CN108482649A - A kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices - Google Patents
A kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices Download PDFInfo
- Publication number
- CN108482649A CN108482649A CN201810172749.2A CN201810172749A CN108482649A CN 108482649 A CN108482649 A CN 108482649A CN 201810172749 A CN201810172749 A CN 201810172749A CN 108482649 A CN108482649 A CN 108482649A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- magnetic levitation
- magnet
- component
- holder
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices, belong to aircraft innovative technology field.The invention is intended to a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices designed by fuselage, holder, holder, magnetic levitation component, data detection module, control module, solar panels, accumulator, control box.Disequilibrium is shaken and landed to four holders of unmanned plane by magnetic levitation component to reduce the flight of unmanned plane；Magnetic levitation component is arranged with fuselage junction in the holder of unmanned plane keeps the shooting effect of camera more preferable in turn to reduce the shake of holder；By data detection module detect unmanned plane suffered by external force when every flying quality come make control module adjust magnetic levitation component come make fuselage shake abatement by so that the flight effect of unmanned plane and shooting effect is reached more preferable；It is continuously powered to accumulator by the energy recycle device and solar panels of magnetic levitation component.Apparatus structure design is simple, safety durable, good environmental protection.
Description
Technical field
The present invention relates to a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices, belong to aircraft innovative technology field.
Background technology
With the progress of modern science and technology, the development of unmanned air vehicle technique also obtains very big breakthrough, and unmanned plane is each
There are deeply widely research and application in field, and in modern military field and civil field, unmanned plane has played prodigious effect,
The especially aspect of taking photo by plane of civil field, unmanned plane achieves good application effect, good in Development of UAV application prospect
Meanwhile often there is fuselage during taking photo by plane in unmanned plane, holder shake causes shooting effect poor, and unmanned plane landing is unstable,
The short problem of battery working time, thus jitter problem and continuation of the journey problem become during Development of UAV two there is an urgent need to
It solves the problems, such as.
Can exist in the working flight of unmanned plane fuselage by wind-force factor occur fuselage, holder shake the case where, dropping
Can also exist because fuselage rollover occurs for force unbalance or ground imbalance, in existing unmanned plane cushion technique during falling
Damping device is arranged by spring mostly, however, the technology of spring vibration damper requirement property is high, difficult in maintenance, service life is short,
These factors largely constrain damping effect, therefore design and a kind of can largely reach good damping
The device that effect can mitigate the continuation of the journey problem of accumulator again be modern Development of UAV there is an urgent need to.
Invention content
To solve the deficiencies in the prior art, the technical problem to be solved in the invention be intended to by fuselage, holder, holder,
Magnetic levitation component, data detection module, single chip control module, solar panels, battery designs a kind of more rotary wind types nobody
Machine magnetic levitation vibration damping device.Unmanned plane during flying process is reduced by using four holders of the unmanned plane of magnetic levitation component design
With in descent shake and disequilibrium；It is reduced by designing the magnetic levitation component at the holder and fuselage of unmanned plane
Holder is shaken to make the camera at holder preferably shoot；It is trembled by outer force effect by data detection module to detect unmanned plane
Every flying quality when dynamic adjusts magnetic levitation component to make one-chip computer module that will control signal and be changed into current signal
It saves to make fuselage reach balance, reaches damping effect；On the energy recycle device and fuselage being arranged by magnetic levitation component inside
The solar panel of side is constantly powered for accumulator.
The technical solution adopted by the present invention is：A kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices, it is characterised in that packet
It includes：Unmanned aerial vehicle body, unmanned machine support, holder, magnetic levitation component, data detection module, single chip control module, solar-electricity
Pond plate, accumulator, control box, magnetic levitation component and data detection module are connect with single chip control module, data detection module,
Single chip control module, solar panel, accumulator are both placed in control box；By designing magnetic levitation component at nobody
At four holders of the machine and holder of unmanned plane and fuselage junction, unmanned plane during flying process is detected using data detection module
With the related data information in unmanned plane descent, by control module come adjusting magnetic levitation component makes unmanned plane in real time
Flight course and descent are more stablized, while holder being promoted more to stablize so that camera is preferably shot, and then reaches nothing
Man-machine damping effect；Using inside magnetic levitation component energy recycle device and solar panel come for the electric power storage of unmanned plane
Pond powers to mitigate continuation of the journey problem.
Further, the physical principle that magnetic levitation component design uses is " magnetic pole of the same name is mutually exclusive ", the magnetic suspension group
Part includes the identical magnet of two pieces of magnetic pole sizes and magnet, sleeve, coil, connects push rod, pyrolytic graphite plate, copper wire component,
The magnet of two pieces of magnetic poles of the same name is opposed and is placed by two ports of sleeve, and the upper surface of magnet of top is provided with pyrolytic graphite plate,
The wire component of 3cm thickness is provided in the lower plate of pyrolytic graphite plate, the top of pyrolytic graphite plate is connected with push rod is connect, lower section
Magnet on be provided with coil, at this time two blocks of magnet form magnetic levitation component, lower section magnet will not move, and upper magnets with
Connection push rod is indirectly connected and can be moved in sleeve.
Further, wire component is isolated and connect push rod provided with pyrolytic graphite plate in magnetic levitation component, can completely cut off
The electric current that wire component generates, which passes on push rod, has an impact unmanned plane and magnetic levitation component, due to pyrolytic graphite plate and magnet
Between show as diamagnetic performance, therefore magnet is actually also left floating, and the diamagnetism of wire component is much smaller than pyrolytic graphite,
Therefore the coercive force between pyrolytic graphite and magnet can remain unchanged.
Further, data detection module includes air velocity transducer, three-axis gyroscope, viberation detector, displacement sensing
Device, air velocity transducer can be measured in real time air speed data suffered by unmanned plane, and three-axis gyroscope can be inclined to the angle of unmanned plane
Shifting amount is measured in real time, and viberation detector can be detected the vibration data of unmanned plane, and displacement sensor predominantly detects
The mobile displacement of the upper magnets of magnetic levitation component.
Further, the supporting support of unmanned plane is designed using magnetic levitation component, including four identical magnetic suspension groups
The top of the holder of part design, the connection push rod of the holder of four magnetic levitation components design is connect with fuselage, in four holders
Magnetic suspension force just with fuselage with weight, unmanned aerial vehicle body is indirect by the upper magnets for connecting push rod and magnetic levitation component at this time
Contact, and with lower section magnet and contactless, unmanned aerial vehicle body is in suspended state.
Further, magnetic levitation component, the connection push rod and fuselage of magnetic levitation component are provided at the holder of unmanned plane
Connection, the lower section magnet of magnetic levitation component are connect by connector with holder.
Further, when unmanned plane is in flight course, and fuselage or holder generate vibrations because of extraneous factor, wind speed sensing
Device will detect that air speed data suffered by unmanned plane at this time, gyroscope will detect that the angular displacement amount of deflection of unmanned plane at this time, shake
Motion detection device will detect that the shock momentum of unmanned plane, and the upper magnet of magnetic levitation component can be made with push rod is connect because of outside at this time
It is firmly subjected to displacement in sleeve, displacement sensor detects that magnet deviates the displacement of origin-location, data above detection dress
Setting can be by these data transmission detected to single chip control module.
Further, control module can receive every flight coefficient of data detection module, and control module will comprehensive nothing
The man-machine air speed data being subject to, vibration data, the upper magnet of angular deviation and magnetic levitation component and the position for connecting push rod
These control signals are converted to real-time current by shifting amount by power amplifier, which can be by being looped around on magnet
Coil, at this time electric current can execute magnet and generate magnetic force, the magnetic force size just foot and balance external wind and shock momentum, in turn
So that the angular metric of gyroscope is balanced, the vibrations of viberation detector is made to balance, so that the displacement of displacement sensor is balanced, then
Upper magnet can return to origin-location again with push rod is connect, and then eliminate the vibrations of holder and fuselage, reach damping effect.
Further, when unmanned plane lands, four foot supports of unmanned plane can touch ground, and four foot supports can be because at this time
The disequilibrium of force unbalance or ground when landing and promote the push rod of the magnetic levitation component of holder to occur in sleeve
Mobile, the holder of four magnetic levitation components composition can be according to specific landing stressing conditions interaction, if unmanned plane will produce
Inclination to the right, at this time two, the right of four foot supports holder will produce a cushion effect make fuselage keep balance, similarly its
The holder of the force unbalance of its situation, magnetic levitation component can generate corresponding magnetic force to make fuselage keep flat according to stress
Weighing apparatus, and then make the steady safe falling ground of unmanned plane.
Further, it is the recycling for realizing to energy, energy recycle device, magnetic is also provided in magnetic levitation component
Iron is during moving up and down, due to the copper wire group for the 3cm, there is variation magnetic field, being arranged above magnet around magnet
Part can do cutting magnetic induction line movement in the movement in magnetic field, and then induction is generated in wire component by the principle of magnetic life electricity
Electromotive force, and then induced current is generated, which can be transferred in accumulator by wire installation and be charged, in addition at nobody
One piece of solar panel that can be charged to accumulator is also provided with above the fuselage of machine, by two parts generate electric energy more
The good continuation of the journey problem for alleviating unmanned plane.
A kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices, control method include the following steps：
Step 1：Unmanned plane causes fuselage to be shaken in flight course since external forces especially wind-force acts on, this
When data detection module air velocity transducer detect wind speed size data, viberation detector detects fuselage and holder
Vibrations, gyroscope detect fuselage and holder angular deviation.
Step 2：What magnetic levitation component at four magnetic suspension holders or holder caused to be connected with fuselage because of applied external force
Movement has occurred in connection push rod in sleeve, and displacement detected by position sensor.
