith actual efficiency η2i, wherein,ω2i
For the tachometer value measured, T2iFor the torque value measured,
6. a kind of unmanned plane induction machine test method according to claim 5, it is characterised in that further comprising the steps of：
Different offline mode is selected to be tested on host computer (2), host computer (2) shows different mode by form
Under all measurement data and obtained result of calculation；
Host computer (2) generates the P of each motor according to the every measured value and result of calculation under different offline mode2i-T1iCharacteristic
Curve map, η1i-T1iPerformance diagram, P4i-T2iPerformance diagram, η2i-T2iω under performance diagram, different offline modei、
ω1iAnd ω2iBlock diagram and different mode under FiAnd F1iBlock diagram, wherein F1iFor pulling force sensor (4) measured value.
A kind of 7. unmanned plane induction machine test method according to claim 4, it is characterised in that：Can in host computer (2)
The offline mode of selection includes hovering, rise, decline, advance, retreat, move to left and moving to right.
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| 谷新宇 等: "微小型电动无人机动力系统试验台的设计与实现", 《科技资讯》 * |
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| CN109085501A (en) * | 2018-09-20 | 2018-12-25 | 蚌埠高灵传感系统工程有限公司 | A kind of detection method of brush direct current motor torque corner and revolving speed |
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| CN109436376A (en) * | 2018-12-29 | 2019-03-08 | 深圳市赛为智能股份有限公司 | Devices and methods therefor for unmanned plane propeller tensile test |
| CN110371320A (en) * | 2019-08-07 | 2019-10-25 | 山东交通学院 | A kind of device, method and application for testing revolution speed of propeller, lift and noise |
| CN110371320B (en) * | 2019-08-07 | 2021-04-23 | 山东交通学院 | Device and method for testing rotating speed, lift force and noise of propeller and application |
| CN111624975A (en) * | 2020-04-27 | 2020-09-04 | 中国空间技术研究院 | MSK series brushless DC motor driver verification test system |
| CN111781496A (en) * | 2020-06-04 | 2020-10-16 | 扬州工业职业技术学院 | Motor control device and operation data acquisition and storage method |
| CN113771066A (en) * | 2021-09-07 | 2021-12-10 | 合肥学院 | Motor self-learning control system based on intelligent robot |
| CN113928590A (en) * | 2021-10-14 | 2022-01-14 | 西北工业大学太仓长三角研究院 | Electric aircraft propulsion system test platform based on modular permanent magnet synchronous motor |
| RU2781047C1 (en) * | 2022-01-17 | 2022-10-04 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военная академия Ракетных войск стратегического назначения имени Петра Великого" МО РФ | Stand for testing and adjustment of unmanned aerial vehicles of various configurations |
| CN115542158A (en) * | 2022-11-29 | 2022-12-30 | 北京卓翼智能科技有限公司 | Unmanned aerial vehicle motor test system |
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