CN108516103A - Unmanned plane during flying angle balancing device and its Calculate Ways - Google Patents
Unmanned plane during flying angle balancing device and its Calculate Ways Download PDFInfo
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- CN108516103A CN108516103A CN201810495426.7A CN201810495426A CN108516103A CN 108516103 A CN108516103 A CN 108516103A CN 201810495426 A CN201810495426 A CN 201810495426A CN 108516103 A CN108516103 A CN 108516103A
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- 238000004891 communication Methods 0.000 claims description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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Abstract
The present invention relates to air vehicle technique field more particularly to a kind of unmanned plane during flying angle balancing devices and its Calculate Ways.Unmanned plane during flying angle balancing device provided by the invention, including device body, device body include top support, pedestal and the connection bar assembly for connecting top support and pedestal and adjustable in length；Top support is used to withstand unmanned plane when unmanned plane trimmed flight angle；Pedestal includes base body and the weighing component in base body.With usually, multiple balancing devices need to be only respectively placed in the wing both sides, body head and body tail portion of unmanned plane, it is used with flight control system joint debugging, the length of bar assembly is connected come the flight angle of trim unmanned plane by adjusting, and need to only weigh to the flight angle of unmanned plane and bottom and carry out 2 zeroings respectively, trim step is easy and trim precision is high.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of unmanned plane during flying angle balancing device and its with square
Method.
Background technology
Unmanned plane (unmanned aerial vehicle or drone) is one kind by radio robot or itself journey
The unmanned vehicle that sequence control device manipulates.In flight test of unmanned aerial vehicle, airborne ins element can only measure attitude angle,
The flight parameters such as angular speed, air speed and height, and the flights such as wind speed, wind direction and flight angle in-flight ginseng can not be obtained
Number.
In the analysis of existing flight test of unmanned aerial vehicle flying quality, simple approximate processing is generally only done to flight angle,
Such as only with attitude angle substitute flight angle to assess lift resistance ratio, the performance parameters such as lift coefficient, or according to weather when flight
State measures wind speed and direction at that time as reference, when estimating flight angle, is deducted from pitch angle to replace flying
Row angle, the angle of attack estimation obtained in this way are more coarse and inaccurate.
Apart from the above, also there are the method using flight and wind tunnel test data estimation unmanned plane trim angle of attack, unmanned plane
In flight test, the flight parameters such as aerial wind information and the angle of attack are unable to measure, can be used afterwards test flight data and
Wind tunnel data estimates unmanned plane during flying angle, realizes the requirement of flying quality analysis.First according to flight test of unmanned aerial vehicle spy
Flat winged characteristic in flight test is intercepted out, and uses data processing method by point, intercepts stable flat winged parameter.
Kinematic relation when with post analysis unmanned plane airflight, and consider wind tunnel data, pass through Gasuss_Newton optimization methods
Do the flat winged equation optimization processing of unmanned plane, when between test parameters and estimation parameter there are when error, needing to wind tunnel data and
Kinetics relation carries out offset correction and iterates, until error terminates less than certain threshold value.Using aforesaid way, need
Wind tunnel test data are acquired, fund cost and the time cost for obtaining data are all very high；In addition, current trim scheme is to be based on
The data analysis obtained after multiple flight test progress has been carried out, and accurate trim adjustment can not be carried out before flying.
Invention content
(1) technical problems to be solved
The first object of the present invention is：It is high and effectively save can match to provide a kind of simple structure and reasonable design, trim precision
Flat step and the unmanned plane during flying angle balancing device for improving control efficiency, the angle of attack estimation existing for solve in a manner of existing trim
Fund cost and the higher problem of time cost more coarse and inaccurate and that obtain data.
The second object of the present invention is：There is provided that a kind of leveling step is easy, leveling is with high accuracy is flown using above-mentioned unmanned plane
The method of row angle balancing device trim unmanned plane during flying angle, the angle of attack estimation existing for solve in a manner of existing trim are more thick
Fund cost and the higher problem of time cost rough and inaccurate and that obtain data.
(2) technical solution
In order to solve the above-mentioned technical problem, on the one hand, the present invention provides a kind of unmanned plane during flying angle balancing device, packets
Include device body, described device ontology includes top support, pedestal and for connecting the top support and pedestal and length
Spend adjustable connection bar assembly；The top support be used for the unmanned plane trimmed flight angle when withstand it is described nobody
Machine；The pedestal includes base body and the weighing component in the base body.
According to the preferred of above-mentioned technical proposal, the top support includes thimble, and the thimble is used for the unmanned plane
The unmanned plane is withstood when trimmed flight angle.
According to the preferred of above-mentioned technical proposal, the top support include support ontology and set on the support ontology and
The pressure sensor between bar assembly is connected, the support ontology is used to withstand the nothing when unmanned plane trimmed flight angle
It is man-machine.
According to the preferred of above-mentioned technical proposal, the pressure sensor is set to the machine of the support ontology and the unmanned plane
The underface at the center of body contact surface.
According to the preferred of above-mentioned technical proposal, the connection bar assembly includes push rod and sleeve, mandril and adjusting knob, described
Push rod and sleeve is connect with the base body, and the mandril is connect with the top support；The top stem casing is set to the top
It can move in rod sleeve and along the axis direction of the push rod and sleeve, the push rod and sleeve is equipped with mounting hole, the adjusting
Knob pushes against after passing through the mounting hole in the mandril.
According to the preferred of above-mentioned technical proposal, the push rod and sleeve is equipped with internal thread, and the mandril is equipped with and the interior spiral shell
The external screw thread of line cooperation, the mandril is by the external screw thread and internal thread along its axis direction precession in the push rod and sleeve
Or it screws out.
According to the preferred of above-mentioned technical proposal, the mounting hole be screw hole, the adjusting knob include knob and with institute
The abutting portion of knob connection is stated, the abutting portion is equipped with the screw thread coordinated with the screw hole, and the abutting portion passes through the spiral shell
Kong Hou rotates the knob until the abutting portion is pushed against in the mandril.
According to the preferred of above-mentioned technical proposal, the weighing component includes the electronic scale equipped with weight sensor, described heavy
Quantity sensor is set to the underface of the center of the top support.
According to the preferred of above-mentioned technical proposal, the electronic scale includes scale body and the display screen on the scale body, institute
Weight sensor is stated on the scale body.
According to the preferred of above-mentioned technical proposal, the electronic scale further includes the serial communication being connect with the weight sensor
Device.
On the other hand, the present invention also provides a kind of using the unmanned plane during flying angle balancing device trim unmanned plane
The method of flight angle first passes through the length for the connection bar assembly for adjusting the unmanned plane during flying angle balancing device, so that
The flight angle of the unmanned plane is stablized within a preset range, and by the weighing component of the unmanned plane during flying angle balancing device
Display is reset；The unmanned plane is placed in again on the balancing device after length adjustment, it is logical to carry out pitching successively to the unmanned plane
The trim in road and roll channel.
According to the preferred of above-mentioned technical proposal, under the wing both sides, body head and body tail portion of the unmanned plane
Side is respectively arranged with the unmanned plane during flying angle balancing device, and by each unmanned plane during flying angle balancing device and institute
It states and carries out a bit identification at the fuselage plane contact point of unmanned plane；
The length for adjusting the connection bar assembly of each unmanned plane during flying angle balancing device, so that the unmanned plane
Pitch angle and roll angle within the scope of predetermined angle；After the pitch angle and roll angle of the unmanned plane are stablized, described in locking
Connect bar assembly；
Level lifts the fuselage of the unmanned plane so that the thimble of each unmanned plane during flying angle balancing device with
The fuselage of the unmanned plane completely disengages, and the weighing component that each unmanned plane during flying angle balancing device bottom is connected
Registration is zeroed；
The unmanned plane is placed on the unmanned plane during flying angle balancing device of each weighing component registration zero,
Wherein, the thimble of each unmanned plane during flying angle balancing device is directed at corresponding described bit identification and places；
It is each at this time described when the total weight of the unmanned plane is pressed on the unmanned plane during flying angle balancing device
The weighing component registration of unmanned plane during flying angle balancing device bottom connection is not zero, and it is logical to carry out pitching successively to the unmanned plane
The trim in road and roll channel adjusts clump weight according to trim result on the fuselage of the unmanned plane, so that each described
The weighing component registration of unmanned plane during flying angle balancing device bottom connection is shown to zero, and the pitch angle of the unmanned plane again
And roll angle, within the scope of the predetermined angle, so far trim is completed.
It is described pitch channel to be carried out successively to the unmanned plane and roll channel is matched according to the preferred of above-mentioned technical proposal
It is flat, clump weight is adjusted on the fuselage of the unmanned plane according to trim result, is specifically included：
The trim that pitch channel is first carried out to the unmanned plane, i.e., matched along the fuselage axis direction of the unmanned plane
Weight is in the front-back direction to put adjustment so that the pitch angle of the unmanned plane glues in the preset range, and by clump weight
Fuselage current location；
The trim for carrying out roll channel to the unmanned plane again, i.e., hang down along on the fuselage axis direction with the unmanned plane
Adjustment is put directly and by the line of body nodal point position progress counterweight left and right directions so that the roll angle of the unmanned plane exists
In the preset range, and clump weight is glued in fuselage current location.
Or：
The trim that roll channel is first carried out to the unmanned plane, i.e., hang down along on the fuselage axis direction with the unmanned plane
Adjustment is put directly and by the line of body nodal point position progress counterweight left and right directions so that the roll angle of the unmanned plane exists
In the preset range, and clump weight is glued in fuselage current location.
The trim for carrying out pitch channel to the unmanned plane again, i.e., matched along the fuselage axis direction of the unmanned plane
Weight is in the front-back direction to put adjustment so that the pitch angle of the unmanned plane glues in the preset range, and by clump weight
Fuselage current location；
According to the preferred of above-mentioned technical proposal, it is positioned over the top of the unmanned plane during flying angle balancing device of wing both sides
Line between needle, the line should be by body nodal points and vertical with fuselage axis institute；It is positioned over body head and body tail portion
The unmanned plane during flying angle balancing device, placed according to the position of the partial operation plane of fuselage.
(3) advantageous effect
The above-mentioned technical proposal of the present invention has the following advantages that：
The present invention provides a kind of unmanned plane during flying angle balancing device, including device body, device body includes top
Support element, pedestal and the connection bar assembly for connecting top support and pedestal and adjustable in length；Top support is used for
Unmanned plane is withstood when unmanned plane trimmed flight angle；Pedestal includes base body and the weighing component in base body.This
Apply for that the balancing device provided, top use top support, bottom to use the integrated design being connect with weighing component, trim
When, multiple balancing devices need to be only respectively placed in the wing both sides, body head and body tail portion of unmanned plane, with flight control system
Joint debugging uses, position of centre of gravity when according to unmanned plane global design, and connects the length of bar assembly by adjusting come quick trim
The flight angle of unmanned plane, simple in structure, reasonable design, and it is easy to operate；In addition, in trim, need to only bow to unmanned plane
The elevation angle, roll angle carry out 2 zeroings respectively, and 2 zeroings, trim step simplicity and trim precision are also only needed to bottom weighing stage
Height, it is highly practical, conducive to production and popularization is standardized.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of unmanned plane during flying angle balancing device of the embodiment of the present invention；
Fig. 2 is a kind of arrangement axonometric drawing of unmanned plane during flying angle balancing device and unmanned plane of the embodiment of the present invention；
Fig. 3 is the arrangement schematic diagram of clump weight on a kind of unmanned plane of the embodiment of the present invention；
Fig. 4 is a kind of arrangement front view of unmanned plane during flying angle balancing device and unmanned plane of the embodiment of the present invention；
Fig. 5 is a kind of side using unmanned plane during flying angle balancing device trim unmanned plane during flying angle of the embodiment of the present invention
Method step block diagram.
In figure：1：Thimble；2：Connect bar assembly；2-1：Mandril；2-2：Adjusting knob；2-3：Push rod and sleeve；3：Pedestal；
10：Unmanned plane during flying angle balancing device；100：Unmanned plane；100-1：Starboard wing；100-2：Port wing；100-3：Body head
Portion；100-4：Body tail portion；100-5：First clump weight；100-6：Second clump weight；100-7：Third clump weight；100-8：The
Four clump weights.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figures 1 to 4, on the one hand, an embodiment of the present invention provides a kind of unmanned plane during flying angle balancing device, packets
Include device body, device body includes top support, pedestal 3 and for connecting top support and pedestal 3 and length is adjustable
The connection bar assembly 2 of section；Top support is used to withstand unmanned plane 100 when 100 trimmed flight angle of unmanned plane；Pedestal 3 includes
3 main body of pedestal and the weighing component in 3 main body of pedestal.Wherein, the flight angle of unmanned plane 100 includes pitch angle and rolling
Angle.
Unmanned plane during flying angle balancing device 10 provided by the present application, including the top braces that set gradually from top to bottom
Part, connection bar assembly 2 and pedestal 3, wherein the adjustable in length of connection bar assembly 2, pedestal 3 are equipped with weighing component；Specifically
Ground, balancing device provided by the present application, top use top support form, bottom integrated using being connected with weighing component
4 balancing devices need to be only respectively placed in the port wing 100-2, starboard wing 100-1, machine of unmanned plane 100 by design with usually
Body head 100-3 and body tail portion 100-4 is used with flight control system joint debugging, center of gravity position when according to 100 global design of unmanned plane
It sets, and by the length of adjusting connection bar assembly 2 come the flight angle of quick trim unmanned plane 100, and in the machine of unmanned plane 100
The clump weight of corresponding counterweight is pasted in body position, e.g., the first clump weight 100-5 is pasted on starboard wing 100-1, in port wing 100-
The second clump weight 100-6 is pasted on 2, third clump weight 100-7 is pasted on the 100-3 of body head, on the 100-4 of body tail portion
The 4th clump weight 100-8 is pasted, then achievees the purpose that trim by adjusting clump weight position, to meet shape needed for basic flight
State only need to carry out pitch angle, the roll angle of unmanned plane 100 respectively 2 zeroings, and 2 zeroings are also only needed to bottom weighing stage,
The multiple iterative calculation of the prior art is avoided, this trim step is easy and trim precision is high, highly practical, and the application provides
Device, simple in structure, reasonable design, and easy to operate, conducive to production and popularization is standardized.
According to the preferred of above-mentioned technical proposal, top support includes thimble 1, and thimble 1 is used for unmanned plane trimmed flight angle
Unmanned plane is withstood when spending.
In the present embodiment, top support preferably use thimble 1, wherein the upper end stress surface of thimble 1 can according to
The shape of the specific contact portion of unmanned aerial vehicle body carries out respective design, in general, to mitigate the pressure to thimble, protection thimble end
The end in portion, thimble is mostly plane by face and area is as big as possible, can carry out effectively support, positioning and check weighing to fuselage.
According to the preferred of above-mentioned technical proposal, connection bar assembly 2 includes push rod and sleeve 2-3, mandril 2-1 and adjusting knob 2-
2, push rod and sleeve 2-3 are connect with 3 main body of pedestal, and mandril 2-1 is connect with top support；Mandril 2-1 is sheathed on push rod and sleeve 2-3
Interior and can be moved along the axis direction of push rod and sleeve 2-3, push rod and sleeve 2-3 is equipped with mounting hole, and adjusting knob 2-2 passes through peace
It is pushed against in mandril 2-1 after filling hole.
Specifically, in the present embodiment, connection bar assembly 2 includes push rod and sleeve 2-3, mandril 2-1 and adjusting knob 2-2,
Mandril 2-1 is set in push rod and sleeve 2-3 and can reciprocatingly move along the axis direction of push rod and sleeve 2-3, matches for basis
It is flat to need to be turned up or turn down the whole height of balancing device 10.Adjusting knob 2-2 is for fastening mandril 2-1 and push rod and sleeve 2-
3, when the position of mandril 2-1 and push rod and sleeve 2-3 is fixed, after mounting hole, turn knob is straight for one end of adjusting knob 2-2
It is pushed against to the end of adjusting knob 2-2 in mandril 2-1, realizes locking.Simple in structure, processing technology is easy, is conducive to reduce production
Cost, easy to operate and locking effect are good.
According to the preferred of above-mentioned technical proposal, push rod and sleeve 2-3 is equipped with internal thread, and mandril 2-1 is equipped with and screw-internal thread fit
External screw thread, mandril 2-1 is by external screw thread and internal thread along its axis direction precession or back-out in push rod and sleeve 2-3.
It is further preferred that improve the connection effect of mandril 2-1 and push rod and sleeve 2-3, in the inner wall of push rod and sleeve 2-3
Equipped with internal thread, correspondingly, the outer wall in mandril 2-1 is equipped with and the matched external screw thread of internal thread.If entire connection need to be adjusted
When the length of bar assembly 2, only need to precession or back-out in push rod and sleeve 2-3 by mandril 2-1, it is easy to operate；In addition, using screw thread
The mode of mating connection is conducive to carry out accurate adjusting to the height for connecting bar assembly 2, is conducive to improve trim precision and trim effect
Rate.
It should be noted that mandril 2-1 and push rod and sleeve 2-3 in addition to using internal thread and the matched mode of external screw thread it
Outside, it can also be equipped with slideway along its axis direction in push rod and sleeve 2-3, mandril 2-1 can do reciprocal fortune along the trend of slideway
It is dynamic.Further, it can be positioned apart from multiple salient points on slideway, to prevent mandril 2-1 single mobile ranges excessive, be unfavorable for
It is rapidly achieved trim precision.
According to the preferred of above-mentioned technical proposal, mounting hole is screw hole, and adjusting knob 2-2 includes knob and connects with knob
The abutting portion connect, abutting portion is equipped with the screw thread coordinated with screw hole, and after abutting portion passes through screw hole, turn knob portion is until abutting portion supports
Tightly in mandril 2-1.
The portions adjusting knob 2-2 include that knob and one end are connect with knob, and the other end is used to push against the abutting of mandril 2-1
Portion, it is preferred that abutting portion is equipped with screw thread, correspondingly, mounting hole is screw hole, when that need to lock connection bar assembly 2, will push against portion
When across screw hole, when turn knob portion, abutting portion advances towards mandril 2-1, until the end in abutting portion is pushed against in mandril 2-
1, simple in structure, production technology is easy, is conducive to reduce production cost, and fastening effect is good.
According to the preferred of above-mentioned technical proposal, weighing component includes the electronic scale equipped with weight sensor, weight sensor
Underface set on the center of top support.
In the present embodiment, weighing component includes the electronic scale equipped with weight sensor, it is preferred that sets weight sensor
Underface in the center of top support is conducive to the accurate of follow-up clump weight accurately to measure the weight of unmanned plane 100
Debugging, to further improve trim precision.Certainly, weight sensor can also be set to the position for deviateing top support center
Place, specifically can be reasonably arranged according to actual implementation condition.
According to the preferred of above-mentioned technical proposal, electronic scale includes scale body and the display screen on scale body, weight sensor
On scale body.
Further, by being provided with the electronic scale of display screen, display screen shows the weight transmitted by weight sensor
Data are measured, in order to read the weight that each thimble 1 measures during trim, to provide data reference for follow-up trim.
According to the preferred of above-mentioned technical proposal, electronic scale further includes the serial communication device being connect with weight sensor.
Further, electronic scale may also include serial communication device, and the display data of bottom of device is led to by serial ports
T unit is connected on computer, realizes key zero and data observation on position machine software on computers, avoids reading on data time
Waste and error in reading generation.
Wherein, it should be noted that, serial communication device can be both arranged simultaneously with display screen, can also select a setting, tool
Body can reasonably be set according to actual implementation condition.
On the other hand, as shown in figure 5, the present invention also provides a kind of unmanned plane during flying angles using in above-mentioned technical proposal
The method for spending balancing device trim unmanned plane during flying angle first passes through the connecting rod group for adjusting unmanned plane during flying angle balancing device
The length of part, so that the flight angle of unmanned plane is stablized within a preset range, and by unmanned plane during flying angle balancing device
Weighing component display is reset, to prepare for the trim of next step adjustment；Unmanned plane is placed in after length adjustment again and matches paperback
It sets, at this point, the display of the weighing component of each balancing device is not zero, carries out pitch channel successively to unmanned plane and rolling is logical
The trim in road pastes clump weight according to trim result on the fuselage of unmanned plane, so that each unmanned plane during flying angle trim
The weighing component registration of bottom of device connection is shown to zero again, and the pitch angle of unmanned plane and roll angle are in predetermined angle range
Interior, so far trim is completed.
According to the preferred of above-mentioned technical proposal, specifically comprise the following steps：
Step S1, the unmanned plane that has been respectively arranged below in the wing both sides of unmanned plane, body head and body tail portion flies
Row angle balancing device, and it is better by being done at the fuselage plane contact point of each unmanned plane during flying angle balancing device and unmanned plane
Bit identification；
In the present embodiment, it needs 4 balancing devices to be matched with the flight control system of unmanned plane and carrys out quick trim unmanned plane
Flight angle.Specifically, 4 balancing devices are placed in the port wing, starboard wing, body of unmanned plane respectively according to default principle
Head and body tail portion, wherein the thimble of balancing device then marks the fuselage of thimble and unmanned plane flat for being contacted with unmanned plane
The contact point in face, and it is denoted as a bit identification.
Step S2, the length for adjusting the connection bar assembly of each unmanned plane during flying angle balancing device, so that unmanned plane
Pitch angle and roll angle within the scope of predetermined angle；After the pitch angle and roll angle of unmanned plane are stablized, connecting rod group is locked
Part；
The fuselage of unmanned plane is separately mounted to fuselage after finishing assembly, by the flight control system of unmanned plane and power module
Corresponding position；Wherein, flight control system includes data transmission module, BEC modules (Battey Elimination Circuit), flies
Control module and GPS module.Preferably, fly control module to be mounted on body nodal point position and lie in a horizontal plane in fuselage interior, GPS module
It mounted on the top position of wing central axis and is horizontally mounted towards heading, other modules are fitted without that position is special to want
It asks, can specifically be put according to the space in fuselage.
In the present embodiment, when adjustment, first the flight control system for being positioned over fuselage interior is given to power on, and is according to winged control
Earth station's software interface of system reads the angle of pitch channel and roll channel, specifically includes pitch angle and the roll of unmanned plane
Angle；The length that bar assembly is connected in 4 balancing devices is adjusted separately, so that the fuselage that the ground station software of flight control system is read
Posture pitch angle and roll angle are within the scope of predetermined angle, wherein between ranging from -0.5 °~0.5 ° of predetermined angle.When nobody
After the pitch angle and roll angle of machine reach stationary value within the scope of predetermined angle, the connecting rod group in each balancing device is locked
Part.
Step S3, the horizontal fuselage for lifting unmanned plane so that the thimble of each unmanned plane during flying angle balancing device with
The fuselage of unmanned plane completely disengages, and the weighing component registration that each unmanned plane during flying angle balancing device bottom connects is returned
Zero；
Specifically, in the present embodiment, after locking the connection bar assembly in each balancing device, a people uses double at this time
Hand firmly grasps wing both sides, after standard of fuselage is lifted so that the thimble of 4 balancing devices is completely disengaged with fuselage；Another
The registration of the weighing component of 4 balancing devices is zeroed by people respectively, wherein the effect of zero is adjusted for the trim of next step
It prepares.
Step S4, unmanned plane is placed on the unmanned plane during flying angle balancing device of each weighing component registration zero,
Wherein, the thimble alignment corresponding points bit identification of each unmanned plane during flying angle balancing device is placed；
In the present embodiment, unmanned plane is integrally placed to balancing device that 4 weighing component registrations have been zeroed again
On thimble, wherein correspondence is positioned on the thimble of 4 balancing devices of lower part 4 bit identifications respectively.
Step S5, when the total weight of unmanned plane is pressed on unmanned plane during flying angle balancing device, each unmanned plane at this time
The weighing component registration of flight angle balancing device bottom connection is not zero, and carries out pitch channel successively to unmanned plane and rolling is logical
The trim in road pastes clump weight according to trim result on the fuselage of unmanned plane, so that each unmanned plane during flying angle trim
The weighing component registration of bottom of device connection is shown to zero again, and the pitch angle of unmanned plane and roll angle are in predetermined angle range
Interior, so far trim is completed.
Specifically, in the present embodiment, when corresponding 4 trims for being positioned over lower part respectively of 4 bit identifications of unmanned plane
On the thimble of device, after letting go, the total weight of unmanned plane is pressed on 4 balancing devices, at this time the title of 4 balancing device bottoms
The registration of heavy parts, which will be shown, to be not zero, and needs the trim for carrying out pitch channel and roll channel successively to unmanned plane later, and
According to specific trim as a result, pasting the clump weight of corresponding counterweight on the fuselage of unmanned plane, until 4 balancing device bottoms
Weighing component registration is shown as zero again, and the pitch angle of unmanned plane and roll angle are also within the scope of predetermined angle at this time, then
The trim work for representing fuselage has been completed.
According to the preferred of above-mentioned technical proposal, in step s 5, pitch channel and roll channel are carried out successively to unmanned plane
Trim, clump weight is pasted on the fuselage of unmanned plane according to trim result, is specifically included：
The trim that pitch channel is first carried out to unmanned plane, i.e., carry out counterweight front and back along the fuselage axis direction of unmanned plane
To put adjustment so that the pitch angle of unmanned plane within a preset range, and clump weight is glued in fuselage current location；It is right again
Unmanned plane carries out the trim of roll channel, i.e., along vertical on the fuselage axis direction with unmanned plane and pass through body nodal point position
Line carry out counterweight left and right directions and put adjustment so that the roll angle of unmanned plane within a preset range, and clump weight glues
Fortunately fuselage current location.
When carrying out pitch channel with usually to unmanned plane, i.e., along being carried out on fuselage axis, counterweight is in the front-back direction to put tune
It is whole, when the clump weight after putting makes the pitch angle of unmanned plane be located in preset range, clump weight is glued into working as in fuselage
Front position, at this point, the trim of body pitching channel is completed；Wherein, between ranging from -0.5 °~0.5 ° of the predetermined angle of pitch angle；
After completing pitch channel trim, then carry out roll channel trim adjustment, i.e., along on fuselage axis direction
It vertically and by the line of body nodal point position carries out, clump weight is subjected to left and right adjustment along line direction, observes earth station circle
Clump weight is glued working as in fuselage by face when the clump weight after putting makes the roll angle of unmanned plane be located in preset range
Front position, at this point, fuselage roll channel trim is completed；Wherein, between ranging from -0.5 °~0.5 ° of the predetermined angle of roll angle.
According to the preferred of above-mentioned technical proposal, in step sl, it is positioned over the unmanned plane during flying angle trim of wing both sides
Line between the thimble of device, the line should be by body nodal points and vertical with fuselage axis institute；Be positioned over body head and
The unmanned plane during flying angle balancing device of body tail portion, is placed according to the position of the partial operation plane of fuselage.
Preferably, in this embodiment, to improve the trim precision of unmanned plane, the default principle that 4 balancing devices are put has
Body includes：2 unmanned plane during flying angle balancing devices of wing both sides are positioned over, the connection between the thimble of both devices needs
By body nodal point and vertical with fuselage axis institute, in this way, this 2 balancing devices are symmetrically disposed at fuselage both sides, and with machine
A bit identification is carried out at underwing contact point；2 unmanned plane during flying angles for being positioned over body head and body tail portion match paperback
Set, then placed according to the position of partial operation plane of fuselage, and will with carry out a bit identification at fuselage plane contact point.
It should be noted that in the present embodiment, it is preferred to use 4 balancing devices complete unmanned plane during flying angle trim,
But it is not limited to use above-mentioned 4 balancing devices in trim step, can also be 4 or more, particular number can be according to practical reality
Condition is applied to be reasonably arranged.
Embodiment two
With differing only in for embodiment one：
In the present embodiment, unmanned plane during flying angle balancing device provided by the invention, top support include supporting this
Body and the pressure sensor between support ontology and connection bar assembly, when support ontology is used for unmanned plane trimmed flight angle
Withstand unmanned plane.Wherein, support the shape of the top support surface of ontology specifically can according to the specific contact portion of unmanned aerial vehicle body
Shape carry out respective design, effective, reliable support and positioning action can be played.
Preferably, pressure sensor is set to the underface at the center of the fuselage contact surface of support ontology and unmanned plane, with energy
The accurate weight for measuring unmanned plane, is conducive to the accurate debugging of follow-up clump weight, to further improve trim precision.Certainly, it presses
It, specifically can be according to reality at the position at the center that force snesor can also be set to the fuselage contact surface for deviateing support ontology and unmanned plane
Border implementation condition is reasonably arranged.
Other technologies scheme is identical as embodiment one, to avoid repeating, is not repeated.
In conclusion the present invention provides a kind of unmanned plane during flying angle balancing device, including device body, device body
Including top support, pedestal and for connecting top support and pedestal and the connection bar assembly of adjustable in length；Top branch
Support member is used to withstand unmanned plane when unmanned plane trimmed flight angle；Pedestal includes base body and weighing in base body
Component.Balancing device provided by the present application, top use top support, and bottom is used integrated to be set with what weighing component connected
Multiple balancing devices need to be only respectively placed in the wing both sides, body head and body tail portion of unmanned plane by meter with usually, with
Flight control system joint debugging use, according to unmanned plane global design when position of centre of gravity, and by adjusting connect bar assembly length come
The flight angle of quick trim unmanned plane, simple in structure, reasonable design, and it is easy to operate；In addition, in trim, it only need to be to nothing
Man-machine pitch angle, roll angle carry out 2 zeroings respectively, also only need 2 zeroings to bottom weighing stage, trim step it is easy and
Trim precision is high, highly practical, conducive to production and popularization is standardized.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (14)
1. a kind of unmanned plane during flying angle balancing device, it is characterised in that：Including device body, described device ontology includes top
Support element, the pedestal with weighing component and the connecting rod group for connecting the top support and pedestal and adjustable in length
Part.
2. unmanned plane during flying angle balancing device according to claim 1, it is characterised in that：The top support includes
Thimble.
3. unmanned plane during flying angle balancing device according to claim 1, it is characterised in that：The top support includes
Support ontology and the pressure sensor between the support ontology and connection bar assembly.
4. unmanned plane during flying angle balancing device according to claim 3, it is characterised in that：The pressure sensor is set to
The underface of the support ontology and the center of the fuselage contact surface of the unmanned plane.
5. according to claim 1-4 any one of them unmanned plane during flying angle balancing devices, it is characterised in that：The connecting rod
Component includes push rod and sleeve, mandril and adjusting knob, and the push rod and sleeve is connect with the pedestal, the mandril and the top
Support element connects.
6. unmanned plane during flying angle balancing device according to claim 5, it is characterised in that：The top stem casing is set to described
It can move in push rod and sleeve and along the axis direction of the push rod and sleeve, the push rod and sleeve is equipped with mounting hole, the tune
It saves after knob passes through the mounting hole and pushes against in the mandril.
7. unmanned plane during flying angle balancing device according to claim 5, it is characterised in that：The push rod and sleeve is equipped with interior
Screw thread, the mandril are equipped with the external screw thread with the screw-internal thread fit.
8. unmanned plane during flying angle balancing device according to claim 5, it is characterised in that：The mounting hole is screw hole,
The adjusting knob includes knob and the abutting portion being connect with the knob, and the abutting portion is equipped with to be coordinated with the screw hole
Screw thread, the abutting portion pass through the screw hole after, rotate the knob until the abutting portion push against in the mandril.
9. unmanned plane during flying angle balancing device according to claim 1, it is characterised in that：The weighing component includes setting
There are the electronic scale of weight sensor, the weight sensor to be set to the underface of the center of the top support.
10. unmanned plane during flying angle balancing device according to claim 9, it is characterised in that：The electronic scale includes scale
Body and the display screen on the scale body, the weight sensor are set on the scale body.
11. unmanned plane during flying angle balancing device according to claim 10, it is characterised in that：The electronic scale further includes
The serial communication device being connect with the weight sensor.
12. a kind of using such as claim 1-11 any one of them unmanned plane during flying angle balancing device trim unmanned plane during flyings
The method of angle, it is characterised in that：It is provided with the unmanned plane during flying angle balancing device below the unmanned plane, passes through tune
The connection bar assembly for saving balancing device adjusts trim to the unmanned plane during flying angle.
13. according to the method for claim 12, which is characterized in that the connection bar assembly for adjusting balancing device includes adjusting
The length of the connection bar assembly of whole each unmanned plane during flying angle balancing device, and lock the connection bar assembly.
14. according to the method for claim 13, which is characterized in that by adjusting unmanned plane counterweight to the unmanned plane during flying
Angle carries out trim.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810495426.7A CN108516103A (en) | 2018-05-22 | 2018-05-22 | Unmanned plane during flying angle balancing device and its Calculate Ways |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810495426.7A CN108516103A (en) | 2018-05-22 | 2018-05-22 | Unmanned plane during flying angle balancing device and its Calculate Ways |
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| CN108516103A true CN108516103A (en) | 2018-09-11 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810495426.7A Pending CN108516103A (en) | 2018-05-22 | 2018-05-22 | Unmanned plane during flying angle balancing device and its Calculate Ways |
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