CN108482649B - Many rotor formula unmanned aerial vehicle magnetic suspension damping device - Google Patents
Many rotor formula unmanned aerial vehicle magnetic suspension damping device Download PDFInfo
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- CN108482649B CN108482649B CN201810172749.2A CN201810172749A CN108482649B CN 108482649 B CN108482649 B CN 108482649B CN 201810172749 A CN201810172749 A CN 201810172749A CN 108482649 B CN108482649 B CN 108482649B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
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- 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
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- 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
Abstract
The invention relates to a magnetic suspension damping device of a multi-rotor type unmanned aerial vehicle, and belongs to the technical field of aircraft innovation. The invention aims to provide a multi-rotor-wing type unmanned aerial vehicle magnetic suspension damping device which is designed by a machine body, a support, a cloud deck, a magnetic suspension assembly, a data detection module, a control module, a solar panel, a storage battery and a control box. The four supports of the unmanned aerial vehicle reduce the flight jitter and landing imbalance of the unmanned aerial vehicle through the magnetic suspension assembly; the magnetic suspension assembly is arranged at the joint of the cradle head and the body of the unmanned aerial vehicle to reduce the shake of the cradle head so as to ensure that the shooting effect of the camera is better; the data detection module detects various flight data when the unmanned aerial vehicle is subjected to external force to enable the control module to adjust the magnetic suspension assembly to reduce the shake of the machine body, so that the flight effect and the shooting effect of the unmanned aerial vehicle are better; the energy recovery device of the magnetic suspension assembly and the solar panel are used for continuously supplying power to the storage battery. The device has simple structural design, safety, durability and good environmental protection performance.
Description
Technical Field
The invention relates to a magnetic suspension damping device of a multi-rotor type unmanned aerial vehicle, and belongs to the technical field of aircraft innovation.
Background
Along with the progressive development of modern science and technology, the development of unmanned aerial vehicle technique also obtains very big breakthrough, unmanned aerial vehicle has all deepened extensive research and application in each field, in modern military field and civilian field, unmanned aerial vehicle has played very big effect, especially in the aspect of taking photo by plane in civilian field, unmanned aerial vehicle has gained fine application effect, when unmanned aerial vehicle development application prospect is good, unmanned aerial vehicle often has the fuselage at the in-process of taking photo by plane, the cloud platform shake leads to the shooting effect poor, unmanned aerial vehicle descends unstably, the problem that battery operating time is short, consequently shake problem and continuation of the journey problem become the problem that two urgent needs were solved in order to unmanned aerial vehicle development process.
Can have the fuselage to receive the wind force factor to take place the fuselage in unmanned aerial vehicle's flight work, the condition of cloud platform shake, also can have because of the unbalanced or unbalanced fuselage of taking place to turn on one's side of atress in the landing process, mostly set up damping device through the spring in current unmanned aerial vehicle damping technology, however, spring damping device's technical requirement nature is high, the maintenance difficulty, short service life, these factors have restricted the shock attenuation effect at to a great extent, consequently, it is modern unmanned aerial vehicle development urgent need to design a device that can reach fine shock attenuation effect at to a great extent and can alleviate the continuation of the journey problem of battery again.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a multi-rotor type unmanned aerial vehicle magnetic suspension damping device which is designed by a machine body, a support, a holder, a magnetic suspension assembly, a data detection module, a single chip microcomputer control module, a solar panel and a storage battery. The shaking and the unbalance of the unmanned aerial vehicle in the flying process and the landing process are reduced by adopting four supports of the unmanned aerial vehicle designed by the magnetic suspension assembly; the shake of the cradle head is reduced by designing the magnetic suspension assemblies at the cradle head and the body of the unmanned aerial vehicle, so that the camera at the cradle head can shoot better; the data detection module is used for detecting various flight data of the unmanned aerial vehicle when the unmanned aerial vehicle shakes under the action of external force, so that the single chip microcomputer module converts a control signal into a current signal to adjust the magnetic suspension assembly, the machine body is balanced, and the damping effect is achieved; the energy recovery device arranged in the magnetic suspension assembly and the solar panel above the machine body are used for continuously supplying power to the storage battery.
The technical scheme adopted by the invention is as follows: the utility model provides a many rotor formula unmanned aerial vehicle magnetic suspension damping device which characterized in that includes: the system comprises an unmanned aerial vehicle body, an unmanned aerial vehicle support, a cradle head, a magnetic suspension assembly, a data detection module, a single-chip microcomputer control module, a solar cell panel, a storage battery and a control box, wherein the magnetic suspension assembly and the data detection module are connected with the single-chip microcomputer control module; the magnetic suspension assemblies are designed at four supports of the unmanned aerial vehicle and at the connecting position of a holder and a body of the unmanned aerial vehicle, the data detection module is used for detecting relevant data information in the flight process and the landing process of the unmanned aerial vehicle, the magnetic suspension assemblies are adjusted in real time through the control module to enable the flight process and the landing process of the unmanned aerial vehicle to be more stable, meanwhile, the holder is enabled to be more stable to enable a camera to shoot better, and the damping effect of the unmanned aerial vehicle is achieved; adopt inside energy recuperation device of magnetic suspension subassembly and solar cell panel to come to alleviate the continuation of the journey problem for unmanned aerial vehicle's battery power supply.
Further, the physical principle that magnetic suspension subassembly design adopted is "homonymy magnetic pole repulsion each other", this magnetic suspension subassembly includes two magnet and magnet that the magnetic pole size is the same, the sleeve, the coil, connecting push rod, the pyrolysis graphite board, the copper wire subassembly, the magnet of two homonymy magnetic poles is placed in opposition at telescopic two ports, the higher authority of the magnet of top has set up the pyrolysis graphite board, the copper line subassembly that 3cm is thick has been set up on the below board of pyrolysis graphite board, the top of pyrolysis graphite board links to each other with connecting push rod, the coil has been set up on the magnet of below, two magnet this moment have formed the magnetic suspension subassembly, below magnet can not remove, and top magnet links to each other indirectly with connecting push rod and can remove in the sleeve.
Further, having set up the pyrolysis graphite board in the magnetic suspension subassembly and having kept apart copper line subassembly and connecting the push rod, can completely cut off the electric current that copper line subassembly produced and pass to on the push rod to unmanned aerial vehicle and magnetic suspension subassembly production influence, because the diamagnetism can be shown between pyrolysis graphite board and the magnet, consequently magnet is also in fact suspended, and the diamagnetism of copper line subassembly is far less than the pyrolysis graphite, and consequently diamagnetism force between pyrolysis graphite and the magnet can keep unchangeable.
Further, the data detection module includes air velocity transducer, triaxial gyroscope, vibrations detection device, displacement sensor, and air velocity transducer can carry out real-time detection to the wind speed data that unmanned aerial vehicle received, and the triaxial gyroscope can carry out real-time detection to unmanned aerial vehicle's angle offset, and vibrations detection device can detect unmanned aerial vehicle's vibrations data, and displacement sensor mainly detects the removal displacement volume of the top magnet of magnetic suspension subassembly.
Further, unmanned aerial vehicle's support frame adopts the magnetic suspension subassembly to design, including the support of four the same magnetic suspension subassembly designs, the top and the fuselage of the connecting push rod of its four supports that the magnetic suspension subassembly designed, the magnetic suspension power in four supports just with the fuselage weight, the unmanned aerial vehicle fuselage contacts through the top magnet indirect contact of connecting push rod and magnetic suspension subassembly this moment, and does not have the contact with below magnet, the unmanned aerial vehicle fuselage is in the suspension state.
Further, the cradle head of the unmanned aerial vehicle is provided with a magnetic suspension assembly, a connecting push rod of the magnetic suspension assembly is connected with the fuselage, and a magnet below the magnetic suspension assembly is connected with the cradle head through a connecting piece.
Further, when unmanned aerial vehicle is at the flight in-process, fuselage or cloud platform produce when vibrations because of external factors, air velocity transducer will detect out the wind speed data that unmanned aerial vehicle received this moment, the gyroscope can detect out unmanned aerial vehicle's angle displacement deflection this moment, vibrations detection device can detect out unmanned aerial vehicle's vibrations volume, the upper portion magnet and the connecting push rod of magnetic suspension subassembly can be because of the displacement takes place in the sleeve of outside effort this moment, displacement transducer detects out the displacement volume that magnet deviates from the primary importance, above data detection device can be with these data transmission to the single chip microcomputer control module that detect.
Further, each item flight coefficient of data detection module can be received to control module, control module will synthesize the wind speed data that unmanned aerial vehicle received, vibrations data, the upper portion magnet of angle offset and magnetic suspension subassembly and the displacement volume of connecting the push rod, convert these control signal into real-time current through power amplifier, this real-time current can be through the coil around on magnet, this moment electric current can carry out magnet and produce magnetic force, this magnetic force size just enough with balanced outside wind-force and vibrations volume, and then make the angle volume balance of gyroscope, it is balanced to make vibrations detection device's vibrations, make displacement sensor's displacement size balanced, then upper portion magnet and connection push rod can get back to original position again, and then eliminate the vibrations of cloud platform and fuselage, reach the shock attenuation effect.
Further, when unmanned aerial vehicle descended, unmanned aerial vehicle's four-foot support can contact ground, the push rod that four-foot support can make the magnetic suspension subassembly of support because of the unbalance of atress when descending or the unbalance on ground took place to remove in the sleeve this moment, the support homoenergetic that four magnetic suspension subassemblies are constituteed is according to concrete descending atress condition interact, if the unmanned aerial vehicle chance produces the slope to the right, two supports on the right of four-foot support this moment can produce a buffer power and make the fuselage keep balance, the unbalance of atress of other circumstances of the same reason, the support homoenergetic of magnetic suspension subassembly produces corresponding magnetic force according to the atress and makes the fuselage keep balance, and then make the steady safe ground of unmanned aerial vehicle descend.
Further, for realizing the recycle to the energy, energy recuperation device has still been set up on the magnetic suspension subassembly, magnet is at reciprocating the in-process, because there is the change magnetic field around the magnet, consequently, 3 cm's copper line subassembly that sets up above the magnet can be the motion of cutting magnetic induction line in the motion in magnetic field, and then produce induced electromotive force in copper line subassembly through the principle that magnetism generates electricity, and then produce induced-current, this part electric current can charge in transmitting the battery through wire device, the solar cell panel that can charge to the battery has also been set up in addition in the top of unmanned aerial vehicle's fuselage, the better continuation of the journey problem that has alleviateed unmanned aerial vehicle of electric energy through two parts production.
A magnetic suspension damping device of a multi-rotor unmanned aerial vehicle is disclosed, and the control method comprises the following steps:
step 1: unmanned aerial vehicle has taken place the shake because external effort especially wind-force effect leads to the fuselage at the flight in-process, and the wind speed sensor of data detection module detects wind speed size data this moment, shakes detection device and detects the vibrations of fuselage and cloud platform, and the gyroscope detects fuselage and cloud platform angle offset.
Step 2: the magnetic suspension assemblies at the four magnetic suspension supports or the cradle head cause the connecting push rod connected with the machine body to move in the sleeve due to external acting force, and the displacement is detected by the position sensor.
And step 3: the single chip microcomputer control module receives data from the wind speed sensor, detection data of the vibration detection device, detection data of the gyroscope and data of the displacement sensor, and transmits the data to the amplifier through control signals.
And 4, step 4: the amplifier receives various data of the singlechip control module, comprehensively analyzes the data, converts control information into a current signal and acts on a coil of a magnet below the magnetic suspension assembly.
And 5: the electric current can produce magnetic force on magnet through the electromagnetism principle on the coil of magnet, and this part magnetic force just can be balanced with unmanned aerial vehicle's outside atress and vibrations.
Step 6: the magnet below the magnetic suspension assembly can drive the magnet above to return to the original position due to the changed magnetic force, and the balance of the machine body and the balance of the holder are achieved again.
And 7: when unmanned aerial vehicle descends, the support of magnetic suspension subassembly design can work mutually, if the fuselage when because of the atress is uneven or ground is uneven, the fuselage can take place to shake, the top magnet of magnetic suspension subassembly support and connecting push rod can take place to remove in the sleeve this moment, after each item data transfer when data detection device will descend sent single chip module, magnetic suspension subassembly support can give the fuselage the cushion effect that descends ground, but unmanned aerial vehicle safety and stability descends ground this moment.
And 8: during whole magnetic suspension work, the mechanical energy that the energy recuperation device that sets up on the magnetic suspension subassembly can produce magnet work is retrieved through electric energy conversion's form, and push rod promotion magnet motion in whole magnet motion process has produced the magnetic field of change around the magnet, and copper line subassembly can produce induced-current through cutting magnetism induction line and charge for the battery this moment.
And step 9: no matter unmanned aerial vehicle works or not, solar cell panel can charge to the battery, combines with magnetic suspension energy recuperation device to further alleviate unmanned aerial vehicle's continuation of the journey problem.
The working principle of the invention is as follows: by fuselage, support, cloud platform, magnetic suspension subassembly, data detection module, single chip microcomputer control module, a many rotor formula unmanned aerial vehicle magnetic suspension damping device of solar panel, battery, the design of control box. The four supports of the unmanned aerial vehicle reduce the flight jitter and landing imbalance of the unmanned aerial vehicle through the magnetic suspension assembly; the magnetic suspension assembly is arranged at the joint of the cradle head and the body of the unmanned aerial vehicle to reduce the shake of the cradle head so as to ensure that the shooting effect of the camera is better; the data detection module detects various flight data when the unmanned aerial vehicle is subjected to external force to enable the single-chip microcomputer control module to adjust the magnetic suspension assembly to reduce the shake of the machine body, so that the flight effect and the shooting effect of the unmanned aerial vehicle are better; the energy recovery device of the magnetic suspension assembly and the solar panel are used for continuously supplying power to the storage battery. Structural design is simple, and is safe durable, and the feature of environmental protection is good, and is more effective than general damping device.
The invention is designed by utilizing the principle of 'electromagnetic induction' and the principle of 'mutual repulsion of like magnetic poles'. The two magnets with the same name are oppositely arranged to realize the design effect of magnetic suspension; the magnet suspension is realized between the upper magnet of the magnetic suspension assembly and the pyrolytic graphite plate through diamagnetic force, and the conversion from magnetic energy to mechanical energy to electric energy of the movement of the magnet is further realized by cutting magnetic induction lines, so that the storage battery is charged, and the energy recycling is realized.
Compared with the prior art, the invention has the following advantages: 1. the damping device designed by the magnetic suspension assembly is simple in structural design, safe and durable, and has a better damping effect than a common damping device; 2. the problems of flight jitter and landing imbalance of the unmanned aerial vehicle are solved through the magnetic suspension assemblies arranged on the support and the holder, so that the defect that the optimal damping effect cannot be achieved by damping only one side is overcome; 3. the balance performance of the unmanned aerial vehicle is controlled by adjusting the magnetic suspension assembly through detecting the wind power and the vibration, detecting the angle and the displacement when the unmanned aerial vehicle is subjected to an external force, and detecting and processing multiple data, and the data structure is rigorous in design and high in reliability; 4. the energy recycling device designed in the magnetic suspension realizes energy recycling, and meanwhile, the solar cell panel is arranged to charge the storage battery, so that the energy is saved, and the environmental protection performance is good.
Drawings
FIG. 1 is a view showing the overall structure of the apparatus of the present invention.
FIG. 2 is a circuit diagram of a solar charging battery in the apparatus of the present invention; FIG. 3 is a system circuit diagram of the apparatus of the present invention.
In the figure, the reference numbers are 1-fuselage; 2-a scaffold; 3-a pan-tilt head; 4-magnetic suspension assembly device; 5-a data detection module; 6-a controller; 7-solar panels; 8-a storage battery; 9-control box.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings in combination with the detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1, a magnetic suspension damping device for a multi-rotor type unmanned aerial vehicle includes: the device comprises a machine body 1, a support 2, a cradle head 3, a magnetic suspension assembly 4, a data detection module 5, a single-chip microcomputer control module 6, a solar cell panel 7, a storage battery 8 and a control box 9, wherein the magnetic suspension assembly 4 and the data detection module 5 are connected with the single-chip microcomputer control module 6, and the data detection module 5, the single-chip microcomputer control module 6, the solar cell panel 7 and the storage battery 8 are all placed in the control box 9; the magnetic suspension assembly 4 is designed at the four supports 2 of the unmanned aerial vehicle and the connecting part of the tripod head 3 of the unmanned aerial vehicle and the fuselage 1, the data detection module 5 is used for detecting relevant data information in the flight process and the landing process of the unmanned aerial vehicle, the magnetic suspension assembly is adjusted in real time through the singlechip module 6 to enable the flight process and the landing process of the unmanned aerial vehicle to be more stable, and meanwhile, the tripod head 3 is enabled to be more stable to enable a camera to shoot better, so that the damping effect of the unmanned aerial vehicle is achieved; adopt inside energy recuperation device of magnetic suspension subassembly 4 and solar cell panel 7 to come to alleviate the continuation of the journey problem for unmanned aerial vehicle's battery power supply.
The physical principle that magnetic suspension subassembly 4 design adopted is "homonymy magnetic pole repulsion each other", this magnetic suspension subassembly 4 includes two magnet 401 and magnet 402 that the magnetic pole size is the same, sleeve 403, coil 404, connecting push rod 405, pyrolytic graphite board 406, copper wire subassembly 407, two ports at sleeve 403 place the magnet of two homonymy magnetic poles oppositely, pyrolytic graphite board 406 has been set up on the magnet 401 of top, set up 3cm thick copper wire subassembly 407 on the below board of pyrolytic graphite board 406, the top of pyrolytic graphite board 406 links to each other with connecting push rod 405, set up coil 404 on the magnet 402 of below, two magnets have formed magnetic suspension subassembly 4 this moment, below magnet 402 can not remove, and magnet 401 and connecting push rod 405 indirectly link to each other and can remove in sleeve 403.
Set up pyrolytic graphite plate 406 in the magnetic suspension subassembly 4 and isolate copper line subassembly 407 and connecting push rod 405, can isolate that the electric current that copper line subassembly 407 produced passes to push rod 405 on and to unmanned aerial vehicle and magnetic suspension subassembly 4 produce the influence, because it is diamagnetic performance to demonstrate between pyrolytic graphite plate 406 and the magnet, therefore magnet 401 is also the suspension in fact, and copper line subassembly 407 diamagnetism is far less than pyrolytic graphite 406, and consequently the diamagnetism force between pyrolytic graphite 406 and magnet 401 can keep unchangeable.
Data detection module 5 includes air velocity transducer 501, triaxial gyroscope 502, vibrations detection device 503, displacement sensor 504, air velocity transducer 501 can carry out real-time detection to the big or small data of the wind speed that unmanned aerial vehicle receives, triaxial gyroscope 502 can carry out real-time detection to unmanned aerial vehicle's angle offset, vibrations detection device 503 can detect unmanned aerial vehicle's vibrations data, displacement sensor 504 mainly detects the removal displacement volume of the top magnet 401 of magnetic suspension subassembly 4.
Unmanned aerial vehicle's support frame 2 adopts magnetic suspension subassembly 4 to design, support 2 including the design of four the same magnetic suspension subassemblies 4, the top and the fuselage of the connecting push rod 405 of its support 2 of the design of four magnetic suspension subassemblies 4, the magnetic levitation power in four supports 2 just with the fuselage is the same weight, unmanned aerial vehicle fuselage 1 is through connecting push rod 405 with the top magnet 401 indirect contact of magnetic suspension subassembly 4 this moment, and there is not contact with below magnet 402, unmanned aerial vehicle fuselage 1 is in the suspended state.
The department has set up magnetic suspension subassembly 4 at unmanned aerial vehicle's cloud platform 3, and the connecting push rod 405 and the fuselage 1 of magnetic suspension subassembly 4 are connected, and the below magnet 402 of magnetic suspension subassembly 4 passes through the connecting piece to be connected with cloud platform 3.
When unmanned aerial vehicle is at the flight in-process, fuselage 1 or cloud platform 3 are because of external factors when producing vibrations, air velocity transducer 501 will detect out the wind speed size that unmanned aerial vehicle received this moment, gyroscope 502 can detect out unmanned aerial vehicle's angle displacement deflection this moment, vibrations detection device 503 can detect out unmanned aerial vehicle's vibrations volume, magnet 401 and the connecting push rod 405 of magnetic suspension subassembly 4 can be because of the displacement takes place in sleeve 403 of external acting force this moment, displacement transducer 504 detects out the displacement volume that magnet 401 deviates from the primary importance, above data detection device 5 can be with these data transmission to singlechip control module 6 that detect.
Each item flight coefficient of data detection module 5 can be received to single chip module 6, single chip module 6 will synthesize the wind speed size data that unmanned aerial vehicle received, vibrations data, angle offset and upper portion magnet 401 of magnetic suspension subassembly 4 and the displacement volume of connecting push rod 403, convert these control signal into real-time current through power amplifier, this real-time current can be through the coil 404 that encircles on magnet 402, magnet 402 produces magnetic force can be executed to the electric current this moment, this magnetic force size just enough with balanced outside wind-force and vibrations volume, and then make gyroscope 502's angle volume balanced, make vibrations detection device 503's vibrations balanced, make displacement sensor 504's displacement size balanced, then upper portion magnet 401 and connecting push rod 405 will get back to original position, and then eliminate the vibrations of cloud platform 3 and fuselage 1, reach the shock attenuation effect.
When unmanned aerial vehicle descends, unmanned aerial vehicle's four-foot support 2 can contact ground, this moment four-foot support 2 can make the push rod 405 of support 2's magnetic suspension subassembly 4 move in sleeve 403 because of the unbalance of atress when descending or the unbalance of ground, support 2 homoenergetic that four magnetic suspension subassemblies 4 are constituteed is according to concrete descending atress condition interact, if the unmanned aerial vehicle chance produces the slope to the right, two supports 2 on the right of four-foot support 2 can produce a buffer power and make the fuselage keep balance this moment, the unbalance of atress of other circumstances on the same principle, support 2 homoenergetic of magnetic suspension subassembly 4 can produce corresponding magnetic force according to the atress and make the fuselage keep balance, and then make the steady safe ground that descends of unmanned aerial vehicle.
For realizing the recycle to the energy, energy recuperation device has still been set up on magnetic suspension subassembly 4, magnet 401 is at reciprocating the in-process, because there is the change magnetic field around magnet 401, consequently, 3 cm's copper line subassembly 407 that sets up above magnet 401 can be the motion of cutting magnetic induction line in the motion in magnetic field, and then produce induced electromotive force in copper line subassembly 407 through the principle that magnetism generates electricity, and then produce induced current, this part electric current can charge in transmitting battery 8 through wire device, in addition, the top of fuselage 1 at unmanned aerial vehicle has also set up one can be to the solar cell panel 7 that battery 8 charges, the better continuation of the journey problem that has alleviateed unmanned aerial vehicle of electric energy through two parts production.
Referring to fig. 2 and 3, the system circuit diagram of the present invention includes: the system comprises a vibration circuit, a data detection module 5 (a vibration detector 503, a displacement sensor 504, an air velocity sensor 501 and a gyroscope 502), a magnetic suspension damping device 4, a singlechip control module 6, a solar cell panel 7 and a storage battery 8. And circuits connected with XTAL1 and XTAL2 are shock circuits necessary for the work of the singlechip 6. RST is connected with a switch of the singlechip 6, and the switch of the whole circuit can be controlled through a key. The chip in the figure is model LT1073, and A is a solar cell panel 7. The solar panel 7 in the figure provides 6V. LT1073 detects the charging current via resistor R6, and maintains the charging current of 16 milliamperes in battery 8. The LT1073 has a low voltage measuring device therein, and when the output voltage of the solar panel 7 reaches 4V, the LT1073 turns off the charging circuit. The solar cell panel 7 is connected with the lithium battery panel 8 to provide electric energy for the whole circuit. And a wind speed sensor EC9-1 is connected with P0.0, wind enters the sensor 501 to rotate a Gray code disc, generates a Gray code, converts the Gray code into an electric signal and then transmits the electric signal to the singlechip 6. Connected to P0.1 is a displacement sensor 504 that measures the amount of displacement deflection of the magnet from its original position. Connected with P0.5 is a vibration detection device 503, and the sensor 503 adopts a piezoelectric ceramic piece as a vibration detection device to detect the vibration quantity of the unmanned aerial vehicle. Connected to P0.6 and P0.7 is a three-axis gyroscope L3G4200D, which measures the change in angular velocity of an object about X, Y, Z three axes. Connected to P1.7 is a magnetic levitation vibration damping device 4. The model of the singlechip is AT89C 51.
The working principle of the system circuit is as follows: lithium cell 8 comes the electric power storage through solar cell panel 7 and magnetic suspension subassembly 4's energy storage device, lithium cell 8 is the entire system power supply, unmanned aerial vehicle is at the flight in-process, wind speed sensor 501 detects out the wind speed size that real-time unmanned aerial vehicle received, gyroscope 502 can detect out unmanned aerial vehicle's angle displacement offset, vibrations detection device 503 detects out unmanned aerial vehicle's vibrations volume, displacement sensor 504 detects out the offset of the skew primary importance of magnet, these data collection back are passed to singlechip 6 and are calculated, pass to magnetic suspension damping device 4 with the signal and produce magnetic force and balance the fuselage, reach absorbing effect.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (4)
1. The utility model provides a many rotor formula unmanned aerial vehicle magnetic suspension damping device which characterized in that includes: the device comprises a machine body (1), a support (2), a cradle head (3), a magnetic suspension assembly (4), a data detection module (5), a control module (6), a solar cell panel (7), a storage battery (8) and a control box (9), wherein the magnetic suspension assembly (4) and the data detection module (5) are connected with the control module (6), and the data detection module (5), the control module (6), the solar cell panel (7) and the storage battery (8) are all placed in the control box (9); the magnetic suspension assembly (4) is designed at the four supports (2) of the unmanned aerial vehicle and the connection part of the tripod head (3) of the unmanned aerial vehicle and the fuselage (1), the data detection module (5) is used for detecting relevant data information in the flight process and the landing process of the unmanned aerial vehicle, the magnetic suspension assembly is adjusted in real time through the control module (6) to enable the flight process and the landing process of the unmanned aerial vehicle to be more stable, and meanwhile, the tripod head (3) is enabled to be more stable to enable a camera to shoot better, so that the damping effect of the unmanned aerial vehicle is achieved; an energy recovery device and a solar cell panel (7) in the magnetic suspension assembly (4) are adopted to supply power to a storage battery of the unmanned aerial vehicle so as to reduce the endurance problem;
the magnetic suspension assembly (4) is designed by adopting the physical principle that the same magnetic poles repel each other, the magnetic suspension assembly (4) comprises an upper magnet and a lower magnet which have the same magnetic poles, a sleeve, a coil, a connecting push rod, a pyrolytic graphite plate and a copper wire assembly, the two magnets of the same magnetic poles are oppositely arranged at two ports of the sleeve, the pyrolytic graphite plate is arranged on the upper magnet, the copper wire assembly with the thickness of 3cm is arranged on the lower plate of the pyrolytic graphite plate, the upper part of the pyrolytic graphite plate is connected with the connecting push rod, the coil is arranged on the lower magnet, the two magnets form the magnetic suspension assembly (4), the lower magnet cannot move, and the upper magnet is indirectly connected with the connecting push rod and can move in the sleeve;
the magnetic suspension assembly (4) is internally provided with the pyrolytic graphite plate to isolate the copper wire assembly from the connecting push rod, so that the current generated by the copper wire assembly can be isolated from being transmitted to the connecting push rod to influence the unmanned aerial vehicle and the magnetic suspension assembly (4), and the upper magnet is actually suspended due to the fact that the pyrolytic graphite plate and the magnet have diamagnetism, and the diamagnetism of the copper wire assembly is far smaller than that of the pyrolytic graphite plate, so that the diamagnetism between the pyrolytic graphite plate and the upper magnet can be kept unchanged;
the data detection module (5) comprises an air speed sensor (501), a three-axis gyroscope (502), a vibration detection device (503) and a displacement sensor (504), the air speed sensor (501) can detect the wind speed data borne by the unmanned aerial vehicle in real time, the three-axis gyroscope (502) can detect the angle offset of the unmanned aerial vehicle in real time, the vibration detection device (503) can detect the vibration data of the unmanned aerial vehicle, and the displacement sensor (504) mainly detects the movement displacement of an upper magnet of the magnetic suspension assembly (4);
the unmanned aerial vehicle support (2) is designed by adopting magnetic suspension assemblies (4) and comprises four same supports (2) designed by the magnetic suspension assemblies (4), the upper parts of connecting push rods of the supports (2) designed by the four magnetic suspension assemblies (4) are connected with the unmanned aerial vehicle body, the magnetic suspension force in the four supports (2) is just as heavy as the unmanned aerial vehicle body, at the moment, the unmanned aerial vehicle body (1) is indirectly contacted with an upper magnet of the magnetic suspension assemblies (4) through the connecting push rods, but is not contacted with a lower magnet, and the unmanned aerial vehicle body (1) is in a suspension state;
a magnetic suspension assembly (4) is arranged at a tripod head (3) of the unmanned aerial vehicle, a connecting push rod of the magnetic suspension assembly (4) is connected with the machine body (1), and a lower magnet of the magnetic suspension assembly (4) is connected with the tripod head (3) through a connecting piece;
the control module (6) can receive various flight coefficients of the data detection module (5), the control module (6) integrates wind power data, vibration data, angle offset and displacement of an upper magnet and a connecting push rod of the magnetic suspension assembly (4) on the unmanned aerial vehicle, the control signals are converted into real-time current through a power amplifier, the real-time current will pass through the coil surrounding the lower magnet, at which time the current will perform the lower magnet to generate a magnetic force, the magnetic force is just enough to balance the external wind force and the vibration quantity, so that the angle quantity of the three-axis gyroscope (502) is balanced, the vibration of the vibration detection device (503) is balanced, the displacement of the displacement sensor (504) is balanced, and the upper magnet and the connecting push rod return to the original position, further eliminating the vibration of the cradle head (3) and the machine body (1) and achieving the damping effect.
2. The magnetic suspension damping device for multi-rotor unmanned aerial vehicle of claim 1, wherein: when unmanned aerial vehicle is at the flight in-process, fuselage (1) or cloud platform (3) are because of external factors when producing vibrations, air velocity transducer (501) will detect out the wind speed size that unmanned aerial vehicle received this moment, unmanned aerial vehicle's angle displacement deflection this moment can be detected out in triaxial gyroscope (502), vibrations detection device (503) can detect out unmanned aerial vehicle's vibrations volume, the upper portion magnet and the connecting push rod of magnetic suspension subassembly (4) can be because of the displacement takes place in the sleeve of outside effort this moment, displacement transducer (504) detect out the displacement volume that the upper portion magnet deviates from the primary position, above data detection module (5) can be with these data transmission to control module (6) that detect.
3. The magnetic suspension damping device for multi-rotor unmanned aerial vehicle of claim 1, wherein: when unmanned aerial vehicle descends, unmanned aerial vehicle's four-legged support (2) can contact ground, the connecting rod that this moment four-legged support (2) can make magnetic suspension subassembly (4) of support (2) take place to remove in the sleeve because of the atress unbalance or the unbalance on ground when descending, support (2) homoenergetic that four magnetic suspension subassemblies (4) are constituteed is according to concrete descending atress condition interact, if unmanned chance produces the slope to the right, two supports (2) in the right of four-legged support (2) this moment can produce a buffer power and make the fuselage keep balance, the atress unbalance of other conditions of the same reason, support (2) homoenergetic of magnetic suspension subassembly (4) produces corresponding magnetic force according to the atress and makes the fuselage keep balance, and then make unmanned aerial vehicle steadily descend safe ground.
4. The magnetic suspension damping device for multi-rotor unmanned aerial vehicle of claim 1, wherein: for realizing the recycle to the energy, energy recuperation device has still been set up on magnetic suspension subassembly (4), the upper portion magnet is at reciprocating the in-process, because there is the change magnetic field around the upper portion magnet, consequently, 3 cm's copper line subassembly that sets up above the upper portion magnet can be the motion of cutting magnetic induction line in the motion in magnetic field, and then produce induced electromotive force in copper line subassembly through the principle that magnetism generates electricity, and then produce induced-current, this part electric current can be transmitted to battery (8) through the wire device and charge, solar cell panel (7) that can charge to battery (8) have also been set up in the top of fuselage (1) of unmanned aerial vehicle in addition, the better continuation of the journey problem that has alleviateed unmanned aerial vehicle of electric energy through two parts production.
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| CN110848321A (en) * | 2019-11-25 | 2020-02-28 | 李峥炜 | Unmanned aerial vehicle photography and camera shooting anti-shake system |
| 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 |
| 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 |
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