CN108363854B - Small electric propeller thrust model estimation method and device - Google Patents

Small electric propeller thrust model estimation method and device Download PDF

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CN108363854B
CN108363854B CN201810100841.8A CN201810100841A CN108363854B CN 108363854 B CN108363854 B CN 108363854B CN 201810100841 A CN201810100841 A CN 201810100841A CN 108363854 B CN108363854 B CN 108363854B
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thrust
propeller
electric propeller
small electric
estimation device
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CN108363854A (en
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陈拿权
申恒艳
王霞
蔡铁鑫
邓星
蒲航
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Hunan Aerospace Institute of Mechanical and Electrical Equipment and Special Materials
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Abstract

The invention provides a method for estimating a thrust model of a small electric propeller, which comprises the following steps: (a) adjusting the working voltage of a propeller motor and the rotating speed of the electric propeller, and measuring thrust measurement data of the electric propeller at each observation point; (b) calculating a weight corresponding to the observation point according to the measurement noise of the thrust measurement data; (c) constructing a function E according to the calculated weight, and calculating an estimated value of the matrix V according to the constraint condition of the minimum function E
Figure DDA0001566276700000011
(d) And obtaining a thrust model of the small electric propeller. The invention also provides a device for estimating the thrust model of the small electric propeller, which comprises an adjustable power supply module, a thrust measuring unit and a control unit. The method and the device avoid the problem that the estimation accuracy of the model is inaccurate because the noise difference of each observation point is not considered in the prior art, and improve the estimation accuracy of the thrust model.

Description

Small electric propeller thrust model estimation method and device
Technical Field
The invention relates to a thrust model estimation method and device, in particular to a small electric propeller thrust model estimation method and device, which are mainly applied to the technical field of small electric propeller thrust modeling.
Background
Along with the high-speed development of unmanned aerial vehicle, the flying bomb industry of patrolling, small-size electric screw is as its main power device, and its thrust model degree of accuracy is more and more taken into account. The thrust characteristic of the small electric propeller is mainly influenced by the working voltage and the rotating speed of the propeller. At present, the research on the thrust characteristic of a small electric propeller along with the change of the rotating speed of the propeller is more thorough, but the research on the thrust characteristic along with the change of working voltage is insufficient; and in small-size unmanned aerial vehicle, the application of patrolling the missile, along with operating time's increase, system power battery power consumption increases, and small-size electric screw's operating voltage will constantly descend, and its thrust characteristic will constantly change. Therefore, a thrust model that only relates to the rotational speed and the thrust parameter is not accurate enough. Meanwhile, the thrust modeling of the existing small electric propeller basically adopts a least square technology to complete the estimation of related parameters in a thrust model; when the model parameter estimation is carried out, the thrust measurement data obtained from different observation points have different noise distributions, and at the moment, the least square estimation technology is directly adopted, so that the defect of insufficient estimation precision of the thrust model of the small electric propeller is caused.
Disclosure of Invention
The invention provides a method and a device for estimating a thrust model of a small electric propeller, aiming at solving the problem of insufficient model estimation precision in the estimation of the thrust model of the existing electric propeller.
In order to solve the technical problems, the invention adopts the technical scheme that: a method for estimating a thrust model of a small electric propeller is characterized by comprising the following steps:
(a) adjusting the operating voltage v of a propeller motoriAnd the rotational speed w of the electric propellerjAt each observation point (v)i，wj) Measuring thrust measurement data F of an electric propelleri,j,kWhere i is 1,2, … …, M is the total number of operating voltages adjusted, j is 1,2, … …, N is the total number of rotational speeds adjusted, K is 1,2, … …, K is at the observation point (v £ v @)i，wj) The total number of measurements taken;
(b) from thrust measurement data Fi,j,kThe measured noise calculation weight value sigmai，j；
(c) According to the weight value sigma calculated in the step (b)i，jConstructing a function E, and calculating an estimated value of the matrix V according to a constraint condition of minimum of the function E
Figure GDA0002958000120000011
Wherein,
Figure GDA0002958000120000012
Figure GDA0002958000120000021
V＝(A3,A2,A1,B3,B2,B1,C)T；
(d) thrust model for obtaining small electric propeller
Figure GDA0002958000120000022
In the invention, different observation points (working voltage v, rotating speed w of the electric propeller) of the small electric propeller are set through a thrust model estimation device; then, acquiring sufficient thrust measurement data for each observation point; then, carrying out noise distribution statistics on the thrust measurement data of different observation points; and finally, weighting the thrust measurement data by using the noise distribution of the thrust measurement data of each observation point, and obtaining the modeling of the thrust model of the electric propeller by adopting a least square estimation method. The problem that the model estimation precision is inaccurate because the noise difference of each observation point is not considered in the prior art is solved. Regarding the data of the observation points with higher measurement noise, the confidence coefficient is considered to be poor; the confidence is considered to be higher for data measured at observation points where the noise is lower. Namely, the weight corresponding to the observation point with higher measurement noise is smaller; and the weight corresponding to the observation point with lower measurement noise is larger.
In the above technical solution, in the step (c), according to the constraint condition that the function E is minimum, the least square method is used to calculate the estimated value of the matrix V
Figure GDA0002958000120000023
In the above technical solution, in the step (b), the weight σ isi，jCalculated according to the following formula:
Figure GDA0002958000120000024
wherein,
Figure GDA0002958000120000025
represents an observation point (v)i，wj) Corresponding thrust measurement data Fi,j,kAverage value of (a).
Using the above formula to align observation points (v)i，wj) Corresponding weight value sigmai，jAnd calculating to ensure that the weight corresponding to the observation point with high measurement noise is small, thereby ensuring that the estimation of the thrust model is more accurate.
The present invention also provides an estimation device for implementing the method for estimating a thrust model of a small electric propeller, including:
the adjustable power supply module is used for providing working voltage for the propeller motor;
the thrust measuring unit is used for measuring the thrust of the electric propeller;
a control unit for adjusting the working voltage v of the propeller motoriAnd the rotational speed w of the electric propellerjAt each observation point (v)i，wj) Measuring thrust measurement data F of an electric propelleri,j,kWhere i is 1,2, … …, M is the total number of operating voltages adjusted, j is 1,2, … …, N is the total number of rotational speeds adjusted, K is 1,2, … …, K is at the observation point (v £ v @)i，wj) The total number of measurements taken; from thrust measurement data Fi,j,kThe measured noise calculation weight value sigmai，j(ii) a Constructing a function E, and calculating an estimated value of the matrix V according to a constraint condition of minimum of the function E
Figure GDA0002958000120000026
Wherein,
Figure GDA0002958000120000027
Figure GDA0002958000120000031
V＝(A3,A2,A1,B3,B2,B1,C)T(ii) a Thrust model for obtaining small electric propeller
Figure GDA0002958000120000032
The input end of the adjustable power supply module is connected with the control unit, and the output ends of the rotating speed measuring unit and the thrust measuring unit are connected with the control unit in a wired or wireless mode.
Further, the propeller thrust measuring device further comprises a support, and two ends of the support are connected with the propeller body and the thrust measuring unit respectively. If the screw body and thrust measurement unit lug connection, then the screw body is too near apart from ground, probably makes the screw body receive the interference on ground at rotatory in-process, consequently sets up the support, not only can play the effect of supporting electric screw, can also ensure that the rotation of screw body does not receive ground interference.
Further, the bracket is isolated from the rotation of the propeller body; preferably, the thrust model estimation device further comprises a first deep groove ball bearing, the first deep groove ball bearing comprises a first bearing outer ring, a first bearing inner ring and balls arranged between the first bearing outer ring and the first bearing inner ring, the first bearing outer ring is connected with the propeller body, and the first bearing inner ring is connected with the bracket. Through setting up the rotation isolation of support and screw body for the support does not rotate along with the screw body, and makes on the thrust of screw body effectively transmits the support, and then effectively transmits thrust measuring unit by the support, realizes the measurement of thrust.