Step 3：Single chip control module receives data, the testing number of viberation detector from air velocity transducer
According to, the detection data of gyroscope, the data of displacement sensor, these data pass through control signal transmission by single chip control module
To amplifier.
Step 4：Amplifier receives each item data of single chip control module, carries out comprehensive analysis to data, will control
Information is converted to current signal and acts below magnetic levitation component on the coil of magnet.
Step 5：Electric current can generate magnetic force by electric magnetisation principle on the coil of magnet on magnet, and the part magnetic force is rigid
It can be balanced with the external force of unmanned plane and vibrations well.
Step 6：The magnet of the lower section of magnetic levitation component because the magnetic force of change can drive upper magnets to return to original position,
Again achieve the balance of fuselage and the balance of holder.
Step 7：When unmanned plane lands, the holder of magnetic levitation component design can work mutually, if fuselage is because of stress injustice
When weighing apparatus or ground imbalance, fuselage can be shaken, and the upper magnets of magnetic levitation component holder can covered with push rod is connect at this time
Cylinder in move, data detection device by every data transmission when landing to one-chip computer module after, magnetic levitation component holder
Can give fuselage landing ground cushion effect, at this time unmanned plane can safety and steady drop to ground.
Step 8：During entire magnetic suspension works, the energy recycle device being arranged in magnetic levitation component can be by magnet work
The mechanical energy for making to generate is recycled by the form that electric energy is converted, and push rod pushes magnet fortune during entire magnet movement
It is dynamic, changing magnetic field is produced around magnet, wire component can generate induced current to electric power storage by cutting magnetic induction line at this time
It charges in pond.
Step 9：Whether no matter unmanned plane works, solar panel can charge to accumulator, with magnetic suspension energy regenerating
Device combines the continuation of the journey problem for further mitigating unmanned plane.
The present invention operation principle be：By fuselage, holder, holder, magnetic levitation component, data detection module, microcontroller control
Molding block, a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices that solar panels, accumulator, control box design.Unmanned plane
Disequilibrium is shaken and landed to four holders by magnetic levitation component to reduce the flight of unmanned plane；In the holder and machine of unmanned plane
Magnetic levitation component is arranged to reduce the shake of holder and then keep the shooting effect of camera more preferable in body junction；Pass through Data Detection mould
Every flying quality suffered by block detection unmanned plane when external force makes fuselage to make single chip control module adjust magnetic levitation component
Shake cut down so that so that the flight effect of unmanned plane and shooting effect is reached more preferable；Pass through the energy of magnetic levitation component
Retracting device and solar panels are continuously powered to accumulator.Structure design is simple, safety durable, good environmental protection, than general
Damping device is more effective.
The principle that " electromagnetic induction " principle and " magnetic pole of the same name is mutually exclusive " are utilized in the present invention is designed.By two pieces
Magnet of the same name realizes maglev design effect by opposing to placing to design；By the upper magnets of magnetic levitation component again with pyrolysis
Magnet is realized by diamagnetism to suspend, the magnetic energy of magnet movement is further realized by cutting magnetic induction line between graphite cake
To mechanical energy to the conversion of electric energy, and then to charge the battery, the recycling of energy is realized.
Compared with prior art, the present invention has the following advantages：1, the damping device structure designed by magnetic levitation component
Design is simple, and safety durable is more preferable than general layered structure effect；2, by the way that the magnetcisuspension at holder and holder is arranged
Floating component is simultaneously handled the flight of unmanned plane shake and the imbalance problem that lands, and is avoided and is only realized damping to a side
And the drawbacks of damping optimum efficiency is not achieved；Wind-force size detection when 3, by unmanned plane by outer force effect and shock detection
And angle detection and displacement detecting, the processing of multinomial Data Detection control the balance of unmanned plane to adjust magnetic levitation component
Can, Data Structure Design is rigorous, and unfailing performance is high；4, energy is realized by designing the energy recycle device inside magnetic suspension
Recycling, while be also provided with solar panel come to accumulator charge, energy saving, good environmental protection.
Description of the drawings
Fig. 1 is the single unit system structure chart of apparatus of the present invention.
Fig. 2 is the circuit diagram of solar energy to charge the battery in apparatus of the present invention；Fig. 3 is the circuit system of apparatus of the present invention
Figure.
Respectively marked as 1- fuselages in figure；2- holders；3- holders；4- magnetic levitation component devices；5- data detection modules；6- is controlled
Device processed；7- solar panels；8- accumulators；9- control box.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the invention will be further described.It should be understood that these descriptions are exemplary, and it is not intended to limit the present invention
Range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this hair is unnecessarily obscured
Bright concept.
