CN108106633A - A kind of lifting airscrew kinematic parameter calculation method based on UTD - Google Patents
A kind of lifting airscrew kinematic parameter calculation method based on UTD Download PDFInfo
- Publication number
- CN108106633A CN108106633A CN201711230988.0A CN201711230988A CN108106633A CN 108106633 A CN108106633 A CN 108106633A CN 201711230988 A CN201711230988 A CN 201711230988A CN 108106633 A CN108106633 A CN 108106633A
- Authority
- CN
- China
- Prior art keywords
- utd
- blade
- parameter calculation
- lifting airscrew
- kinematic parameter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of lifting airscrew kinematic parameter calculation methods based on UTD, it is related to lifting airscrew movement parameter measurement technical field, pass through the relative position of UTD sensors and blade, obtain calculating parameter, and accordingly by the resolving for using trigonometry principle wave value, meanwhile calculate the actual angle of each adjacent blades by the time interval of UTD with+1 blade of jth by UTD sensors acquisition jth piece blade, and then calculate oscillating quantity.The optical sensor UTD measurement rotor kinematic parameters that the present invention uses, save trouble and labor and precision higher, can realize automatic measurement or even single driver behavior, and measurement accuracy is unrelated with the complexity of operator's level, weather, helicopter.
Description
Technical field
The present invention relates to lifting airscrew movement parameter measurement technical fields, and in particular to a kind of helicopter based on UTD
Rotor kinematic parameter calculation method.
Background technology
Important composition of the rotor as helicopter provides lift and propulsive force for the flight of helicopter, and rotor blade
Dynamics directly influences the performance of helicopter.Large scale rotary wing is held since structure size is big in flight course
By huge pneumatic, oscillating load, the flexible deformation than normal size rotor bigger can be generated, this, which just moves rotor, joins
Number measurement proposes more urgent demand.Measurement and analysis to rotor kinematic parameter can be that large scale rotor system is set
Meter provides reliable test data；In addition, measuring the kinematic parameters such as blade flapping, shimmy in real time, can also realize to helicopter
The real-time monitoring of rotor motion state improves the security and service efficiency of helicopter.
Mainly there are 3 kinds to the measuring method of rotor blade kinematic parameter both at home and abroad at present：
(1) strain measurement method, advantage is technology maturation, testing equipment is simple, at low cost, and shortcoming is that there are static demarcating mistakes
The deficiencies of journey is complicated, dynamic measurement and static demarcating environment uniformity larger to measurement result image；
(2) grating project, advantage are few using number of devices, without arranging a large amount of foil gauges on blade surface, are
A kind of contactless measurement, shortcoming are existed to test environment, optical grating projection installation site precise requirements height, and blade tip
The deficiencies of measurement result is poor；
(3) dynamic Laser mensuration and a kind of contactless measurement, advantage are, volume high with measuring accuracy
With small power consumption, strong antijamming capability, shortcoming is that there are measurable parameter is few, three fork structures impact flight maneuver performance
The deficiencies of.
The content of the invention
To solve the above-mentioned problems, the present invention provides a kind of lifting airscrew kinematic parameter calculation method based on UTD,
The characteristics of based on large scale rotor hub structure, by carrying out motion simulation to rotor, using UTD sensors to the opposite of blade
Movement measures, and establishes relative movement parameters and the mathematical relationship of rotor kinematic parameter, and develops resolving software, is gone straight up to
Rotor kinematic parameter of the machine under different motion posture.
The present invention is based on the lifting airscrew kinematic parameter calculation methods of UTD, mainly include the following steps that：
Step 1: installing UTD on helicopter, the visual field of the UTD is made to sweep on helicopter blade；
Step 2: it measures or knows UTD installation sites to inside the horizontal distance of mast, UTD established angles, UTD two
The angle of a optical sensor, the distance from propeller hub center along blade direction to reflecrtive mark, the blade chord width of UTD impressions
And the time interval that jth piece blade passes through UTD with+1 blade of jth；
Step 3: UTD pickup positions are calculated to the vertical range of UTD installation sites；
Step 4: the UTD reflective markers of every blade are calculated to the vertical of UTD installation sites according to isosceles triangle principle
Distance definitely waves value；
Step 5: choose certain piece blade as baseline blade, definitely waving value and subtracting each other with it for other blades is gone straight up to
Machine track-height waves Value Data；
Step 6: each adjacent blades are calculated by the time interval of UTD according to jth piece blade and+1 blade of jth
Actual angle；
Step chooses certain piece blade as baseline blade, calculates the relative angle of other blades and baseline blade, that is, swings
Value.
Preferably, in step 1, the position of the UTD is set, makes reflective marker positions of the UTD on blade
Distance away from pivot is the 60%~80% of blade length.
Preferably, reflective marker position distances away from pivot of the UTD on blade is blade length
70%.
Preferably, in step 1, the position of the UTD is set, the UTD is made to deviate 50 °~70 ° of horizontal plane.
Preferably, in step 1, the UTD deviates 60 ° of horizontal plane.
The technique effect of the present invention：Conventional method method generally existing measurement accuracy is low, is vulnerable to the feelings such as link conditionality
Condition, the optical sensor UTD measurement rotor kinematic parameters that the present invention uses, save trouble and labor and precision higher, can realize automatic
Measurement or even single driver behavior, and measurement accuracy is unrelated with the complexity of operator's level, weather, helicopter.
Description of the drawings
Fig. 1 is according to the present invention is based on the UTD of a preferred embodiment of the lifting airscrew kinematic parameter calculation method of UTD
Sensor schematic.
Fig. 2 is embodiment illustrated in fig. 1 UTD scheme of installation on machine of the present invention.
Fig. 3 is the UTD sensor measuring principle schematic diagrames of embodiment illustrated in fig. 1 of the present invention.
Fig. 4 is the UTD sensor operating principles schematic diagrames of embodiment illustrated in fig. 1 of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, the technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label represent same or similar element or there is same or like element.Described embodiment is the present invention
Part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without creative efforts, belong to the scope of protection of the invention.Under
Face is described in detail the embodiment of the present invention with reference to attached drawing.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or position relationship of the instructions such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown, such as " clockwise ", " counterclockwise ", " upward ", " downward " etc. are for only for ease of and describe this hair
It is bright to have specific orientation, with the device for simplifying description rather than instruction or hint meaning or element with specific orientation
Construction and operation, therefore it is not intended that limiting the scope of the invention.
The present invention is further explained below by way of specific embodiment.
The purpose of the present invention：A kind of lifting airscrew movement parameter measurement and calculation method based on UTD are provided, using this
Technical solution measures, and can greatly improve the measurement accuracy of angle of flap, shimmy angle and torsion angle.UTD sensors are shown in Fig. 1.
UTD sensors are a kind of Special rotary wing rail mark measurement sensors, by experience blade block ambient light variation survey
Amount height that is, with triangulation height, it is necessary to which orientation speed probe is used cooperatively, usually uses on daytime.
There are 2 optoelectronic induction devices in UTD, setting angle is fixed as 11 °, when the visual field of the inswept UTD of certain piece blade,
UTD exports 3 electric impulse signals.It is in 11 ° of region, as shown in figure 4, working as in two angles of UTD by taking certain piece blade as an example
When blade forward position is with the 1st beam ray intersection, UTD exports the 1st electric pulse, when blade forward position and the 2nd beam ray intersection, UTD
The 2nd electric pulse is exported, when after blade along with the 2nd beam ray intersection, UTD exports the 3rd electric pulse, and so on.It is other
Blade also corresponds to 3 output electric pulses accordingly, and the orientation speed probe being used cooperatively then is used for determining corresponding blade.Here
Aspect sensor use photoelectric sensor.
For waving measurement, with reference to figure 3, UTD is measured principle using trigonometry principle, gives UTD's in figure
Installation parameter, it is possible thereby to calculate track-height numerical value.O points are UTD installation points in figure, and A points are the blade position of UTD impressions
It puts, B points are mast center, and D points are blade target, i.e. reflecrtive mark.
Parameter that is known or obtaining：
L0- UTD installation sites are to the horizontal distance (m) of mast；
α-UTD established angles (°)；
The angle (°) of two optical sensors inside 11 °-UTD；
R-and along blade direction, the distance (m) from propeller hub center to reflecrtive mark；
The blade chord width (m) of X-UTD impressions；
H represents reflective marker to the vertical range of UTD installation sites；
H represents pickup position to the vertical range of UTD installation sites.
Wherein, with reference to figure 2, the foundation that D points are chosen is：Along blade length direction, the distance at spinning center to D points is paddle
The 60%-80% of leaf length is preferably 70%.
In the present embodiment, UTD installation sites are determined according to D points, make α for 50-70 °, are preferably 60 °.
It is obtained by the photosensitive sectional views of UTD on the right side of Fig. 3：
It is obtained by figure on the left of Fig. 3：
It is obtained by (1) (2)：
X is the chord length of the inswept UTD photosensitive regions of blade in formula, and pivot forms one with blade and the intersection point in two regions
A isosceles triangle, the angle that apex angle, that is, blade is inswept are ω T.The distance for taking propeller hub center to triangle opposite side is r, then has：
As shown in Figure 3：
It is obtained by (4) (5)：
It is obtained by (3) (6)：
It solves：
It is obtained by Fig. 3：
It solves：
It is obtained by (8) (10)：
Blade is calculated definitely waves value H, and using certain piece blade as baseline blade, other blades definitely wave value
Subtraction is done with it, here it is helicopter rotor track data.
For shimmy measurement, with continued reference to Fig. 4, time parameter T1, T2, T3, T4 of UTD output pulse signals and blade
Position relationship is as follows：
At the time of T1-blade forward position is intersected with first area #1；
At the time of T2-blade the forward position is intersected with second area #2；
At the time of T3-the blade leaves second area #2；
At the time of T4-bottom sheet blade forward position is intersected with first area #1.
We can obtain three time parameters as a result, as follows：
T1-T2 periods：Blade is inswept, and two angles of UTD are the time in 11 ° of regions.When blade reduces, time contracting
It is short.This parameter has reacted waving highly for blade, the i.e. absolute amount of waving of blade, by compared with baseline blade, it can be deduced that
The cone data of rotor.
T2-T3 periods：The time of the tangential width of blade is inswept UTD second areas #2, since the tangential width of blade is
The amount of knowing, the situation than T1-T2 periods have more a parameter, and whether the setting angle and installation site that can detect UTD close
It is suitable.
T1-T4 periods：Adjacent two panels blade reaches the time of UTD first area #1, the swing size with each blade
It corresponds to, i.e. oscillating quantity of the blade in Plane of rotation.This is the parameter that similar function device stroboscope can not measure.
Since time parameter TLi is the time interval of the adjacent inswept same position of two panels blade, it is known that rotor rotating speed is Ω,
Rotor angular velocity omega=Ω π/30, included angle=TL_i × Ω π/30 of adjacent two panels blade.Each adjacent paddle is calculated successively
The actual angle of leaf.Using certain piece blade as baseline blade, blade presses rotor wing rotation direction number consecutively, can calculate other paddles
The actual angle of leaf and baseline blade.
Assuming that be measured the blade quantity of helicopter as N, the relative angle of i-th blade and baseline blade for θ _ i=2 π/
N×(i-1).Actual angle and the relative angle are subtracted each other, obtain actual deviation of the blade at target, i.e. blade oscillating quantity.
The positive and negative advanced or lag situation for embodying rotor blade of oscillating quantity.
The technique effect of the present invention：Conventional method method generally existing measurement accuracy is low, is vulnerable to the feelings such as link conditionality
Condition, the optical sensor UTD measurement rotor kinematic parameters that the present invention uses, save trouble and labor and precision higher, can realize automatic
Measurement or even single driver behavior, and measurement accuracy is unrelated with the complexity of operator's level, weather, helicopter.
It is last it is to be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Pipe is with reference to the foregoing embodiments described in detail the present invention, it will be understood by those of ordinary skill in the art that：It is still
It can modify to the technical solution recorded in foregoing embodiments or which part technical characteristic is equally replaced
It changes；And these modifications or replacement, the essence of appropriate technical solution is not made to depart from the essence of various embodiments of the present invention technical solution
God and scope.
Claims (5)
1. a kind of lifting airscrew kinematic parameter calculation method based on UTD, which is characterized in that including：
Step 1: installing UTD on helicopter, the visual field of the UTD is made to sweep on helicopter blade；
Step 2: it measures or knows UTD installation sites to two light inside the horizontal distance of mast, UTD established angles, UTD
Learn the angle of sensor, the distance from propeller hub center along blade direction to reflecrtive mark, UTD impressions blade chord width and
The time interval that jth piece blade passes through UTD with+1 blade of jth；
Step 3: UTD pickup positions are calculated to the vertical range of UTD installation sites；
Step 4: according to isosceles triangle principle calculate the UTD reflective markers of every blade to UTD installation sites it is vertical away from
From definitely waving value；
Step 5: choose certain piece blade as baseline blade, definitely waving value and subtracting each other with it for other blades obtains helicopter and revolves
Wing cone waves Value Data；
Step 6: the reality of each adjacent blades is calculated by the time interval of UTD according to jth piece blade and+1 blade of jth
Border angle；
Step chooses certain piece blade as baseline blade, calculates the relative angle of other blades and baseline blade, i.e. oscillating quantity.
2. the lifting airscrew kinematic parameter calculation method based on UTD as described in claim 1, it is characterised in that：In step
In one, the position of the UTD is set, it is blade to make reflective marker position distances away from pivot of the UTD on blade
The 60%~80% of length.
3. the lifting airscrew kinematic parameter calculation method based on UTD as claimed in claim 2, it is characterised in that：The UTD
Distance of the reflective marker position away from pivot on blade is the 70% of blade length.
4. the lifting airscrew kinematic parameter calculation method based on UTD as claimed in claim 2, it is characterised in that：In step
In one, the position of the UTD is set, the UTD is made to deviate 50 °~70 ° of horizontal plane.
5. the lifting airscrew kinematic parameter calculation method based on UTD as claimed in claim 2, it is characterised in that：In step
In one, the UTD deviates 60 ° of horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711230988.0A CN108106633A (en) | 2017-11-29 | 2017-11-29 | A kind of lifting airscrew kinematic parameter calculation method based on UTD |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711230988.0A CN108106633A (en) | 2017-11-29 | 2017-11-29 | A kind of lifting airscrew kinematic parameter calculation method based on UTD |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108106633A true CN108106633A (en) | 2018-06-01 |
Family
ID=62208796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711230988.0A Pending CN108106633A (en) | 2017-11-29 | 2017-11-29 | A kind of lifting airscrew kinematic parameter calculation method based on UTD |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108106633A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504341A (en) * | 2020-04-30 | 2020-08-07 | 中国直升机设计研究所 | Helicopter flight state identification method |
| CN114180051A (en) * | 2021-11-22 | 2022-03-15 | 天津大学 | Early warning system and method for preventing collision of upper blade and lower blade of coaxial dual-rotor helicopter |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104197855A (en) * | 2014-08-20 | 2014-12-10 | 云南师范大学 | Helicopter rotor cone measurement system and method based on image processing technology |
| CN104197969A (en) * | 2014-09-02 | 2014-12-10 | 中国航空工业集团公司上海航空测控技术研究所 | Handheld device and method for measuring helicopter rotor path |
-
2017
- 2017-11-29 CN CN201711230988.0A patent/CN108106633A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104197855A (en) * | 2014-08-20 | 2014-12-10 | 云南师范大学 | Helicopter rotor cone measurement system and method based on image processing technology |
| CN104197969A (en) * | 2014-09-02 | 2014-12-10 | 中国航空工业集团公司上海航空测控技术研究所 | Handheld device and method for measuring helicopter rotor path |
Non-Patent Citations (4)
| Title |
|---|
| 孙兵等: "HRMS系统用直升机旋翼轨迹传感器的研制", 《中国电子科学研究院学报》 * |
| 李新民等: "利用通用轨迹设备(UTD）测量旋翼锥体", 《中国电子科学研究院学报》 * |
| 杨建德等: "旋翼共锥度测量技术的研究", 《自动化技术与应用》 * |
| 毛海涛等: "基于UDT的旋翼锥体测量系统的设计与实现", 《直升机技术》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504341A (en) * | 2020-04-30 | 2020-08-07 | 中国直升机设计研究所 | Helicopter flight state identification method |
| CN111504341B (en) * | 2020-04-30 | 2023-09-19 | 中国直升机设计研究所 | Helicopter flight state identification method |
| CN114180051A (en) * | 2021-11-22 | 2022-03-15 | 天津大学 | Early warning system and method for preventing collision of upper blade and lower blade of coaxial dual-rotor helicopter |
| CN114180051B (en) * | 2021-11-22 | 2023-07-04 | 天津大学 | Early warning system and method for preventing collision between upper blade and lower blade of coaxial double-rotor helicopter |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101793582B (en) | Measuring system and measuring method of mass, center of mass and moment of inertia of rigid body | |
| CN104089690B (en) | Charge station's vehicle dynamic weighing evaluation method and device | |
| CN108132134A (en) | Aerodynamic derivative discrimination method and system based on wind tunnel free flight test | |
| CN105423910A (en) | Airplane steering surface deflection angle measurement device and method | |
| CN104318070B (en) | A kind of scaling method of horizontal shaft wind-driven generator vane load transducer | |
| CN104822616B (en) | Lift and its operating method for the rotor blade that manipulates wind turbine | |
| CN103217262B (en) | Boiler girder deflection test method | |
| CN103675330A (en) | Dynamic anemorumbometer of optical fiber Bragg optical gratings and use method of anemorumbometer | |
| CN108106633A (en) | A kind of lifting airscrew kinematic parameter calculation method based on UTD | |
| CN103140422B (en) | The EARLY RECOGNITION of vortex ring state | |
| CN108303043A (en) | Plant leaf area index detection method and system combined of multi-sensor information | |
| CN203688576U (en) | Fiber Bragg grating dynamic anemoclinograph | |
| CN102749045B (en) | High-precision ground measurement method for blade pitch angle of small helicopter | |
| CN102207513A (en) | Method for calibrating rotor current meter | |
| CN106768917A (en) | A kind of pneumatic equipment bladess scene load test and appraisal procedure | |
| CN105138845A (en) | Method for acquiring wind speed value of wind driven generator | |
| CN109406096B (en) | Floating type offshore wind turbine generator measuring device and method thereof | |
| CN108330844A (en) | Based on Big Dipper positioning intelligent Bridge Rotation Construction Technique method | |
| Le Pelley et al. | Aerodynamic force deduction on yacht sails using pressure and shape measurements in real time | |
| CN113108698A (en) | Gap width and depth measuring device and method | |
| CN211234621U (en) | River course cableway formula water gauge multiple spot depth sounding device | |
| CN205718848U (en) | Glass plate geometric parameter detects device and uses its safety glass board assembly line | |
| Pedersen et al. | Spinner Anemometry: an Innovative Wind Measurement Concept | |
| CN203083771U (en) | High-accuracy quality characteristic measuring instrument | |
| CN202709994U (en) | Transmission line sag calculation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180601 |