Furthermore, the device also comprises a limiting unit for limiting the support to swing in the horizontal direction; preferably, the limiting unit is a second deep groove ball bearing, the second deep groove ball bearing comprises a second bearing outer ring, a second bearing inner ring and balls arranged between the second bearing outer ring and the second bearing inner ring, the second bearing outer ring is fixedly connected with the ground, and the support penetrates through the second bearing inner ring; more preferably, the number of the second deep groove ball bearings is at least two. When the rotating speed of the propeller body is too high, the support fixedly connected with the propeller body may swing left and right in the horizontal direction, so that the thrust measuring unit cannot accurately measure the upward thrust of the electric propeller. Through setting up the spacing unit that the restriction support swung in the horizontal direction for the ascending thrust of electric screw can effectively transmit to thrust measuring unit, thereby can improve measurement accuracy. The second deep groove ball bearing limits the tangential direction movement of the support, and ensures that the pressure of the propeller is reliably transmitted to the thrust measuring unit along the support. Therefore, when the support rotates along with the screw body, second deep groove ball bearing's second bearing inner circle rotates along with it, because second deep groove ball bearing's second bearing outer lane and ground fixed connection, consequently make second deep groove ball bearing's second bearing outer lane fixed subaerial, make second deep groove ball bearing can not the horizontal direction horizontal hunting, and only can second bearing inner circle and second bearing outer lane relative rotation, thereby avoid the support horizontal direction horizontal hunting when the rotational speed is too big, thereby ensure that the thrust that the screw body produced only effectively transmits to thrust measuring unit in vertical direction, thereby make the measurement more accurate. The second deep groove ball bearing is very durable, does not need frequent maintenance, and has small friction coefficient, high limit rotating speed and simple structure. The second deep groove ball bearing mainly bears radial load and also can bear a certain amount of axial load. The second deep groove ball bearing is arranged on the support and can limit axial displacement.
And the second bearing outer ring of the second deep groove ball bearing and the thrust measuring unit are fixedly connected with the ground through the sealing structure. The sealing structure is used for isolating the influence of aerodynamic force generated by the propeller and external disturbance airflow on the thrust measuring unit, so that the measuring data of the thrust measuring unit is more accurate.
Further, the device also comprises a device for measuring the rotating speed of the electric propellerThe rotating speed measuring unit is arranged towards the propeller body; preferably, the rotation speed measuring unit is preferably a photoelectric sensor. In the invention, the rotating speed can be directly measured by the control unit when the rotating speed of the electric propeller is adjusted. However, the rotation speed of the electric propeller adjusted by the control unit is not necessarily the same as the actual rotation speed due to the influence of the outside. In the invention, a rotating speed measuring unit can be additionally arranged to measure the actual rotating speed so as to ensure that the rotating speed w is measuredjThe measurement accuracy of (2) is higher.
Further, the thrust measuring unit is a pressure sensor; the bottom of the pressure sensor is fixed on the ground, and the upper end of the pressure sensor is fixedly connected with the support.
The method and the device avoid the problem that the estimation accuracy of the model is inaccurate because the noise difference of each observation point is not considered in the prior art, and improve the estimation accuracy of the thrust model.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1(a) is a schematic structural diagram of a small electric propeller thrust model estimation device according to a first embodiment of the present invention;
fig. 1(b) is a schematic structural diagram of a small electric propeller thrust model estimation device according to a second embodiment of the present invention;
FIG. 2 is a schematic step diagram of a method for estimating a thrust model of a small electric propeller according to a first embodiment of the present invention;
fig. 3 is a schematic perspective view of a connection between a second deep groove ball bearing and a bracket of the small electric propeller thrust model estimation device according to the first embodiment of the present invention;
fig. 4 is a schematic perspective view illustrating a connection structure between a first deep groove ball bearing and a bracket of the small-sized electric propeller thrust model estimation device according to the first embodiment of the present invention;
fig. 5 is a schematic diagram of a circuit connection relationship among the adjustable power module, the thrust measurement unit, the propeller motor, and the control unit according to the first embodiment of the present invention;
fig. 6 is a schematic diagram of a circuit connection relationship among the adjustable power module, the rotation speed measurement unit, the thrust measurement unit, the propeller motor, and the control unit according to the second embodiment of the present invention.
In the figure, 1, an electric propeller, 12, a propeller motor, 2, a first deep groove ball bearing, 21, a first bearing outer ring, 22, a first bearing inner ring, 3, an electric propeller mounting and fixing support, 4, a second deep groove ball bearing, 41, a second bearing outer ring, 42, a second bearing inner ring, 5, a sealing structure, 6, a thrust measuring unit, 71, a first testing cable, 72, a second testing cable, 8, a rotating speed measuring unit, 9, an adjustable power supply module, 10 and an industrial personal computer.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
As shown in fig. 1(a) and 5, the invention provides a small-sized electric propeller thrust model estimation device, which comprises a control unit 10, an adjustable power module 9, an electric propeller 1, a bracket 3, a sealing structure 5, a limiting unit, a first test cable 71 and a thrust measurement unit 6.
The electric propeller 1 is composed of a propeller body and a propeller motor 12. The propeller motor 12 drives the propeller body to rotate. The electric propeller 1 is a test object in the thrust model estimation device of the present invention. In the present invention, the arrangement and the position relationship of the propeller body and the propeller motor 12 belong to the known technology in the field, and can be understood by those skilled in the art.
The control unit 10 is a control, data acquisition and processing core of the test apparatus. The control unit 10 may employ an industrial personal computer. The control unit 10 is configured to: adjusting the operating voltage v of the propeller motor 12iAnd the rotational speed w of the electric propellerjAt each observation point (v)i，wj) Measuring thrust measurement data F of an electric propelleri,j,kWhere i is 1,2, … …, M is the total number of operating voltages adjusted, j is 1,2, … …, N is the total number of rotational speeds adjusted, K is 1,2, … …, K is at the observation point (v £ v @)i，wj) The total number of measurements taken; according to the observed point (v)i，wj) Thrust measurement data F of the electric propelleri,j,kThe measured noise calculation weight value sigmai，j(ii) a Constructing a function E, and calculating an estimated value of the matrix V according to a constraint condition of minimum of the function E
Figure GDA0002958000120000051
Wherein,
Figure GDA0002958000120000052
V＝(A3,A2,A1,B3,B2,B1,C)T(ii) a Thrust model for obtaining small electric propeller
Figure GDA0002958000120000053
The input end of the adjustable power supply module 9 is connected with the control unit 10, and the output end of the thrust measurement unit 6 is connected with the control unit 10 in a wired or wireless mode. The adjustable power supply module 9 is used for providing working voltage for the propeller motor 12. The adjustable power supply module 9 can be set by the control unit 10 to provide a corresponding operating voltage v for the propeller motor 12.
The bracket 3 is used for supporting and fixing the electric propeller 1. One end of the bracket 3 is connected with the electric propeller 1, and the other end is connected with the thrust measuring unit 6. Namely, the upper end of the bracket 3 is connected with the propeller body, and the lower end is connected with the thrust measuring unit 6. The support 3 is isolated from the rotation of the propeller body.
As shown in fig. 4, the thrust model estimation device further includes a first deep groove ball bearing 2. The first deep groove ball bearing 2 includes a first bearing outer ring 21, a first bearing inner ring 22, and balls disposed between the first bearing outer ring 21 and the first bearing inner ring 22. The first bearing outer ring 21 is connected with the propeller body, and the first bearing inner ring 22 is connected with the bracket 3. The connection of the bracket 3 to the propeller body is not shown in fig. 4.
The seal structure 5 is for accommodating the thrust measuring unit 6. The sealing structure 5 is used for isolating the influence of aerodynamic force generated by the propeller and external disturbance airflow on the thrust measuring unit 6, so that pressure measurement data are more accurate. The sealing structure 5 may be a sealing cover.
The limiting unit is used for limiting the support 3 to swing in the horizontal direction. As shown in fig. 3, the limiting unit is a second deep groove ball bearing 4. The bracket 3 passes through the second bearing inner ring 42 of the second deep groove ball bearing 4. The second deep groove ball bearing 4 includes a second bearing outer race 41, a second bearing inner race 42, and balls disposed between the second bearing outer race 41 and the second bearing inner race 42. The second bearing outer ring 41 is fixedly connected with the ground, the second bearing inner ring 42 is connected with the bracket 3, and the number of the second deep groove ball bearings 4 is preferably at least two. And a second bearing outer ring 41 of the second deep groove ball bearing 4 and the thrust measuring unit 6 are fixedly connected with the ground through a sealing structure 5. The second deep groove ball bearing 4 limits the tangential direction movement of the bracket 3, ensuring reliable transfer of the propeller pressure along the bracket 3 to the thrust measuring unit 6. In fig. 3, the balls of the second deep groove ball bearing 4 are not shown.
The thrust measuring unit 6 is used to measure the thrust F of the electric propeller 1 (i.e., the pressure generated by the electric propeller). The thrust measuring unit 6 is a pressure sensor. The bottom of the pressure sensor is fixed on the ground, and the upper end of the pressure sensor is fixedly connected with the support 3. The measurement data of the thrust measurement unit 6 is transmitted back to the control unit 10 through the first test cable 71, and automatic collection of the measurement data is realized.
In the present invention, the control unit 10 is connected to the propeller motor 12. The control unit 10 adjusts the rotation speed of the motor by adjusting the duty ratio of the output PWM waveform, thereby adjusting the rotation speed of the electric propeller. This is well known in the art and will be understood by those of ordinary skill in the art. How to set the range and the precision of the thrust measuring unit 6, the adjustment range and the adjustment precision of the rotating speed of the electric propeller 1, and the adjustment range and the adjustment precision of the voltage adjusted by the adjustable power module 9 are all known in the art, and can be understood by those skilled in the art.
Fig. 5 is a schematic diagram of a circuit connection relationship between the adjustable power module, the thrust measurement unit, the propeller motor 12 and the control unit according to the first embodiment of the present invention. As shown in fig. 5, in the present invention, the rotation speed can be directly measured by the control unit 10 at the time of adjusting the rotation speed of the electric propeller.
As shown in fig. 2, the present invention provides a method for estimating a thrust model of a small electric propeller, comprising the steps of:
(a) adjusting the operating voltage v of the propeller motor 12iAnd the rotational speed w of the electric propellerjAt each observation point (v)i，wj) Measuring thrust measurement data F of an electric propelleri,j,kWhere i is 1,2, … …, M is the total number of operating voltages adjusted, j is 1,2, … …, N is the total number of rotational speeds adjusted, K is 1,2, … …, K is at the observation point (v £ v @)i，wj) The total number of measurements taken;
(b) from thrust measurement data Fi,j,kThe measured noise calculation weight value sigmai，j；
(c) According to the weight value sigma calculated in the step (b)i，jConstructing a function E, and calculating an estimated value of the matrix V according to a constraint condition of minimum of the function E
Figure GDA0002958000120000071
Wherein,
Figure GDA0002958000120000072
Figure GDA0002958000120000073
V＝(A3,A2,A1,B3,B2,B1,C)T，A3、A2、A1、B3、B2、B1and C are coefficients;
(d) thrust model for obtaining small electric propeller
Figure GDA0002958000120000074
In the step (b), according to the constraint condition of the minimum function E, the least square method is used for calculating the estimated value of the matrix V
Figure GDA0002958000120000075
In step (b), the weight σi，jCalculated according to the following formula:
Figure GDA0002958000120000076
wherein,
Figure GDA0002958000120000077
represents an observation point (v)i，wj) Corresponding thrust measurement data Fi,j,kAverage value of (a).
Setting different observation points (working voltage v and propeller rotating speed w) of the small electric propeller through a thrust model estimation device; then, acquiring sufficient thrust measurement data for each observation point; then, carrying out noise distribution statistics on the thrust measurement data of different observation points; finally, weighting the thrust measurement data by using the noise distribution of the thrust measurement data of each observation point, and obtaining the thrust modeling of the electric propeller by adopting a least square estimation method; the invention is realized concretely as follows:
for electric propeller observation points (v)i，wj) Obtaining corresponding thrust measurement data F by means of a pressure measurement sensor (6)i，j，kThen, the observation point (v) is calculatedi，wj) The noise variance of the thrust measurement data is:
Figure GDA0002958000120000078
in the above formula, the first and second carbon atoms are,
Figure GDA0002958000120000079
is shown at observation point (v)i，wj) K thrust measurement data Fi，j，kAverage value of (d); k is the sample data size. k represents at the observation point (v)i，wj) The kth measurement was performed.
Taking a 3-order thrust model
Figure GDA00029580001200000710
In the above formula: (.)TRepresents a transpose of a vector or matrix;
Figure GDA00029580001200000711
representing an observation vector; v ═ A3,A2,A1,B3,B2,B1,C)TRepresenting a coefficient vector.
Designing an error observation function E:
Figure GDA0002958000120000081
using least squares, a unique estimate of the coefficient matrix V can be obtained
Figure GDA0002958000120000082
So that the value of E in the above formula is minimized. Thus, a small electric propeller thrust model can be obtained as
Figure GDA0002958000120000083
Example two
The second embodiment is different from the first embodiment in that the small electric propeller thrust model estimation device further includes a rotation speed measurement unit 8 and a second test cable 72.
FIG. 1(b) shows a small electric screw according to a second embodiment of the present inventionThe structure schematic diagram of the oar thrust model estimation device. Fig. 6 is a schematic diagram of a circuit connection relationship among the adjustable power module, the rotation speed measuring unit, the thrust measuring unit, the propeller motor 12, and the control unit according to the second embodiment of the present invention. The measurement data of the rotation speed measurement unit 8 is transmitted back to the control unit 10 through the second test cable 72, so that the automatic acquisition of the measurement data is realized. The output end of the rotating speed measuring unit 8 is connected with the control unit 10 in a wired or wireless mode. The rotation speed measuring unit 8 is used for measuring the rotation speed w of the electric propeller 1. The rotation speed measuring unit 8 is arranged towards the electric propeller 1, the rotation speed measuring unit 8 is fixedly connected with the ground, and the rotation speed measuring unit 8 is preferably a photoelectric sensor. How to set the range and accuracy of the rotation speed measuring unit 8 belongs to the known technology in the field, and can be understood by the ordinary skilled person in the field. For calculating an estimate of the matrix V
Figure GDA0002958000120000084
The required number of operating voltages v and rotational speeds w that need to be adjusted is well known in the art and will be understood by those of ordinary skill in the art.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
The embodiments of the present invention have been described in detail, but the present invention is only the preferred embodiments of the present invention, and is not to be considered as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent. After reading the present invention, modifications of various equivalent forms of the invention by those skilled in the art will fall within the scope of the appended claims. In the case of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other.

Claims (14)

1. A method for estimating a thrust model of a small electric propeller, said electric propeller (1) comprising a propeller body and a propeller motor (12), characterized in that said estimation method comprises the steps of:
(a) adjusting the operating voltage v of a propeller motor (12)iAnd the rotational speed w of the electric propellerjAt each observation point (v)i，wj) Measuring thrust measurement data F of an electric propeller (1)i,j,kWhere i is 1,2, … …, M is the total number of operating voltages adjusted, j is 1,2, … …, N is the total number of rotational speeds adjusted, K is 1,2, … …, K is at the observation point (v £ v @)i，wj) The total number of measurements taken;
(b) from thrust measurement data Fi,j,kThe measured noise calculation weight value sigmai，j；
(c) According to the weight value sigma calculated in the step (b)i，jConstructing a function E, and calculating an estimated value of the matrix V according to a constraint condition of minimum of the function E
Figure FDA0002987746570000011
Wherein,
Figure FDA0002987746570000012
Figure FDA0002987746570000013
V＝(A3,A2,A1,B3,B2,B1,C)T，A3、A2、A1、B3、B2、B1and C are coefficients;
(d) thrust model for obtaining small electric propeller
Figure FDA0002987746570000014
2. The method according to claim 1, wherein in the step (c), the estimated value of the matrix V is calculated by a least square method according to a constraint condition that the function E is minimum
Figure FDA0002987746570000015
3. The method for estimating thrust model of small electric propeller according to claim 1 or 2, wherein in the step (b), the weight σ is calculatedi，jCalculated according to the following formula:
Figure FDA0002987746570000016
wherein,
Figure FDA0002987746570000017
represents an observation point (v)i，wj) Corresponding thrust measurement data Fi,j,kAverage value of (a).
4. A small electric propeller thrust model estimation device implementing the small electric propeller thrust model estimation method according to any one of claims 1 to 3, the electric propeller (1) including a propeller body and a propeller motor (12), characterized in that the estimation device includes:
the adjustable power supply module (9) is used for providing working voltage for the propeller motor (12);
a thrust measuring unit (6) for measuring the thrust of the electric propeller (1);
a rotation speed measuring unit (8) for measuring the rotation speed of the electric propeller;
a control unit (10) for adjusting the operating voltage v of the propeller motor (12)iAnd the rotational speed w of the electric propellerjAt each observation point (v)i，wj) Measuring thrust measurement data F of an electric propeller (1)i,j,kWhere i is 1,2, … …, M is the total number of operating voltages adjusted, j is 1,2, … …, N is the total number of rotational speeds adjusted, K is 1,2, … …, K is at the observation point (v £ v @)i，wj) The total number of measurements taken; from thrust measurement data Fi,j,kTo measureQuantity noise calculation weight sigmai，j(ii) a Constructing a function E, and calculating an estimated value of the matrix V according to a constraint condition of minimum of the function E
Figure FDA0002987746570000021
Wherein,
Figure FDA0002987746570000022
V＝(A3,A2,A1,B3,B2,B,C)T，A3、A2、A1、B3、B2、B1and C are coefficients; thrust model for obtaining small electric propeller
Figure FDA0002987746570000023
The input end of the adjustable power supply module (9) is connected with the control unit (10), and the output ends of the rotating speed measuring unit (8) and the thrust measuring unit (6) are connected with the control unit (10) in a wired or wireless mode.
5. The small electric propeller thrust model estimation device according to claim 4, characterized by further comprising a bracket (3), wherein both ends of the bracket (3) are respectively connected with the propeller body and the thrust measurement unit (6).
6. The small electric propeller thrust model estimation device according to claim 5, the bracket (3) being isolated from the rotation of the propeller body.
7. The small electric propeller thrust model estimation device according to claim 6, further comprising a first deep groove ball bearing (2), the first deep groove ball bearing (2) comprising a first bearing outer ring (21), a first bearing inner ring (22) and balls arranged between the first bearing outer ring (21) and the first bearing inner ring (22), the first bearing outer ring (21) being connected with the propeller body, the first bearing inner ring (22) being connected with the bracket (3).
8. The small electric propeller thrust model estimation device according to any one of claims 4 to 7, characterized by further comprising a limiting unit for limiting the oscillation of the bracket (3) in the horizontal direction.
9. The small electric propeller thrust model estimation device according to claim 8, wherein the limiting unit is a second deep groove ball bearing (4), the second deep groove ball bearing (4) comprises a second bearing outer ring (41), a second bearing inner ring (42) and balls arranged between the second bearing outer ring (41) and the second bearing inner ring (42), the second bearing outer ring (41) is fixedly connected with the ground, and the bracket (3) penetrates through the second bearing inner ring (42).
10. The small electric propeller thrust model estimation device according to claim 9, the number of the second deep groove ball bearings (4) being at least two.
11. The small electric propeller thrust model estimation device according to claim 9, further comprising a sealing structure (5) for accommodating the thrust measurement unit (6), wherein the second bearing outer ring of the second deep groove ball bearing (4) and the thrust measurement unit (6) are fixedly connected with the ground through the sealing structure (5).
12. The small electric propeller thrust model estimation device according to any one of claims 4 to 7, characterized in that the rotation speed measurement unit (8) is disposed toward the propeller body.
13. The small electric propeller thrust model estimation device according to claim 12, the rotation speed measurement unit (8) being a photoelectric sensor.
14. The small electric propeller thrust model estimation device according to any one of claims 4 to 7, characterized in that the thrust measurement unit (6) is a pressure sensor; the bottom of the pressure sensor is fixed on the ground, and the upper end of the pressure sensor is fixedly connected with the support (3).
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