Referring to Fig. 1, a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices include：Fuselage 1, holder 2, holder 3, magnetcisuspension
Floating component 4, data detection module 5, single chip control module 6, solar panel 7, accumulator 8, control box 9, magnetic suspension group
Part 4 and data detection module 5 are connect with single chip control module 6, data detection module 5, single chip control module 6, solar energy
Solar panel 7, accumulator 8 are both placed in control box 9；By by magnetic levitation component 4 design at four holders 2 of unmanned plane and
The holder 3 of unmanned plane and 1 junction of fuselage detect that unmanned plane during flying process and unmanned plane are landed using data detection module 5
Related data information in the process, by one-chip computer module 6 come adjusting magnetic levitation component makes the flight course of unmanned plane in real time
More stablize with descent, while holder 3 being promoted more to stablize so that camera is preferably shot, and then reaches subtracting for unmanned plane
Shake effect；Using inside magnetic levitation component 4 energy recycle device and solar panel 7 come for the storage battery power supply of unmanned plane
To mitigate continuation of the journey problem.
The physical principle that the design of magnetic levitation component 4 uses is " magnetic pole of the same name is mutually exclusive ", which includes two
The identical magnet 401 of block magnetic pole size and magnet 402, sleeve 403, coil 404, connection push rod 405, pyrolytic graphite plate 406, copper
Silk component 407, the magnet of two pieces of magnetic poles of the same name is opposed place in two ports of sleeve 403, the upper surface of magnet 401 of top
Provided with pyrolytic graphite plate 406, the wire component 407 of 3cm thickness, pyrolytic graphite are provided in the lower plate of pyrolytic graphite plate 406
The top of plate 406 is connected with push rod 405 is connect, and coil 404 is provided on the magnet 402 of lower section, and two blocks of magnet form at this time
Magnetic levitation component 4, lower section magnet 402 will not move, and magnet 401 with connect push rod 405 and be indirectly connected and can move in the sleeve 403
It is dynamic.
Wire component 407 is isolated provided with pyrolytic graphite plate 406 in magnetic levitation component 4 and connect push rod 405, can completely cut off
The electric current that wire component 407 generates, which passes on push rod 405, has an impact unmanned plane and magnetic levitation component 4, due to pyrolytic graphite
Show as diamagnetic performance between plate 406 and magnet, therefore magnet 401 is actually also left floating, wire component 407 it is diamagnetic
Property be much smaller than pyrolytic graphite 406, therefore the coercive force between pyrolytic graphite 406 and magnet 401 can remain unchanged.
Data detection module 5 includes air velocity transducer 501, three-axis gyroscope 502, viberation detector 503, displacement sensing
Device 504, air velocity transducer 501 can be measured in real time wind speed size data suffered by unmanned plane, and three-axis gyroscope 502 can be to nothing
Man-machine angular deviation is measured in real time, and viberation detector 503 can be detected the vibration data of unmanned plane, displacement
Sensor 504 predominantly detects the mobile displacement of the upper magnets 401 of magnetic levitation component 4.
The supporting support 2 of unmanned plane is designed using magnetic levitation component 4, including four identical magnetic levitation components 4 design
Holder 2, the top of connection push rod 405 of the holder 2 of four magnetic levitation components 4 design is connect with fuselage, in four holders 2
Magnetic suspension force just with fuselage with weight, at this time unmanned aerial vehicle body 1 pass through connect push rod 405 and magnetic levitation component 4 top magnetic
401 mediate contact of iron, and with lower section magnet 402 and contactless, unmanned aerial vehicle body 1 is in suspended state.
Magnetic levitation component 4 is provided at the holder 3 of unmanned plane, connection push rod 405 and the fuselage 1 of magnetic levitation component 4 connect
It connects, the lower section magnet 402 of magnetic levitation component 4 is connect by connector with holder 3.
When unmanned plane is in flight course, and fuselage 1 or holder 3 generate vibrations because of extraneous factor, air velocity transducer 501 will
It detects that the wind speed size suffered by unmanned plane at this time, gyroscope 502 will detect that the angular displacement amount of deflection of unmanned plane at this time, shakes
Detection device 503 will detect that the shock momentum of unmanned plane, and the magnet 401 of magnetic levitation component 4 is understood with push rod 405 is connect because outer at this time
Portion's active force is subjected to displacement in sleeve 403, and displacement sensor 504 detects that magnet 401 deviates the displacement of origin-location, with
Upper data detection device 5 can be by these data transmissions detected to single chip control module 6.
One-chip computer module 6 can receive every flight coefficient of data detection module 5, and one-chip computer module 6 will integrate nobody
The upper magnet 401 for wind speed size data, vibration data, angular deviation and the magnetic levitation component 4 that machine is subject to is pushed away with connecting
These control signals are converted to real-time current by the displacement of bar 403 by power amplifier, which can be by surrounding
Coil 404 on magnet 402, at this time electric current can execute magnet 402 and generate magnetic force, the magnetic force size just foot and balance is external
Wind-force and shock momentum, and then the angular metric of gyroscope 502 is made to balance, so that the vibrations of viberation detector 503 is balanced, displacement is made to pass
The displacement of sensor 504 balances, and then upper magnet 401 can return to origin-location again with push rod 405 is connect, and then eliminate cloud
The vibrations of platform 3 and fuselage 1, reach damping effect.
When unmanned plane lands, four foot supports 2 of unmanned plane can touch ground, when four foot supports 2 can be because of landing at this time
Force unbalance or ground disequilibrium and promote the push rod 405 of the magnetic levitation component 4 of holder 2 hair in sleeve 403
The holder 2 of raw movement, four magnetic levitation components 4 composition can be according to specific landing stressing conditions interaction, if unmanned plane meeting
Inclination to the right is generated, two, the right of four foot supports 2 holder 2 will produce a cushion effect to make fuselage keep balance at this time,
The holder 2 of the similarly force unbalance of other situations, magnetic levitation component 4 can generate corresponding magnetic force to make machine according to stress
Body keeps balance, and then makes the steady safe falling ground of unmanned plane.
For the recycling for realizing to energy, energy recycle device is also provided in magnetic levitation component 4, magnet 401 exists
During moving up and down, since there is variation magnetic fields around magnet 401, the copper wire for the 3cm being arranged above magnet 401
Component 407 can do cutting magnetic induction line movement in the movement in magnetic field, and then by the principle of magnetic life electricity in wire component 407
Induced electromotive force is generated, and then generates induced current, which can be transferred in accumulator 8 by wire installation and be charged,
In addition it is also provided with one piece of solar panel 7 that can be charged to accumulator 8 in the top of the fuselage of unmanned plane 1, passes through two
The continuation of the journey problem for dividing the electric energy generated preferably to alleviate unmanned plane.
Fig. 2, Fig. 3 are please referred to, system circuit diagram of the invention includes：Play seismoelectric road, data detection module 5（Shock detection
Device 503, displacement sensor 504, air velocity transducer 501, gyroscope 502）, magnetic levitation vibration damping device 4, single chip control module 6,
Solar panel 7, accumulator 8.With XTAL1, XTAL2, the circuit to connect is to play seismoelectric road necessary to microcontroller 6 works.
What RST connected is that microcontroller 6 switchs, and can pass through the switch by the entire circuit of key control.The model LT1073, A of figure chips
For solar panel 7.Solar panel 7 provides 6V voltages in figure.LT1073 detects charging current via resistance R6, is storing
16 milliamperes of charging current is maintained in battery 8.There is low-voltage analyzer in LT1073, it is near in the output voltage of solar panels 7
When 4V, LT1073 will be switched off charging circuit.Solar panel 7 connects with lithium-cell plate 8, and electric energy is provided for entire circuit.With
That P0.0 connects is air velocity transducer EC9-1, and wind enters sensor 501 and rotates Gray's code-disc, generates Gray code conversion into telecommunications
Signal is transmitted to microcontroller 6 after number.What is connected with P0.1 is displacement sensor 504, measures the displacement that magnet deviates origin-location
Amount of deflection.What is connected with P0.5 is viberation detector 503, sensor 503 using piezoelectric ceramic piece as vibration detection device,
Detect the shock momentum of unmanned plane.That connect with P0.6, P0.7 is three-axis gyroscope L3G4200D, can measure Objects around A X,
Y, the variation of tri- axis angular rates of Z.What is connected with P1.7 is magnetic levitation vibration damping device 4.Microcontroller model AT89C51.
Circuit system operation principle is：Lithium battery 8 is filled by the energy energy storage of solar panel 7 and magnetic levitation component 4
It sets and carrys out electric power storage, lithium battery 8 is powered for whole system, and for unmanned plane in flight course, air velocity transducer device 501 detects real-time nothing
Man-machine suffered wind speed size, gyroscope 502 will detect that the angular displacement offset of unmanned plane, viberation detector 503 detect
Go out the shock momentum of unmanned plane, displacement sensor 504 detects that magnet deviates the offset of origin-location, passed after these data collections
It is calculated to microcontroller 6, signal is transmitted to the generation magnetic force of magnetic levitation vibration damping device 4 to balance fuselage, achievees the effect that damping.
It should be understood that the above-mentioned specific implementation mode of the present invention is used only for exemplary illustration or explains the present invention's
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (10)
1. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices, it is characterised in that including：Fuselage（1）, holder（2）, holder
（3）, magnetic levitation component（4）, data detection module（5）, single chip control module（6）, solar panel（7）, accumulator
（8）, control box（9）, magnetic levitation component（4）And data detection module（5）With control module（6）Connection, data detection module
（5）, single chip control module（6）, solar panel（7）, accumulator（8）It is both placed in control box（9）It is interior；By by magnetcisuspension
Floating component（4）Design four holders in unmanned plane（2）The holder at place and unmanned plane（3）With fuselage（1）Junction uses data
Detection module（5）It detects the related data information in unmanned plane during flying process and unmanned plane descent, passes through control module
（6）The flight course and descent for adjust magnetic levitation component in real time to make unmanned plane are more stablized, while promoting holder（3）
More stablize so that camera is preferably shot, and then reaches the damping effect of unmanned plane；Using magnetic levitation component（4）Internal energy
Measure retracting device and solar panel（7）Mitigate continuation of the journey problem come the storage battery power supply for unmanned plane.
2. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：Magnetic suspension group
Part（4）The physical principle that design uses is " magnetic pole of the same name is mutually exclusive ", the magnetic levitation component（4）Including two pieces of magnetic pole size phases
Same magnet（401）And magnet（402）, sleeve（403）, coil（404）, connection push rod（405）, pyrolytic graphite plate（406）, copper
Silk component（407）, in sleeve（403）Two ports the magnet of two pieces of magnetic poles of the same name opposed place, the magnet of top（401）
The upper surface of be provided with pyrolytic graphite plate（406）, pyrolytic graphite plate（406）Lower plate on be provided with 3cm thickness wire component
（407）, pyrolytic graphite plate（406）Top with connect push rod（405）It is connected, the magnet of lower section（402）It is upper to be provided with coil
（404）, at this time two blocks of magnet form magnetic levitation component（4）, lower section magnet（402）It will not move, and magnet（401）With connect
Push rod（405）Being indirectly connected can be in sleeve（403）Interior movement.
3. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：Magnetic suspension group
Part（4）In be provided with pyrolytic graphite plate（406）Wire component is isolated（407）With connect push rod（405）, wire component can be completely cut off
（407）The electric current of generation passes to push rod（405）On to unmanned plane and magnetic levitation component（4）It has an impact, due to pyrolytic graphite plate
（406）Diamagnetic performance, therefore magnet are shown as between magnet（401）It is actually also left floating, wire component（407）'s
Diamagnetism is much smaller than pyrolytic graphite（406）, therefore pyrolytic graphite（406）With magnet（401）Between coercive force can remain unchanged.
4. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：Data Detection
Module（5）Including air velocity transducer（501）, three-axis gyroscope（502）, viberation detector（503）, displacement sensor（504）,
Air velocity transducer（501）Wind speed size data suffered by unmanned plane can be measured in real time, three-axis gyroscope（502）It can be to nobody
The angular deviation of machine is measured in real time, viberation detector（503）The vibration data of unmanned plane can be detected, displacement
Sensor（504）Predominantly detect magnetic levitation component（4）Upper magnets（401）Mobile displacement.
5. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：Unmanned plane
Supporting support（2）Using magnetic levitation component（4）It designs, including four identical magnetic levitation components（4）The holder of design
（2）, four magnetic levitation components（4）The holder of design（2）Connection push rod（405）Top connect with fuselage, four holders
（2）In magnetic suspension force just with fuselage with weight, at this time unmanned aerial vehicle body（1）By connecting push rod（405）With magnetic levitation component
（4）Upper magnets（401）Mediate contact, and with lower section magnet（402）And contactless, unmanned aerial vehicle body（1）In suspension
State.
6. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：In unmanned plane
Holder（3）Place is provided with magnetic levitation component（4）, magnetic levitation component（4）Connection push rod（405）With fuselage（1）Connection, magnetcisuspension
Floating component（4）Lower section magnet（402）Pass through connector and holder（3）Connection.
7. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：Work as unmanned plane
In flight course, fuselage（1）Or holder（3）When generating vibrations because of extraneous factor, air velocity transducer（501）It will detect at this time
Wind speed size suffered by unmanned plane, gyroscope（502）It will detect that the angular displacement amount of deflection of unmanned plane at this time, viberation detector
（503）It will detect that the shock momentum of unmanned plane, at this time magnetic levitation component（4）Magnet（401）With connect push rod（405）It can be because outer
Portion's active force is in sleeve（403）It is inside subjected to displacement, displacement sensor（504）Detect magnet（401）Deviate the position of origin-location
Shifting amount, data above detection device（5）It can be by these data transmissions detected to control module（6）.
8. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：Control module
（6）Data detection module can be received（5）Every flight coefficient, control module（6）The wind-force that comprehensive unmanned plane is subject to is big
Small data, vibration data, angular deviation and magnetic levitation component（4）Upper magnet（401）With connect push rod（403）Position
These control signals are converted to real-time current by shifting amount by power amplifier, which can be by being looped around magnet
（402）On coil（404）, at this time electric current can execute magnet（402）Magnetic force is generated, the magnetic force size just foot and balance are external
Wind-force and shock momentum, and then make gyroscope（502）Angular metric balance, make viberation detector（503）Vibrations balance, make position
Displacement sensor（504）Displacement balance, then upper magnet（401）With connect push rod（405）Origin-location can be returned to again,
And then eliminate holder（3）And fuselage（1）Vibrations, reach damping effect.
9. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：In unmanned plane
When landing, four foot supports of unmanned plane（2）Ground can be touched, at this time four foot supports（2）Force unbalance when can be because of landing
Property or the disequilibrium on ground and promote holder（2）Magnetic levitation component（4）Push rod（405）In sleeve（403）It is interior to move
It is dynamic, four magnetic levitation components（4）The holder of composition（2）It can be according to specific landing stressing conditions interaction, if unmanned plane meeting
Inclination to the right is generated, at this time four foot supports（2）Two, the right holder（2）A cushion effect be will produce to make fuselage keep flat
It weighs, similarly the force unbalance of other situations, magnetic levitation component（4）Holder（2）Corresponding magnetic can be generated according to stress
Power makes the fuselage keep balance, and then makes the steady safe falling ground of unmanned plane.
10. a kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices according to claim 1, it is characterised in that：To realize
Recycling to energy, in magnetic levitation component（4）On be also provided with energy recycle device, magnet（401）It was moving up and down
Cheng Zhong, due to magnet（401）There is variation magnetic fields for surrounding, therefore in magnet（401）The wire component of the 3cm of top setting
（407）Cutting magnetic induction line movement can be done in the movement in magnetic field, and then by the principle of magnetic life electricity in wire component（407）In
Induced electromotive force is generated, and then generates induced current, which can be transferred to accumulator by wire installation（8）In fill
Electricity, in addition in the fuselage of unmanned plane（1）Top be also provided with one piece can be to accumulator（8）The solar panel of charging（7）,
The electric energy generated by two parts preferably alleviates the continuation of the journey problem of unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810172749.2A CN108482649B (en) | 2018-03-01 | 2018-03-01 | Many rotor formula unmanned aerial vehicle magnetic suspension damping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810172749.2A CN108482649B (en) | 2018-03-01 | 2018-03-01 | Many rotor formula unmanned aerial vehicle magnetic suspension damping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108482649A true CN108482649A (en) | 2018-09-04 |
| CN108482649B CN108482649B (en) | 2021-05-25 |
Family
ID=63341080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810172749.2A Active CN108482649B (en) | 2018-03-01 | 2018-03-01 | Many rotor formula unmanned aerial vehicle magnetic suspension damping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108482649B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823188A (en) * | 2019-11-11 | 2020-02-21 | 河南省聚鑫勘测规划设计有限公司 | Full-automatic topographic map surveying and mapping device and surveying and mapping method |
| CN110848321A (en) * | 2019-11-25 | 2020-02-28 | 李峥炜 | Unmanned aerial vehicle photography and camera shooting anti-shake system |
| CN111994272A (en) * | 2020-09-02 | 2020-11-27 | 黄河水利职业技术学院 | Unmanned aerial vehicle flight platform is used in survey and drawing of intelligence geographical remote sensing |
| CN112615566A (en) * | 2020-12-23 | 2021-04-06 | 北京航空航天大学 | Vertically-symmetrical magnetic suspension motor arranged in middle of driving load and application of vertically-symmetrical magnetic suspension motor to four-rotor aircraft |
| CN112678195A (en) * | 2020-12-31 | 2021-04-20 | 王小燕 | Unmanned aerial vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3118479A1 (en) * | 2015-07-15 | 2017-01-18 | Messier-Dowty Ltd | Shock absorber |
| CN205940634U (en) * | 2016-08-15 | 2017-02-08 | 幻飞智控科技（上海）有限公司 | Environmental monitoring unmanned aerial vehicle |
| CN106953495A (en) * | 2017-05-10 | 2017-07-14 | 江南大学 | A kind of electromagnetic levitation type exempts from frictional vibration electricity energy harvester |
| CN106976560A (en) * | 2017-05-08 | 2017-07-25 | 昊翔电能运动科技(昆山)有限公司 | A kind of unmanned plane motor cabinet, unmanned machine actuating device and unmanned plane |
| CN107685872A (en) * | 2017-09-30 | 2018-02-13 | 深圳市道通智能航空技术有限公司 | Unmanned vehicle |
-
2018
- 2018-03-01 CN CN201810172749.2A patent/CN108482649B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3118479A1 (en) * | 2015-07-15 | 2017-01-18 | Messier-Dowty Ltd | Shock absorber |
| CN205940634U (en) * | 2016-08-15 | 2017-02-08 | 幻飞智控科技（上海）有限公司 | Environmental monitoring unmanned aerial vehicle |
| CN106976560A (en) * | 2017-05-08 | 2017-07-25 | 昊翔电能运动科技(昆山)有限公司 | A kind of unmanned plane motor cabinet, unmanned machine actuating device and unmanned plane |
| CN106953495A (en) * | 2017-05-10 | 2017-07-14 | 江南大学 | A kind of electromagnetic levitation type exempts from frictional vibration electricity energy harvester |
| CN107685872A (en) * | 2017-09-30 | 2018-02-13 | 深圳市道通智能航空技术有限公司 | Unmanned vehicle |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823188A (en) * | 2019-11-11 | 2020-02-21 | 河南省聚鑫勘测规划设计有限公司 | Full-automatic topographic map surveying and mapping device and surveying and mapping method |
| CN110848321A (en) * | 2019-11-25 | 2020-02-28 | 李峥炜 | Unmanned aerial vehicle photography and camera shooting anti-shake system |
| CN111994272A (en) * | 2020-09-02 | 2020-11-27 | 黄河水利职业技术学院 | Unmanned aerial vehicle flight platform is used in survey and drawing of intelligence geographical remote sensing |
| CN111994272B (en) * | 2020-09-02 | 2021-04-16 | 黄河水利职业技术学院 | Unmanned aerial vehicle flight platform is used in survey and drawing of intelligence geographical remote sensing |
| CN112615566A (en) * | 2020-12-23 | 2021-04-06 | 北京航空航天大学 | Vertically-symmetrical magnetic suspension motor arranged in middle of driving load and application of vertically-symmetrical magnetic suspension motor to four-rotor aircraft |
| CN112615566B (en) * | 2020-12-23 | 2021-08-31 | 北京航空航天大学 | Vertically-symmetrical magnetic suspension motor arranged in middle of driving load and application of vertically-symmetrical magnetic suspension motor to four-rotor aircraft |
| CN112678195A (en) * | 2020-12-31 | 2021-04-20 | 王小燕 | Unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108482649B (en) | 2021-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108482649A (en) | A kind of more rotary wind type unmanned plane magnetic levitation vibration damping devices | |
| CN204906229U (en) | Arborescent multimode piezoelectricity power generation facility | |
| CN104931219A (en) | Landing impact test device and test method thereof | |
| CN107769614A (en) | A kind of multi-direction vibrational energy harvester of piezoelectric type | |
| CN102324759A (en) | Battery group performance test and maintenance equipment | |
| CN102323493A (en) | Blown sand and quick sand charge-to-mass ratio real-time measurement system | |
| CN104966446B (en) | A kind of physical multifunctional experimental provision | |
| Du et al. | Recent advances in mechanical vibration energy harvesters based on triboelectric nanogenerators | |
| CN107246906A (en) | Power self-support minisize electronic scales | |
| CN111361681A (en) | Device and method capable of realizing self-balancing of bicycle and bicycle | |
| CN107222129B (en) | A kind of vibration-damping generator based on converse magnetostriction principle | |
| CN202524321U (en) | Vertical-vibration horizontal-swinging type power generation device of low-frequency large-amplitude piezoelectric cantilever beam | |
| CN206788335U (en) | A kind of secondary dry cell forming and capacity dividing detection device of press formula | |
| Han et al. | Composite piezoelectric-electromagnetic synchronously powering and sensing device for vehicle monitoring | |
| Chang et al. | A dragonfly-wing-like energy harvester with enhanced magneto-mechano-electric coupling | |
| CN201402204Y (en) | Dynamic responding testing stand rack and testing device thereof under action of moving mass | |
| CN105358420B (en) | GRAVITY CONTROL bicycle-driven generation supplements the device and application method of flying wheel battery energy | |
| CN111284629B (en) | Self-balancing bicycle and control method thereof | |
| CN107919814A (en) | A kind of energy conservation and environmental protection road piezoelectric generating device | |
| CN104022686B (en) | A kind of impact type device for collecting piezoelectric vibration energy | |
| CN202229753U (en) | Novel non-conductive hairspring gyroscopic theodolite device | |
| CN211012937U (en) | Tower gradient wireless monitoring system based on MEMS sensor | |
| CN108414175A (en) | The vibration-testing and method of movement are adhered under simulated microgravity on elastic linear | |
| CN210822781U (en) | Karman resonance nanowire crystal piezoelectric unmanned aerial vehicle range-extending power supply | |
| CN104635761B (en) | Space junk magnetic suspension method, magnetic levitation system and control system |
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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191220 Address after: 450000 Henan Huihuang Technology Co., Ltd., No. 74, science Avenue, high tech Industrial Development Zone, Zhongyuan District, Zhengzhou City, Henan Province Applicant after: Duan Xiaoyan Address before: 650000 No. B701, Block B, 7th Floor, Phase I, Panlong District and Xinhua Garden, Kunming City, Yunnan Province Applicant before: Kunming Chuang Pei Intellectual Property Service Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210506 Address after: 215500 No.9, research institute road, Changshu Economic and Technological Development Zone, Suzhou City, Jiangsu Province Applicant after: CHANGSHU JINGCHANG INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: Henan brilliant Technology Co., Ltd., 74 science Avenue, high tech Industrial Development Zone, Zhongyuan District, Zhengzhou City, Henan Province, 450000 Applicant before: Duan Xiaoyan |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |