CN108375463B - Three-dimensional wind field testing system and method for rotor unmanned aerial vehicle - Google Patents
Three-dimensional wind field testing system and method for rotor unmanned aerial vehicle Download PDFInfo
- Publication number
- CN108375463B CN108375463B CN201810467180.2A CN201810467180A CN108375463B CN 108375463 B CN108375463 B CN 108375463B CN 201810467180 A CN201810467180 A CN 201810467180A CN 108375463 B CN108375463 B CN 108375463B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- space
- grid
- test
- 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.)
- Active
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 147
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000010998 test method Methods 0.000 claims abstract 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 230000008021 deposition Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
Abstract
The invention discloses a three-dimensional wind field testing system and method for a rotor unmanned aerial vehicle. By building a three-dimensional wind field test system of the rotor unmanned aerial vehicle, the three-dimensional wind field test method of the rotor unmanned aerial vehicle based on the wireless wind speed sensor and the space grid is provided. According to wind field distribution characteristics before and after the rotor unmanned aerial vehicle starts, combine together wireless wind speed sensor and space grid testing arrangement, test the wind speed of each space grid test point, realize the three-dimensional wind field of unmanned aerial vehicle quick, effective, accurate detection and construction. The method provides comprehensive, effective and accurate three-dimensional wind field information for rotor unmanned aerial vehicle application.
Description
Technical Field
The invention belongs to the technical field of agriculture and forestry plant protection, and particularly relates to a three-dimensional wind field testing system and method for a rotor unmanned aerial vehicle.
Background
Under the accurate trend of modern agriculture, unmanned aerial vehicle plant protection technique relies on its adaptability, high-efficient operation, saves labour, resources are saved and a great deal of advantages such as environmental protection, has good development prospect in the agriculture and forestry aviation plant protection field in China. Experiments show that the wind field generated by the unmanned aerial vehicle rotor wing has great influence on the deposition effect of the applied mist drops, and particularly, in the low-altitude and low-volume application process, the deposition amount of the mist drops is closely related to the wind field of the unmanned aerial vehicle rotor wing. At present, a rotor wing wind field of an unmanned plane is tested, one is to simulate the rotor wing wind field by using flow field software, the difference between the rotor wing wind field and a real state is large, and correction indexes are difficult to determine; the other is unmanned aerial vehicle hovering operation, and a small anemometer is used for ground point distribution to test the wind field range and the wind speed, and then fitting is carried out. However, the unmanned aerial vehicle is not positioned at a fixed position and a fixed angle, the positions of test points cannot be positioned accurately, the density of the test points is limited, the formed wind field is fitted in a limited manner, is discontinuous, and has obvious difference with the actual wind field.
CN104568006a discloses an optimal operation parameter testing device and testing method for an agricultural rotary unmanned aerial vehicle. The aerial spraying test with a certain height above the ground can be carried out, the visual detection technology is combined under the controllable conditions of a laboratory and an outdoor, the pesticide application effect of the unmanned aerial vehicle under the controllable quantitative different operation parameter conditions is truly tested, the distribution range of a wind field and the fog drop velocity vector distribution are used for determining the operation rule and the optimal parameter combination. However, the patent mainly aims at unmanned aerial vehicle attitude control, visualized fogdrop speed field and spraying effect test, only qualitative research is carried out on the wind field of the rotor unmanned aerial vehicle, and accurate distribution of the rotor wind field and specific wind speed values at specific positions cannot be quantitatively tested.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a system and a method for testing a three-dimensional wind field of a rotor unmanned aerial vehicle, which are low in cost, simple to operate and accurate in calibration. According to the system, through accurately testing the spatial distribution of the three-dimensional wind field of the unmanned aerial vehicle, the spray working parameters of the plant protection unmanned aerial vehicle are further optimized by combining with the test of the fog drop field, and the optimal fog drop deposition effect is obtained, so that the purpose of accurately applying medicine is achieved.
The invention aims at realizing the following technical scheme:
a three-dimensional wind field testing system of a rotor unmanned plane comprises a wind field generating module, a space test point grid module and a wind speed testing module;
the wind field generation module be used for providing rotor unmanned aerial vehicle wind field under the different flight conditions, specifically include: the unmanned rotorcraft comprises a rotor unmanned aerial vehicle, an unmanned aerial vehicle attitude control console and a support frame;
the space test point grid modules are distributed around the wind field generation module and matched with the wind field generation module, and are used for setting the positions of three-dimensional wind field test points, and specifically comprise: the grid connecting rods are arranged in parallel with the supporting frames, more than one grid connecting rods are arranged, and a plurality of space grid lines are arranged between two adjacent grid connecting rods in parallel;
the wind speed test module is arranged on the space grid line and is used for collecting and storing three-dimensional wind field data, and specifically comprises the following steps: a wireless wind speed sensor and a wind speed data recorder.
As the preferable scheme of the three-dimensional wind field test system of the rotor unmanned aerial vehicle, the rotor unmanned aerial vehicle is fixed on an unmanned aerial vehicle gesture control console, and the rotor rotating speed, the course and the body gesture of the rotor unmanned aerial vehicle can be controlled and adjusted through the unmanned aerial vehicle gesture control console; the unmanned aerial vehicle attitude control platform comprises an unmanned aerial vehicle pitching angle control platform and an unmanned aerial vehicle horizontal rotation angle control platform, and the pitching angle and the horizontal rotation angle are controlled by a worm and gear mechanism arranged in the unmanned aerial vehicle attitude control platform through a stepping motor; the support frame fix in unmanned aerial vehicle gesture control platform below, for the main bearing and the location structure of wind field generation module.
Further, the unmanned aerial vehicle infrastructure comprises a frame, a battery, a flight control, a paddle, an electric and a remote controller; the battery is installed in the belly of frame, for flight control, electricity transfer, motor and unmanned aerial vehicle gesture control platform provide the power, the remote controller pass through flight control and electricity transfer, control unmanned aerial vehicle rotor rotational speed, through step motor control unmanned aerial vehicle gesture control platform, realize unmanned aerial vehicle gesture change, accomplish the realization of unmanned aerial vehicle three-dimensional wind field under different flight conditions.
Furthermore, the unmanned aerial vehicle attitude control platform consists of a pitching angle control platform, a horizontal rotation angle control platform and an unmanned aerial vehicle fixed rack; the horizontal corner control console controls the machine head orientation of the unmanned aerial vehicle; the pitching angle control platform controls the pitching attitude of the unmanned aerial vehicle through the cooperation of the two angular displacement platforms; the unmanned aerial vehicle fixed rack on the top layer of the unmanned aerial vehicle attitude control platform is connected with the foot rest of the unmanned aerial vehicle, so that the attitude of the unmanned aerial vehicle is kept unchanged during working; when the unmanned aerial vehicle works, the direction and pitching attitude of the unmanned aerial vehicle are adjusted and fixed according to experimental requirements, and then the unmanned aerial vehicle is started and the rotating speed of the unmanned aerial vehicle is controlled, so that a three-dimensional wind field of the unmanned aerial vehicle in a stable state is obtained; the unmanned aerial vehicle three-dimensional wind field is positioned in the space test grid, and the space positions of all wireless wind speed sensors are calibrated; all wireless wind speed sensors measure the wind speed of each test point, and wind speed data are acquired and stored by a wind speed data recorder.
As the preferable scheme of the three-dimensional wind field test system of the rotor unmanned aerial vehicle, the space test point grid module can quickly and accurately adjust the number, the distribution density and the distribution position of wind speed test points in the three-dimensional wind field test grid according to the number, the distribution density and the distribution requirement of the actual test points.
As the preferable scheme of the three-dimensional wind field test system of the rotor unmanned aerial vehicle, the grid connecting rod and the support frame are composed of a reference sleeve support and a plurality of extension sleeves arranged above the support, wherein the top end of the reference sleeve support is provided with external threads, one side of each extension sleeve is provided with internal threads, the other side of each extension sleeve is provided with external threads, the extension sleeves can be quickly screwed on the reference sleeve support, the extension sleeves can be quickly connected through threads, and the joints are raised; the grid connecting rod, the support frame and the space grid lines are connected quickly, so that the test surface can be enlarged quickly.
As the preferable scheme of the three-dimensional wind field testing system of the rotor unmanned aerial vehicle, the wireless wind speed sensor is arranged on a space grid line and is positioned at a test point; calibrating the position of the three-dimensional wind field of the unmanned aerial vehicle through the scales of the space grid lines; the wind speed data recorder is arranged at a position far away from the wind field, acquires the measured value of each wireless wind speed sensor through wireless communication, automatically records the wind speed value of each spatial position point according to the label of the wireless wind speed sensor, and stores data.
As the preferable scheme of the three-dimensional wind field test system of the rotor unmanned aerial vehicle, the reference sleeve bracket is a supporting and positioning device of a space test point grid module; the extension sleeves are connected to the top of the reference sleeve bracket through threads, and are installed with a plurality of extension sleeves through threads, so that the height of the three-dimensional wind field test grid is adjusted; the space grid lines are provided with size scales, so that specific positions of wind speed test points on each space grid line in the unmanned aerial vehicle three-dimensional wind field are determined.
As the preferable scheme of the three-dimensional wind field test system of the rotor unmanned aerial vehicle, grid line limiting heads are arranged at two ends of the space grid lines, grid line positioning inner cavities are arranged in the extension sleeve, and symmetrical L-shaped limiting grooves and positioning round holes are formed in the surfaces of the grid line positioning inner cavities; the diameter of the positioning round hole is slightly larger than that of the grid line limiting head, and the width of the notch of the L-shaped limiting groove is slightly larger than that of the grid line; the grid line limiting head and the grid line pass through the positioning round hole, translate to an inflection point in the positioning inner cavity along the L-shaped limiting groove, and then are downwards tensioned and connected to the bottommost end of the L-shaped limiting groove of the positioning inner cavity, so that the position of the grid line limiting head is limited; when the grid line tension device works, one end of the grid line is connected with a positioning inner cavity on one side of the extension sleeve, the grid line is pulled out through the L-shaped limiting groove, the other end of the grid line is connected with the positioning inner cavity on the other side of the extension sleeve, and the grid line is tensioned; after the work is finished, the space grid lines are quickly retracted from the extension sleeve through the L-shaped limiting groove.
As the preferable scheme of the three-dimensional wind field test system of the rotor unmanned aerial vehicle, the reference sleeve bracket controls the position of the grid connecting rod, and the space test grid controls the azimuth angle of the wind speed test point relative to the unmanned aerial vehicle; the number of the overlapped extension sleeves controls the vertical height of the space grid lines; the size scale of the space grid line can control the horizontal distance between each test point and the unmanned aerial vehicle, so that the three-dimensional space position coordinates of each test point can be calibrated; according to the experimental requirement, a wireless wind speed sensor is arranged at a space grid line test point, and the three-dimensional space position coordinate of the wireless wind speed sensor can be calibrated.
The invention also discloses a testing method of the rotor unmanned aerial vehicle three-dimensional wind field, which comprises the following steps:
firstly, determining the type and the working position of a rotor unmanned aerial vehicle, and installing an unmanned aerial vehicle support frame on the ground; a flight attitude control console is arranged at the top end of the support frame, and the rotor unmanned aerial vehicle is arranged on the control console; parameters of a pitching angle control console and a horizontal rotation angle control console are adjusted, and flight gestures are simulated.
Secondly, determining space test points according to the influence of different experimental factors such as the ground clearance height, the flying state, the number of the rotor wings of the unmanned aerial vehicle, the rotor wing positions and the like of the unmanned aerial vehicle; then installing at least one reference sleeve bracket according to different positions of the space test points; the reference sleeve bracket mainly has the following functions: 1. a positioning function; 2. support function.
Thirdly, the upper end of the reference sleeve bracket is connected with the extension sleeve in a threaded manner, and the top end of the extension sleeve is continuously connected with the extension sleeve in a threaded manner; the number of upward connected extension sleeves controls the height of the space test grid; according to the operation ground clearance of the unmanned aerial vehicle to be tested, the height of the space test grid and the number of the installed extension sleeves can be determined;
fourthly, connecting space grid lines, wherein one end of a grid line limiting head passes through a round hole in the middle of the positioning inner cavity and is arranged at the bottom of the positioning inner cavity of the extension sleeve along the direction of the L-shaped limiting groove; the space grid lines are clamped at the bottom end of the L-shaped limiting groove through the grid line limiting head and led out, and are positioned by the method; the space grid line is provided with size scales, and a wireless wind speed sensor is arranged at the scale position on the space grid line according to experimental requirements; the other end of the space grid line is clamped at the bottom of the positioning inner cavity of the extension sleeve at the same height position on the unmanned aerial vehicle support frame through the grid line limiting head.
Step five, determining the horizontal distance between the wireless wind speed sensor on the test point and the center of the rotor unmanned aerial vehicle according to the scales of the space grid lines; the height of the wireless wind speed sensor on the test point relative to the ground can be determined according to the number of the extension sleeves in the test grid; and the azimuth angle of the wireless wind speed sensor on the test point relative to the nose of the rotor unmanned aerial vehicle can be determined according to the position of the reference sleeve bracket.
Sixthly, determining the positions of other space test grids relative to the rotor unmanned aerial vehicle according to the requirements of the rotor unmanned aerial vehicle three-dimensional wind field test; installing a plurality of groups of space test grids according to the operations of the second step to the fifth step; and a complete test grid of the three-dimensional wind field of the unmanned aerial vehicle is built according to the test grid; the three-dimensional wind field test system of the rotor unmanned aerial vehicle is formed by matching with a wind speed data recorder and different rotor unmanned aerial vehicles.
Seventh, starting the rotor unmanned aerial vehicle, wherein a wind field is formed in the rotor unmanned aerial vehicle three-dimensional wind field test system, and a wireless wind speed sensor records all wind speed data of the three-dimensional wind field before, during and after the rotor unmanned aerial vehicle is started. The wind speed data are transmitted to a wind speed data recorder in a wireless mode, and are displayed and stored.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The range of the wind field of the rotor unmanned aerial vehicle can be accurately tested, and the wind speed value at a specific position can be accurately tested;
(2) The actual measurement data is combined with a virtual simulation technology, so that a visual wind field can be generated;
(3) Through continuous recording and data processing, wind field change details under different postures and different machine types can be observed.
Drawings
The invention and the embodiments of the invention will be further described in detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a block diagram of the overall system for testing of the present invention;
FIG. 2 is a schematic view of the positioning lumen of the extension sleeve of the present invention
FIG. 3 is a schematic diagram of a test grid connection of the present invention;
FIG. 4 is a schematic view of the configuration of the flight attitude control console of the present invention;
fig. 5 is a schematic working diagram of a three-dimensional wind field test system for a rotary-wing unmanned aerial vehicle.
In the figure: 1-a reference sleeve mount; 2-extending the sleeve; 3-an unmanned aerial vehicle support frame; 4-an unmanned aerial vehicle flight attitude control console; 5-grid connection bars; 6-a wireless wind speed sensor; 7-space grid lines; 8-grid line limit head; 9-L-shaped limit grooves; 10-connecting threads; 11-positioning an inner cavity; 12-pitch angle console; 13-horizontal corner console; 14-an unmanned aerial vehicle fixing frame; 15-rotor unmanned aerial vehicle; 16-wind speed data logger.
The specific embodiment is as follows:
the invention is further described below with reference to the accompanying drawings.
Example 1
Referring to fig. 1-5, the three-dimensional wind field test system for the rotor unmanned aerial vehicle of the invention,
the system consists of a wind field generation module, a space test point grid module and a wind speed test module; the wind field generation module be used for providing rotor unmanned aerial vehicle wind field under the different flight conditions, specifically include: the unmanned rotorcraft 15, the unmanned aerial vehicle attitude control console 4 and the supporting frame 3; the space test point grid modules are distributed around the wind field generation module and matched with the wind field generation module, and are used for setting the positions of three-dimensional wind field test points, and specifically comprise: the grid connecting rods 5 and the space grid lines 7 are arranged in parallel with the supporting frame 3, the number of the grid connecting rods is more than one, and a plurality of space grid lines 7 are arranged between two adjacent grid connecting rods in parallel; the wind speed test module is arranged on the space grid line and is used for collecting and storing three-dimensional wind field data, and specifically comprises the following steps: a wireless wind speed sensor 6 and a wind speed data recorder 16.
The rotor unmanned aerial vehicle 15 is fixed on the unmanned aerial vehicle gesture control console 4, and the rotor rotating speed, the course and the body gesture of the rotor unmanned aerial vehicle can be controlled and adjusted through the unmanned aerial vehicle gesture control console; the unmanned aerial vehicle attitude control platform comprises an unmanned aerial vehicle pitching angle control platform 12 and an unmanned aerial vehicle horizontal rotation angle control platform 13, and pitching and horizontal rotation angle control are completed by a worm and gear mechanism arranged in the unmanned aerial vehicle attitude control platform through a stepping motor; the support frame 3 fix in unmanned aerial vehicle gesture control platform 4 below, for the main bearing and the location structure of wind field generation module. The unmanned aerial vehicle infrastructure comprises a frame, a battery, a flight control device, a paddle, an electric power and a remote controller; the battery is installed in the belly of frame, for flight control, electricity transfer, motor and unmanned aerial vehicle gesture control platform provide the power, the remote controller pass through flight control and electricity transfer, control unmanned aerial vehicle rotor rotational speed, through step motor control unmanned aerial vehicle gesture control platform, realize unmanned aerial vehicle gesture change, accomplish the realization of unmanned aerial vehicle three-dimensional wind field under different flight conditions. The unmanned aerial vehicle attitude control table 4 consists of a pitching angle control table 12, a horizontal rotation angle control table 13 and an unmanned aerial vehicle fixed rack 14; the horizontal corner control console 13 controls the machine head orientation of the unmanned aerial vehicle; the pitching angle control platform 12 controls the pitching attitude of the unmanned aerial vehicle through the cooperation of the two angular displacement platforms; the unmanned aerial vehicle fixed rack 14 on unmanned aerial vehicle attitude control platform top layer is connected with unmanned aerial vehicle's foot rest, keeps the gesture of during operation unmanned aerial vehicle unchanged. When the unmanned aerial vehicle works, the direction and pitching attitude of the unmanned aerial vehicle are adjusted and fixed according to experimental requirements, and then the unmanned aerial vehicle is started and the rotating speed of the unmanned aerial vehicle is controlled, so that a three-dimensional wind field of the unmanned aerial vehicle in a stable state is obtained; the unmanned aerial vehicle three-dimensional wind field is positioned in the space test grid, and the space positions of all wireless wind speed sensors 6 are calibrated; all wireless wind speed sensors measure the wind speed of each test point, and wind speed data are acquired and stored by a wind speed data recorder.
The specific structure and the control method of the unmanned aerial vehicle attitude control platform refer to an optimal operation parameter testing device and a testing method of an agricultural unmanned gyroplane in a pre-authorization document 201510008058.5 of the inventor.
The space test point grid module is characterized in that the number, the distribution density and the distribution position of wind speed test points in the three-dimensional wind field test grid can be quickly and accurately adjusted according to the number, the distribution density and the distribution need of the actual test points. The method comprises the following steps: the grid connecting rod 5 and the supporting frame 3 are composed of a reference sleeve bracket 1 and a plurality of extension sleeves 2 arranged above the bracket. The top end of the reference sleeve bracket 1 is provided with external threads, one side of the extension sleeve is provided with internal threads, the other side of the extension sleeve is provided with external threads, the extension sleeve can be quickly screwed on the reference sleeve bracket, the extension sleeves can be quickly connected through threads, and the joints are raised; the grid connecting rod and the support frame are formed by connecting a reference sleeve bracket and an extension sleeve, and the grid connecting rod, the support frame and the space grid lines are connected quickly, so that the test surface can be enlarged quickly. The wireless wind speed sensor 6 is arranged on the space grid lines 7 and is positioned at a test point; calibrating the position of the three-dimensional wind field of the unmanned aerial vehicle through the scales of the space grid lines; the wind speed data recorder 16 is arranged at a position far away from a wind field, acquires the measured value of each wireless wind speed sensor through wireless communication, automatically records the wind speed value of each spatial position point according to the label of the wireless wind speed sensor, and stores data. The reference sleeve bracket 1 is a supporting and positioning device of a space test point grid module; the extension sleeve 2 is connected to the top of the reference sleeve bracket through threads, a plurality of extension sleeves are installed through threads, and the height of the three-dimensional wind field test grid is adjusted; the space grid line is composed of a grid line limiting head and grid lines, the grid line limiting head is connected with a grid line positioning inner cavity on the extension sleeve, and the positioning inner cavity is composed of round holes and L-shaped limiting grooves. When in operation, one end of the grid line is connected with the positioning inner cavity on the extension sleeve at one side, the grid line is pulled out through the L-shaped limiting groove, and the other end of the grid line is connected with the positioning inner cavity on the extension sleeve at the other side, so that the grid line is tensioned; after the work is finished, the space grid lines are quickly retracted from the extension sleeve through the L-shaped limiting groove; the space grid lines are provided with size scales, so that specific positions of wind speed test points on each space grid line in the unmanned aerial vehicle three-dimensional wind field are determined.
The embodiment of the invention is not limited to a space test grid with a certain fixed shape, the length and the height of the test grid, the distance between the test grids, the detection range of the whole test grid system and the type, the number and the density of the carried wind speed sensors can be adjusted and installed according to different experimental requirements. The preferable scheme is as follows:
the method for implementing the three-dimensional wind field test of the rotor unmanned aerial vehicle comprises the following steps:
firstly, determining the type and working position of a rotor unmanned aerial vehicle 15, and installing an unmanned aerial vehicle support frame 3 on the ground; a flight attitude control console 4 is arranged at the top end of the support frame, and a rotor unmanned aerial vehicle 15 is arranged on the control console; parameters of a pitching angle control console 12 and a horizontal rotation angle control console 13 are adjusted, and flight gestures are simulated; as shown in fig. 4 and 5.
Secondly, determining space test points according to the influence of different experimental factors such as the ground clearance height, the flying state, the number of the rotor wings of the unmanned aerial vehicle, the rotor wing positions and the like of the unmanned aerial vehicle; then, according to different positions of the space test points, installing at least one reference sleeve bracket 1; the main functions of the reference sleeve bracket 1 are as follows: 1. a positioning function; 2. support function.
Thirdly, connecting the upper end of the reference sleeve bracket 1 with the extension sleeve 2 through threads 10, and continuing to connect the top end of the extension sleeve 2 with the extension sleeve 2 through threads; the number of upwardly connected extension sleeves 2 controls the height of the spatial test grid; according to the operation ground clearance of the unmanned aerial vehicle to be tested, the height of the space test grid and the number of the installed extension sleeves 2 can be determined;
fourthly, connecting space grid lines 7, wherein one end of a grid line limiting head 8 passes through a round hole in the middle of a positioning inner cavity 11 and is arranged at the bottom of the positioning inner cavity 11 of the extension sleeve 2 along the direction of an L-shaped limiting groove 9; the space grid lines 7 are clamped at the bottom end of the L-shaped limiting groove 9 through the grid line limiting head 8 and led out, and are positioned by the method; the space grid lines 7 are provided with size scales, and a wireless wind speed sensor 6 is arranged at the scale positions on the space grid lines 7 according to experimental requirements; the other end of the space grid line 7 is clamped at the bottom of a positioning inner cavity 11 of the extension sleeve 2 at the same height position on the unmanned aerial vehicle support frame 3 through a grid line limiting head 8. Thus, a space test grid is installed. As shown in fig. 3.
Fifthly, determining the distance between the wireless wind speed sensor 6 on the test point and the center of the rotor unmanned aerial vehicle according to the scales of the space grid lines; the height of the wireless wind speed sensor 6 on the test point relative to the ground can be determined according to the number of the extension sleeves 2 in the test grid; the azimuth angle of the wireless wind speed sensor 6 on the test point relative to the nose of the rotary unmanned aerial vehicle can be determined according to the position of the reference sleeve bracket 1. Thus, the spatial position calibration of all wind speed test points can be completed, as shown in fig. 1.
Sixthly, determining the positions of other space test grids relative to the rotor unmanned aerial vehicle 15 according to the requirements of the rotor unmanned aerial vehicle three-dimensional wind field test; installing a plurality of groups of space test grids according to the operations of the second step to the fifth step; and a complete test grid of the three-dimensional wind field of the unmanned aerial vehicle is built according to the test grid; the three-dimensional wind field test system of the rotor unmanned aerial vehicle is formed by matching a wind speed data recorder 16 and different rotor unmanned aerial vehicles 15, as shown in fig. 5.
Seventh, starting the rotor unmanned aerial vehicle, forming a wind field in the rotor unmanned aerial vehicle three-dimensional wind field test system, and recording all wind speed data of the three-dimensional wind field before, during and after starting the rotor unmanned aerial vehicle by the wireless wind speed sensor 6. The wind speed data is wirelessly transmitted to a wind speed data recorder 16 for display and storage.
Claims (7)
1. A three-dimensional wind field testing system of a rotor unmanned aerial vehicle is characterized by comprising a wind field generating module, a space test point grid module and a wind speed testing module;
the wind field generation module is used for providing rotor unmanned aerial vehicle wind field under the different flight conditions, includes: the unmanned rotorcraft (15), the unmanned plane attitude control console (4) and the supporting frame (3);
the space test point grid module is distributed around the wind field generation module and matched with the wind field generation module for setting the positions of the three-dimensional wind field test points, and comprises: the grid connecting rods (5) and the space grid lines (7) are arranged in parallel with the supporting frame (3), the number of the grid connecting rods is more than one, and a plurality of space grid lines (7) are arranged between two adjacent grid connecting rods in parallel;
the wind speed test module is installed on the space grid line and is used for collecting and storing three-dimensional wind field data, and comprises: a wireless wind speed sensor (6) and a wind speed data recorder (16);
the grid connecting rod (5) and the supporting frame (3) are composed of a reference sleeve bracket (1) and a plurality of extension sleeves (2) arranged above the bracket; the top end of the reference sleeve bracket (1) is provided with external threads, one side of the extension sleeve is provided with internal threads, the other side of the extension sleeve is provided with external threads, the extension sleeve threads are arranged on the reference sleeve bracket, the extension sleeves are quickly connected through threads, and the joints are raised; the grid connecting rod, the support frame and the space grid lines are connected quickly, so that the test surface is enlarged;
the wireless wind speed sensor (6) is arranged on the space grid lines (7) and is positioned at a test point; calibrating the position of the three-dimensional wind field of the unmanned aerial vehicle through the scales of the space grid lines; the wind speed data recorder (16) is arranged at a position far away from a wind field, acquires the measured value of each wireless wind speed sensor through wireless communication, records the wind speed value of each spatial position point according to the label of the wireless wind speed sensor, and stores data;
grid line limiting heads (8) are arranged at two ends of the space grid lines (7), grid line positioning inner cavities (11) are formed in the extension sleeve (2), and symmetrical L-shaped limiting grooves and positioning round holes are formed in the surfaces of the grid line positioning inner cavities; the diameter of the positioning round hole is slightly larger than that of the grid line limiting head, and the width of the notch of the L-shaped limiting groove is slightly larger than that of the grid line; the grid line limiting head and the grid line pass through the positioning round hole, translate to an inflection point in the positioning inner cavity along the L-shaped limiting groove, and then are downwards tensioned and connected to the bottommost end of the L-shaped limiting groove of the positioning inner cavity, so that the position of the grid line limiting head is limited; when the grid line tension device works, one end of the grid line is connected with a positioning inner cavity on one side of the extension sleeve, the grid line is pulled out through the L-shaped limiting groove, the other end of the grid line is connected with the positioning inner cavity on the other side of the extension sleeve, and the grid line is tensioned; after the work is finished, the space grid lines are quickly retracted from the extension sleeve through the L-shaped limiting groove.
2. The three-dimensional wind field test system of a rotor unmanned aerial vehicle according to claim 1, wherein the rotor unmanned aerial vehicle (15) is fixed on an unmanned aerial vehicle gesture control console (4), and the rotor rotation speed, the course and the body gesture are controlled and adjusted by the unmanned aerial vehicle gesture control console; the unmanned aerial vehicle attitude control console comprises an unmanned aerial vehicle pitching angle control console (12) and an unmanned aerial vehicle horizontal rotation angle control console (13), and the pitching angle and the horizontal rotation angle control console are completed by a worm and gear mechanism arranged in the unmanned aerial vehicle attitude control console through a stepping motor; the support frame (3) is fixed below the unmanned aerial vehicle attitude control table (4) and is a bearing and positioning structure of the wind field generation module.
3. The rotary-wing unmanned aerial vehicle three-dimensional wind field test system of claim 2, wherein the unmanned aerial vehicle infrastructure comprises a rack, a battery, a flight control, a paddle, an electric power and a remote control; the battery is installed in the belly of frame, for flight control, electricity transfer, motor and unmanned aerial vehicle gesture control platform provide the power, the remote controller is through flight control and electricity transfer, and control unmanned aerial vehicle rotor rotational speed is through step motor control unmanned aerial vehicle gesture control platform, realizes unmanned aerial vehicle gesture change, accomplishes the realization of unmanned aerial vehicle three-dimensional wind field under different flight conditions.
4. A rotary-wing unmanned aerial vehicle three-dimensional wind field test system according to claim 3, wherein the unmanned aerial vehicle attitude control console (4) consists of a pitching angle control console (12), a horizontal turning angle control console (13) and an unmanned aerial vehicle fixed bench (14); a horizontal corner control console (13) controls the machine head orientation of the unmanned aerial vehicle; the pitching angle control platform (12) is matched with the two angular displacement platforms to control the pitching attitude of the unmanned aerial vehicle; an unmanned aerial vehicle fixed rack (14) on the top layer of the unmanned aerial vehicle attitude control platform is connected with a foot rest of the unmanned aerial vehicle, so that the attitude of the unmanned aerial vehicle is kept unchanged during working; when the unmanned aerial vehicle works, the direction and pitching attitude of the unmanned aerial vehicle are adjusted and fixed according to experimental requirements, and then the unmanned aerial vehicle is started and the rotating speed of the unmanned aerial vehicle is controlled, so that a three-dimensional wind field of the unmanned aerial vehicle in a stable state is obtained; the unmanned aerial vehicle three-dimensional wind field is positioned in a space test grid, and the space positions of all wireless wind speed sensors (6) are calibrated; all wireless wind speed sensors measure the wind speed of each test point, and wind speed data are acquired and stored by a wind speed data recorder.
5. The three-dimensional wind field test system of a rotary-wing unmanned aerial vehicle according to claim 1, wherein the reference sleeve bracket (1) is a supporting and positioning device of a space test point grid module; the extension sleeve (2) is connected to the top of the reference sleeve bracket through threads, a plurality of extension sleeves are installed through threads, and the height of the three-dimensional wind field test grid is adjusted; the space grid lines are provided with size scales, so that specific positions of wind speed test points on each space grid line in the unmanned aerial vehicle three-dimensional wind field are determined.
6. The three-dimensional wind field test system of a rotary-wing unmanned aerial vehicle according to claim 1, wherein the reference sleeve bracket (1) controls the position of a grid connecting rod (5), and the space test grid controls the azimuth angle of a wind speed test point relative to the unmanned aerial vehicle; the number of the overlapped extension sleeves (2) controls the vertical height of the space grid lines; the size scale of the space grid lines (7) controls the horizontal distance of each test point relative to the unmanned aerial vehicle, so that the three-dimensional space position coordinates of each test point are calibrated; and installing a wireless wind speed sensor (6) at the position of the space grid line test point, and calibrating the three-dimensional space position coordinate of the wireless wind speed sensor.
7. The test method based on the rotor unmanned aerial vehicle three-dimensional wind field test system according to any one of claims 1 to 6, is characterized by comprising the following steps:
firstly, determining the type and working position of a rotor unmanned aerial vehicle (15), and installing an unmanned aerial vehicle support frame (3) on the ground; a flight attitude control console (4) is arranged at the top end of the support frame, and a rotor unmanned aerial vehicle (15) is arranged on the control console; parameters of a pitching angle control console (12) and a horizontal rotation angle control console (13) are adjusted, and flight gestures are simulated;
secondly, determining space test points according to the influence of different experimental factors of the number of the rotor wings and the positions of the rotor wings of the unmanned aerial vehicle according to the ground clearance height and the flight state of the unmanned aerial vehicle; then, according to different positions of the space test points, at least one reference sleeve bracket (1) is installed;
thirdly, connecting the upper end of the reference sleeve bracket (1) with the extension sleeve (2) through threads (10), and continuously connecting the top end of the extension sleeve (2) with the extension sleeve (2) through threads; the number of the upward connected extension sleeves (2) controls the height of the space test grid; determining the height of the space test grid and the number of the installation extension sleeves (2) according to the operation ground clearance of the unmanned aerial vehicle to be tested;
fourthly, connecting space grid lines (7), wherein one end of a grid line limiting head (8) is arranged at the bottom of a positioning inner cavity (11) of the extension sleeve (2) along the direction of an L-shaped limiting groove (9) through a round hole in the middle of the positioning inner cavity (11); the space grid lines (7) are clamped at the bottom end of the L-shaped limiting groove (9) through the grid line limiting head (8) and led out, and are positioned by the method; the space grid lines (7) are provided with size scales, and a wireless wind speed sensor (6) is arranged at the scale positions on the space grid lines (7) according to experimental requirements; the other end of the space grid line (7) is clamped at the bottom of a positioning inner cavity (11) of the extension sleeve (2) at the same height position on the unmanned aerial vehicle support frame (3) through a grid line limiting head (8);
fifthly, determining the horizontal distance between the wireless wind speed sensor (6) on the test point and the center of the rotor unmanned aerial vehicle according to the scales of the space grid lines; determining the height of the wireless wind speed sensor (6) on the test point relative to the ground according to the number of the extension sleeves (2) in the test grid; determining azimuth angles of the wireless wind speed sensors (6) on the test points relative to the rotor unmanned aerial vehicle according to the positions of the reference sleeve brackets (1), so as to complete the space position calibration of all wind speed test points;
sixthly, determining the positions of other space test grids relative to the rotor unmanned aerial vehicle (15) according to the requirements of the rotor unmanned aerial vehicle three-dimensional wind field test; installing a plurality of groups of space test grids according to the operations of the second step to the fifth step; and a complete test grid of the three-dimensional wind field of the unmanned aerial vehicle is built according to the test grid; the three-dimensional wind field test system of the rotor unmanned aerial vehicle is formed by matching a wind speed data recorder (16) with different rotor unmanned aerial vehicles (15);
seventh, starting the rotor unmanned aerial vehicle, forming a wind field in the rotor unmanned aerial vehicle three-dimensional wind field test system, recording all wind speed data of the three-dimensional wind field before starting, during starting and after starting of the rotor unmanned aerial vehicle by a wireless wind speed sensor (6), and wirelessly transmitting the wind speed data to a wind speed data recorder (16), displaying and storing the wind speed data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810467180.2A CN108375463B (en) | 2018-05-16 | 2018-05-16 | Three-dimensional wind field testing system and method for rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810467180.2A CN108375463B (en) | 2018-05-16 | 2018-05-16 | Three-dimensional wind field testing system and method for rotor unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108375463A CN108375463A (en) | 2018-08-07 |
| CN108375463B true CN108375463B (en) | 2023-10-27 |
Family
ID=63033492
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810467180.2A Active CN108375463B (en) | 2018-05-16 | 2018-05-16 | Three-dimensional wind field testing system and method for rotor unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108375463B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159921B (en) * | 2018-09-28 | 2022-01-21 | 陈怡君 | Intelligent unmanned aerial vehicle production detects with device that rises and falls |
| CN109502049A (en) * | 2018-11-30 | 2019-03-22 | 山东鲁能智能技术有限公司 | Unmanned plane wind resistance detection system and method |
| CN109813521B (en) * | 2019-01-28 | 2024-04-05 | 河南农业大学 | Plant protection unmanned aerial vehicle wind field detection device |
| CN109827740B (en) * | 2019-04-02 | 2021-01-08 | 重庆科技学院 | Multipoint adjusting type turbulence device for wind tunnel test |
| CN110082060A (en) * | 2019-05-24 | 2019-08-02 | 农业农村部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle wind resistance test equipment and method |
| CN110220666B (en) * | 2019-06-21 | 2024-01-30 | 中国农业大学 | Wind field detection device based on microstrain and online wind field detection and evaluation method |
| CN111609990A (en) * | 2020-04-24 | 2020-09-01 | 国网河北省电力有限公司电力科学研究院 | Boiler cold-state dynamic field test method based on unmanned aerial vehicle |
| CN112014063B (en) * | 2020-11-02 | 2021-07-16 | 中国空气动力研究与发展中心低速空气动力研究所 | A stores pylon for wind-tunnel test |
| CN112556965A (en) * | 2020-11-26 | 2021-03-26 | 安徽多富士智慧物联科技有限公司 | Air duct cold state accurate detection device and detection method |
| CN113252294B (en) * | 2021-06-16 | 2022-01-07 | 西南交通大学 | Cross-sea bridge space wind speed and direction testing system and monitoring method |
| CN114486149B (en) * | 2022-01-19 | 2023-11-24 | 山东交通学院 | Wind field simulation generation device and method based on unmanned aerial vehicle test |
| CN116519254B (en) * | 2023-07-04 | 2023-10-03 | 中国空气动力研究与发展中心高速空气动力研究所 | Unmanned aerial vehicle flight method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104481818A (en) * | 2014-10-08 | 2015-04-01 | 贺贵明 | Three-dimensional wind current space distribution monitoring system in wind field |
| CN104568006A (en) * | 2015-01-07 | 2015-04-29 | 南京林业大学 | Agricultural unmanned gyroplane optimal working parameter testing device and method |
| CN204536353U (en) * | 2015-04-16 | 2015-08-05 | 中国建筑科学研究院 | Air velocity transducer array and wind speed measuring apparatus |
| WO2016128003A1 (en) * | 2015-02-12 | 2016-08-18 | Vestas Wind Systems A/S | Control system capable of estimating a spatial wind field of a wind turbine system having multiple rotors |
| CN205511173U (en) * | 2016-03-28 | 2016-08-31 | 海南柏盈兰花产业开发有限公司 | Support arrangement for with outdoor view of blue afforestation of mo shi |
| CN106370389A (en) * | 2016-11-21 | 2017-02-01 | 青岛海信日立空调系统有限公司 | Air conditioner wind field test equipment and control method thereof |
| CN106679928A (en) * | 2016-10-28 | 2017-05-17 | 华南农业大学 | Three-dimensional wind field measurement system applicable to unmanned aerial vehicle and use method of three-dimensional wind field measurement system |
| CN208313555U (en) * | 2018-05-16 | 2019-01-01 | 南京林业大学 | A kind of rotor wing unmanned aerial vehicle solid wind field test macro |
-
2018
- 2018-05-16 CN CN201810467180.2A patent/CN108375463B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104481818A (en) * | 2014-10-08 | 2015-04-01 | 贺贵明 | Three-dimensional wind current space distribution monitoring system in wind field |
| CN104568006A (en) * | 2015-01-07 | 2015-04-29 | 南京林业大学 | Agricultural unmanned gyroplane optimal working parameter testing device and method |
| WO2016128003A1 (en) * | 2015-02-12 | 2016-08-18 | Vestas Wind Systems A/S | Control system capable of estimating a spatial wind field of a wind turbine system having multiple rotors |
| CN204536353U (en) * | 2015-04-16 | 2015-08-05 | 中国建筑科学研究院 | Air velocity transducer array and wind speed measuring apparatus |
| CN205511173U (en) * | 2016-03-28 | 2016-08-31 | 海南柏盈兰花产业开发有限公司 | Support arrangement for with outdoor view of blue afforestation of mo shi |
| CN106679928A (en) * | 2016-10-28 | 2017-05-17 | 华南农业大学 | Three-dimensional wind field measurement system applicable to unmanned aerial vehicle and use method of three-dimensional wind field measurement system |
| CN106370389A (en) * | 2016-11-21 | 2017-02-01 | 青岛海信日立空调系统有限公司 | Air conditioner wind field test equipment and control method thereof |
| CN208313555U (en) * | 2018-05-16 | 2019-01-01 | 南京林业大学 | A kind of rotor wing unmanned aerial vehicle solid wind field test macro |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108375463A (en) | 2018-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108375463B (en) | Three-dimensional wind field testing system and method for rotor unmanned aerial vehicle | |
| CN106679928B (en) | A kind of three-dimensional Wind field measurement system and its application method suitable for unmanned plane | |
| US10994866B1 (en) | Flight test system for flapping-wing aerial vehicle | |
| CN105891908A (en) | Airborne weather station apparatus for unmanned plane, and application method thereof | |
| CN107179775A (en) | A kind of the spectrum automatic measurement system of mass color with multi-angle and method based on unmanned plane | |
| CN108225809B (en) | Ground test system for flight performance of unmanned aerial vehicle | |
| KR102118157B1 (en) | Sensor mounting device of unmanned aerial vehicle for meteorological observation, unmanned aerial vehicle for meteorological observation and meteorological observation method thereof and sensor mounting device of unmanned aerial vehicle for meteorological observation | |
| CN109573097B (en) | Vehicle-mounted test method and system for aerodynamic parameters of low-speed aircraft | |
| CN106708075A (en) | Long range oilseed rape field SPAD value remote sensing system and acquisition method based on fixed wing unmanned plane | |
| CN108413956A (en) | Multi-rotor aerocraft stability analysis platform | |
| CN103984241A (en) | Small unmanned helicopter test stand and test simulation method | |
| CN106864768B (en) | Four-channel movement mechanism of vertical take-off and landing unmanned aerial vehicle and flight test training system | |
| CN205581333U (en) | Machine carries weather station device suitable for unmanned aerial vehicle | |
| CN104267737B (en) | One kind can be to day solar battery quadrotor | |
| CN208470114U (en) | A kind of plant protection unmanned aerial vehicle spray head active balancing device | |
| CN111142548A (en) | Surveying and mapping unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle | |
| CN112362288A (en) | Automatic adjusting system for attack angle of wind tunnel test unmanned aerial vehicle | |
| CN110726851A (en) | Method for measuring and calculating wind speed by using rotor unmanned aerial vehicle | |
| CN111959819A (en) | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof | |
| CN111216921A (en) | Test system and test method for ground-imitating flight of unmanned aerial vehicle | |
| CN208313555U (en) | A kind of rotor wing unmanned aerial vehicle solid wind field test macro | |
| Nagy et al. | Advanced data acquisition system for wind energy applications | |
| CN103984339A (en) | Mechanical failure debugging device for rotor craft | |
| CN109779851B (en) | Device and method for measuring sound power level of wind generating set | |
| CN104834018B (en) | The scope of moveable platform |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |