CN108593169B - Aerodynamic characteristic testing device, torque testing method and lift force testing method for single rotor system of rotary-wing Mars unmanned aerial vehicle - Google Patents
Aerodynamic characteristic testing device, torque testing method and lift force testing method for single rotor system of rotary-wing Mars unmanned aerial vehicle Download PDFInfo
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- CN108593169B CN108593169B CN201810355506.2A CN201810355506A CN108593169B CN 108593169 B CN108593169 B CN 108593169B CN 201810355506 A CN201810355506 A CN 201810355506A CN 108593169 B CN108593169 B CN 108593169B
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
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Abstract
The invention discloses a device for testing the aerodynamic characteristics of a single rotor system of a rotary wing type Mars unmanned aerial vehicle, a torque testing method and a lift force testing method, belongs to the technical field of single rotor unmanned aerial vehicles, and aims to solve the problems that the conventional device for testing the aerodynamic characteristics of a rotor system of a Mars unmanned aerial vehicle is difficult to meet the requirements of small lift force and low torque indexes of the rotor system of the Mars unmanned aerial vehicle, and is poor in applicability and large in measurement error. The invention comprises a motion module, a torque measurement module and a lift force measurement module; the lower end surface of the motion module is connected with the upper end of the torque measurement module, and the motion module and the torque measurement module are arranged on the upper end surface of one end of a balance rod of the lift force measurement module; the motion module is used for generating rotary motion so as to generate torque and lift force; the torque measuring module is used for measuring the torque generated by the motion module; the lift force measuring module is used for measuring the lift force generated by the motion module. The invention relates to an unmanned aerial vehicle single rotor system for Mars detection.
Description
Technical Field
The invention relates to a pneumatic characteristic testing device of a single-rotor system of a Mars unmanned aerial vehicle, and belongs to the technical field of single-rotor unmanned aerial vehicles.
Background
The exploration of the evolution course of the planet in the near field, the origin of life and the existence of water sources is one of the concerns of deep space exploration by scientists at home and abroad. The Mars has similar physical volume with the earth, also has thin atmosphere, has the same four-season alternation and day-night change, and has more proper temperature, so the Mars detection becomes an important target of a deep space detection task. At present, the main means of mars detection include launching satellites, mars rovers, etc., but these means are limited by the accuracy and efficiency of detection. The development of a Mars unmanned aerial vehicle for assisting a Mars rover in completing a Mars detection task becomes a new path for the current Mars detection. Compare unmanned aerial vehicles such as fixed wing formula, float balloon, rotor wing formula mars unmanned aerial vehicle has advantages such as high flight rate, extensive detection range, VTOL, fixed point landing ability, has become mars unmanned aerial vehicle's research focus. However, the pressure and temperature of the mars atmosphere are much lower than those of the earth environment, and the unique low reynolds number and high mach number flight environment provides great challenges for the human beings to develop a rotor system of the unmanned aerial vehicle. Present rotor characteristic testing arrangement mainly is to earth unmanned aerial vehicle rotor system, is difficult to satisfy the index requirement of little lift, the low moment of torsion of mars unmanned aerial vehicle rotor, develops a rotor formula mars unmanned aerial vehicle list rotor system mechanical properties testing arrangement and is significant to future deep space exploration in our country.
The existing aerodynamic characteristic testing device can only be used for evaluating the aerodynamic characteristics of a rotor system of an earth unmanned aerial vehicle, is poor in applicability and large in measurement error, and is difficult to realize small-lift and low-torque measurement of the rotor system under a Mars environment.
Disclosure of Invention
The invention aims to solve the problems that the conventional rotor system aerodynamic characteristic testing device is difficult to meet the requirements of a mars unmanned aerial vehicle rotor system on low lift and low torque indexes, poor in applicability and large in measurement error, and provides a rotor type mars unmanned aerial vehicle single-rotor system aerodynamic characteristic testing device, a torque testing method and a lift testing method.
The invention relates to a device for testing the aerodynamic characteristics of a single rotor system of a rotary-wing Mars unmanned aerial vehicle, which comprises a motion module, a torque measurement module and a lift measurement module;
the lower end surface of the motion module is connected with the upper end of the torque measurement module, and the motion module and the torque measurement module are arranged on the upper end surface of one end of a balance rod of the lift force measurement module;
the motion module is used for generating rotary motion so as to generate torque and lift force;
the torque measuring module is used for measuring the torque generated by the motion module;
the lift force measuring module is used for measuring the lift force generated by the motion module.
The invention relates to a torque testing method based on a single rotor system aerodynamic characteristic testing device of a rotary wing type Mars unmanned aerial vehicle, which comprises the following specific processes:
step 9-1, driving the test rotor to rotate at a high speed by an external high-speed brushless motor, and generating clockwise torque;
step 9-2, the torque generated in step 9-1 is transmitted to the upper grating ruler sequentially through the first adapter rod and the second adapter rod, and tiny rotation is generated on the upper grating ruler;
9-3, changing an included angle between the upper grating ruler and the lower grating ruler;
9-4, causing the pressure of the laser emitter and the laser receiver to change due to the change of the included angle generated in the step 9-3;
and 9-5, acquiring a torque value of the tested rotor wing according to the pressure change generated in the step 9-4.
The invention relates to a lift force testing method based on a single rotor wing system aerodynamic characteristic testing device of a rotary wing type Mars unmanned aerial vehicle, which comprises the following specific processes:
step 10-1, adding mass balance of a balancing weight in a balancing weight tray, and arranging a motion module and a torque measurement module at one end of a balancing rod;
step 10-2, driving the test rotor to rotate at a high speed by an external high-speed brushless motor, and generating a vertical upward lifting force; when the balance rod is in a balance position, the pressure strain gauge is contacted with the balance rod and is not extruded;
step 10-3, the lifting force generated in the step 10-2 is transmitted to the balancing pole through the motion module and the torque measuring module in sequence;
step 10-4, converting the lifting force at one end of the balancing rod into the pressure of a pressure strain gauge at the other end of the balancing rod, and generating an acting force between the pressure strain gauge and the balancing rod at the moment;
and 10-5, acquiring a lift force value of the tested rotor wing through the pressure change of the pressure strain gauge.
The invention can solve the problems that the existing rotor wing system aerodynamic characteristic testing device mainly aims at the rotor wing system of the unmanned aerial vehicle in the earth atmospheric environment, the small lift force and low torque index requirements of the rotor wing system of the Mars unmanned aerial vehicle are difficult to realize, the applicability is poor and the measurement error is large, the rotor wing type Mars unmanned aerial vehicle single rotor wing system aerodynamic characteristic testing system is arranged in the low vacuum gas environment of a large-scale vacuum tank, a motion module is directly connected with a torque measurement module, the motion module and the torque measurement module are arranged on a balance rod of the lift force measuring device, when the rotor wing system moves, the torque moment measuring module directly measures the low torque of the rotor wing system, the mechanical measuring device balances the mass of the rotor wing system through the balancing weight, and the small lift force of the rotor system is measured by adopting a pressure strain gauge arranged on the other side through a seesaw structure. The aerodynamic characteristic testing device can evaluate important indexes such as an airfoil structure, a blade structure and the geometric shape of the blade of the rotor system, and has a high application range and flexibility. The rotor system aerodynamic performance evaluation test device is used for evaluating the aerodynamic performance of the rotor system of the deep space detector such as a deep space detection rotor type unmanned aerial vehicle, a deep space detection inclined rotor type unmanned aerial vehicle and the like.
The invention has the advantages that:
1. the rotor system torque measurement device is scientific and reasonable in structural design, the motion module of the rotor system is directly connected with the torque measurement module, and the accurate torque value of the rotor system can be directly obtained in the motion process of the rotor system; the lift measurement module adopts a 'seesaw' type structure, the rotor system and the torque measurement module are arranged on one side of a balance rod of the lift measurement module, and the balance weight on the other side of the balance rod balances the mass of the rotor system and the torque measurement module, so that the strain gauge can measure the tiny lift generated by the rotor system under the working state. The testing device meets the requirement of the single-rotor aerodynamic characteristic on the measurement precision, and has novel measurement mode and low error.
2. The working medium is carbon dioxide, the large vacuum tank is used as the working environment of the pneumatic characteristic testing device, the use process is safe and reliable, no pollution is caused, and the pneumatic characteristic testing device is suitable for being popularized and used.
3. The test object of the invention has particular replaceability, and can be used for evaluating the airfoil structure of a single rotor system, such as high Reynolds number airfoil, low Reynolds number airfoil and the like, according to the index requirements of various rotors; the evaluation of important indexes such as the number of single rotor blades, the blade structure, the geometric shape and the like can be realized.
4. According to the invention, multiple tests of samples show that the aerodynamic characteristic of a single-rotor system with a span of within 1.0m is tested in a rotating speed range of 0-6000 r/min in a low-vacuum environment of 1-104 Pa.
5. According to the invention, multiple tests of samples show that under the condition that the pressure index of the gas environment is stable, the lift force measurement error is less than 0.01N, and the torque measurement error is less than 0.1mN · m.
Drawings
Fig. 1 is a schematic structural diagram of a single-rotor system aerodynamic characteristic testing device of a rotary-wing mars unmanned aerial vehicle according to the invention;
FIG. 2 is a schematic diagram of the position structure of the motion module, the torque measuring module and the lift force measuring module according to the invention;
FIG. 3 is a schematic diagram of the motion module of the present invention;
FIG. 4 is a cross-sectional view of a torque measurement module according to the present invention;
FIG. 5 is a schematic structural view of a torque measurement module according to the present invention;
FIG. 6 is a schematic diagram of the position structure of the balance support and the balance bar according to the present invention;
fig. 7 is a partial structural schematic view of the lift measurement module of the present invention.
Detailed Description
The first embodiment is as follows: the following describes the present embodiment with reference to fig. 1 and fig. 2, and the device for testing aerodynamic characteristics of a single rotor system of a rotary-wing mars unmanned aerial vehicle in the present embodiment includes a motion module 1, a torque measurement module 2, and a lift measurement module 3;
the lower end face of the motion module 1 is connected with the upper end of the torque measurement module 2, and the motion module 1 and the torque measurement module 2 are arranged on the upper end face of one end of a balance rod of the lift force measurement module 3;
the motion module 1 is used for generating rotary motion so as to generate torque and lift force;
the torque measuring module 2 is used for measuring the torque generated by the motion module 1;
the lift measuring module 3 is used for measuring the lift generated by the motion module 1.
The second embodiment is as follows: the embodiment is described below with reference to fig. 3, and the embodiment further describes the first embodiment, wherein the motion module 1 includes a test rotor 1-1, an external high-speed brushless motor 1-2, a hall element 1-3, and a first adapter rod 1-4;
an output shaft of the external high-speed brushless motor 1-2 drives the test rotor 1-1 to rotate, a shell of the external high-speed brushless motor 1-2 is connected with the upper end of a first adapter rod 1-4 through a bottom flange, a Hall element 1-3 is connected with the bottom flange of the external high-speed brushless motor 1-2, the Hall element 1-3 is adjacent to and not in contact with the external high-speed brushless motor 1-2, and the Hall element 1-3 is used for carrying out closed-loop control on the rotating speed of the external high-speed brushless motor 1-2.
In the embodiment, the external high-speed brushless motor 1-2 is directly connected with the test rotor 1-1, and the Hall element 1-3 is adopted to perform self-feedback control on the rotating speed of the external high-speed brushless motor 1-2, so that the requirement of high-speed motion of the rotor system is accurately and quickly met.
The third concrete implementation mode: the embodiment is described below with reference to fig. 4 and 5, and the embodiment further describes the second embodiment, in which the torque measurement module 2 includes two sets of ball bearings 2-1, a laser emitter 2-2, an upper grating ruler 2-3, a lower grating ruler 2-4, a laser receiver 2-5, a second adapter rod 2-6, a housing top cover 2-7, a housing 2-8, a lower grating seat 2-9, and a housing bottom cover 2-10;
the second adapter rod 2-6 is T-shaped, the upper end of the second adapter rod 2-6 is connected with the lower end of the first adapter rod 1-4, the lower end of the second adapter rod 2-6 is connected with the upper grating ruler 2-3, the shell top cover 2-7, the shell 2-8 and the shell bottom cover 2-10 are sequentially connected through screws, the lower grating ruler 2-4, the lower grating seat 2-9 and the shell bottom cover 2-10 are sequentially connected, the lower grating seat 2-9 is positioned at the center of the shell bottom cover 2-10, the upper grating ruler 2-3 and the lower grating ruler 2-4 are coaxially and oppositely arranged, the inner circles of the two groups of ball bearings 2-1 are respectively matched with the second adapter rod 2-6, the bearing excircles of the two groups of ball bearings 2-1 are respectively matched with the shell 2-8, the laser emitter 2-2 is connected with the inner wall of the shell 2-8, the laser receiver 2-5 is connected with the bottom cover 2-10 of the shell, and the laser emitter 2-2 is coaxially opposite to the laser receiver 2-5.
In the embodiment, the inner circles of the two groups of ball bearings 2-1 are respectively matched with the second adapter rod 2-6, the bearing outer circles of the two groups of ball bearings 2-1 are respectively matched with the shell 2-8, the rotation of the second adapter rod 2-6 with small resistance is realized, and the gravity of the motion module 1 is unloaded to the shell 2-8.
The fourth concrete implementation mode: the third embodiment is further described with reference to fig. 4 and 5, the upper grating scale 2-3 and the lower grating scale 2-4 are connected by a thin connecting rod, the motion module 1 transmits the change of the torque to the upper grating scale 2-3 through a second adapter rod 2-6, the torque change of the upper grating scale 2-3 causes the torsion of the thin connecting rod, the torsion of the thin connecting rod drives the lower grating scale 2-4 to be twisted, and the change of the angle between the upper grating scale 2-3 and the lower grating scale 2-4 converts the torque of the motion module 1 into the change of the angle and amplifies the change of the torque.
In the present embodiment, the thin link is a very thin link.
The fifth concrete implementation mode: in this embodiment, the thin link is cylindrical.
The sixth specific implementation mode: in the fifth embodiment, the thin connecting rod is cylindrical, and the thin connecting rod can replace connecting rods with different diameters according to torques in different ranges.
The seventh embodiment: the third embodiment is further described in the following with reference to fig. 6 and 7, and the lift force measuring module 3 includes a balance support 3-1, a balance rod 3-2, a counterweight tray 3-3, a pressure strain gauge 3-4 and a dial indicator base 3-5;
the bottom end of the shell bottom cover 2-10 is connected with one end of the balance rod 3-2 through a screw, the balance support 3-1 is connected with the balance rod 3-2, the balance support 3-1 is arranged at the bottom of the middle of the balance rod 3-2, the pressure strain gauge 3-4 is in contact with the balance rod 3-2, the pressure strain gauge 3-4 is arranged at the other end of the balance rod 3-2, the dial gauge seat 3-5 is connected with the pressure strain gauge 3-4, the counterweight block tray 3-3 is arranged between the pressure strain gauge 3-4 and the balance support 3-1, and the counterweight block tray 3-3 is connected with the upper portion of the balance rod 3-2.
In the embodiment, the balance support 3-1 is matched with the balance rod 3-2, so that the lift force measuring module 3 forms a seesaw structure.
In the present embodiment, fig. 2, 6, and 7 collectively constitute fig. 1.
The specific implementation mode is eight: in the seventh embodiment, the balance support 3-1 and the balance bar 3-2 are connected by a bearing set.
The specific implementation method nine: in the third or fourth embodiment, the torque testing method comprises the following specific processes:
step 9-1, driving the test rotor wing 1-1 to rotate at a high speed by the external high-speed brushless motor 1-2, and generating clockwise torque;
the torque generated in the step 9-2 and the step 9-1 is transmitted to the upper grating ruler 2-3 sequentially through the first adapter rod 1-4 and the second adapter rod 2-6, and slight rotation is generated on the upper grating ruler 2-3;
9-3, changing an included angle between the upper grating ruler 2-3 and the lower grating ruler 2-4;
9-4, causing the pressure of the laser emitter 2-2 and the laser receiver 2-5 to change due to the change of the included angle generated in the step 9-3;
and 9-5, acquiring a torque value of the test rotor 1-1 according to the pressure change generated in the step 9-4.
The detailed implementation mode is ten: in this embodiment, the seventh or eighth embodiment is further explained, and the specific process of the lift force testing method is as follows:
step 10-1, a motion module 1 and a torque measurement module 2 which are arranged at one end of a balancing pole 3-2 are balanced by adding the mass of a balancing weight in a balancing weight tray 3-3;
step 10-2, driving the test rotor wing 1-1 to rotate at a high speed by the external high-speed brushless motor 1-2, and generating a vertical upward lifting force; when the balance rod 3-2 is at the balance position, the pressure strain gauge 3-4 is contacted with the balance rod 3-2 without extrusion;
step 10-3, the lifting force generated in the step 10-2 is transmitted to the balancing pole 3-2 sequentially through the motion module 1 and the torque measuring module 2;
step 10-4, converting the lifting force at one end of the balance rod 3-2 into the pressure of a pressure strain gauge 3-4 at the other end of the balance rod 3-2, and generating an acting force between the pressure strain gauge 3-4 and the balance rod 3-2 at the moment;
and step 10-5, acquiring a lifting force value of the test rotor wing 1-1 through the pressure change of the pressure strain gauge 3-4.
In the embodiment, when the balance rod 3-2 is in a balance position, the balance rod 3-2 is matched with a bearing group in the balance support 3-1, so that the rotor lift force of the balance rod 3-2 in the test process is ensured to cause micro swing without being influenced by the friction of the balance support 3-1.
According to the invention, a test rotor 1-1, an external high-speed brushless motor 1-2, a first adapter rod 1-4, a second adapter rod 2-6, an upper grating ruler 2-3 and a lower grating ruler 2-4 are coaxially arranged, and the torque generated by the test rotor 1-1 in a working state is measured by matching the pressure change of a laser emitter 2-2 and a laser receiver 2-5 through the change of an included angle between the upper grating ruler 2-3 and the lower grating ruler 2-4. The low torque value of the rotor system is measured accurately and quickly.
In the invention, when the test rotor wing 1-1 stops, the balance weight arranged on the balance weight tray 3-3 is used for balancing the mass of the motion module 1 and the torque measurement module 2 by adopting the balance rod 3-2 in a seesaw form, and the pressure strain gauge 3-4 is not extruded when being contacted with the balance rod 3-2; when the test rotor wing 1-1 works, the pressure strain gauge 3-4 is adopted to measure the small lift force generated by the rotor wing system. The small lift value of the rotor system is accurately and quickly measured.
The working process of the invention is as follows:
1. the torque test procedure was as follows: under the driving action of voltage, the external high-speed brushless motor 1-2 rotates at a high speed and transmits the rotary motion to the test rotor 1-1. The test rotor wing 1-1 rotates at a high speed to generate clockwise torque, the torque is transmitted to the first adapter rod 1-4, the first adapter rod 1-4 is connected with the second adapter rod 2-6, and the torque is transmitted to the second adapter rod 2-6. The second adapter rod 2-6, the two groups of ball bearings 2-1 and the shell 2-8 are sequentially matched, the pressure of the second adapter rod 2-6 is balanced through the two groups of ball bearings 2-1, and friction-free rotation (negligible) between the second adapter rod 2-6 and the shell 2-8 is achieved through the two groups of ball bearings 2-1. The upper grating ruler 2-3 is connected with the lower grating ruler 2-4 through a superfine connecting rod. The torque of the second adapter rod 2-6 is transmitted to the connecting rod between the upper grating ruler 2-3 and the lower grating ruler 2-4 to cause the connecting rod to twist, and a certain twisting angle is generated. The torsion angle of the connecting rod is transmitted to the upper grating ruler 2-3 to cause the angle deviation between the upper grating ruler 2-3 and the lower grating ruler 2-4, the angle deviation will cause the pressure change of the laser emitter 2-2 and the laser receiver 2-5, and finally the torque value of the tested rotor wing 1-1 can be obtained through the pressure change of the laser emitter 2-2 and the laser receiver 2-5.
2. The lift test procedure was as follows: under the driving action of voltage, the external high-speed brushless motor 1-2 rotates at a high speed and transmits the rotary motion to the test rotor 1-1. And (3) testing the vertical upward lifting force value generated by the high-speed rotation of the rotor wing 1-1. The lift force is transmitted to a balance bar 3-2 of the lift force measuring module 3 through the motion module 1 and the torque measuring module 2. The balancing pole 3-2 and the balancing support 3-1 form a seesaw structure, and the lifting force at one side of the balancing pole 3-2 is converted into the pressure at the other side of the balancing pole 3-2, and the pressure is measured by the strain gauge 3-4. The lift value of the test rotor 1-1 is obtained by the change of the pressure strain gauge 3-4.
Claims (6)
1. The single-rotor system aerodynamic characteristic testing device of the rotary-wing Mars unmanned aerial vehicle is characterized by comprising a motion module (1), a torque measuring module (2) and a lift force measuring module (3);
the lower end face of the motion module (1) is connected with the upper end of the torque measurement module (2), and the motion module (1) and the torque measurement module (2) are arranged on the upper end face of one end of the balance rod of the lift measurement module (3);
the motion module (1) is used for generating rotary motion so as to generate torque and lift force;
the torque measuring module (2) is used for measuring the torque generated by the motion module (1);
the lift force measuring module (3) is used for measuring the lift force generated by the motion module (1);
the testing rotor wing (1-1), the external high-speed brushless motor (1-2), the first adapter rod (1-4), the second adapter rod (2-6), the upper grating ruler (2-3) and the lower grating ruler (2-4) are coaxially arranged, and the torque generated by the testing rotor wing (1-1) in a working state is measured by changing an included angle between the upper grating ruler (2-3) and the lower grating ruler (2-4) and matching with pressure changes of the laser emitter (2-2) and the laser receiver (2-5);
when the motion module (1) moves, a torque measurement module (2) arranged at one end of a balancing rod of the lift measurement module (3) is adopted to directly measure the torque of the rotor system, the mass of the rotor system is balanced by a balancing weight in a balancing weight tray (3-3) at the other side of the balancing rod of the lift measurement module (3), and meanwhile, the lift of the rotor system is measured by a pressure strain gauge (3-4) arranged at the other side of the balancing rod of the lift measurement module (3);
the torque measuring module (2) comprises two groups of ball bearings (2-1), a laser emitter (2-2), an upper grating ruler (2-3), a lower grating ruler (2-4), a laser receiver (2-5), a second adapter rod (2-6), a shell top cover (2-7), a shell (2-8), a lower grating seat (2-9) and a shell bottom cover (2-10);
the second adapter rod (2-6) is T-shaped, the upper end of the second adapter rod (2-6) is connected with the lower end of the first adapter rod (1-4), the lower end of the second adapter rod (2-6) is connected with the upper grating ruler (2-3), the shell top cover (2-7), the shell (2-8) and the shell bottom cover (2-10) are sequentially connected through screws, the lower grating ruler (2-4), the lower grating seat (2-9) and the shell bottom cover (2-10) are sequentially connected, the lower grating seat (2-9) is positioned in the center of the shell bottom cover (2-10), the upper grating ruler (2-3) and the lower grating ruler (2-4) are coaxially arranged oppositely, the inner circles of the two groups of ball bearings (2-1) are respectively matched with the second adapter rod (2-6), bearing excircles of the two groups of ball bearings (2-1) are respectively matched with the shell (2-8), the laser emitter (2-2) is connected with the inner wall of the shell (2-8), the laser receiver (2-5) is connected with the bottom cover (2-10) of the shell, and the laser emitter (2-2) and the laser receiver (2-5) are coaxially and oppositely arranged;
the upper grating ruler (2-3) and the lower grating ruler (2-4) are connected by a thin connecting rod, the change of torque is transmitted to the upper grating ruler (2-3) by the motion module (1) through a second adapter rod (2-6), the change of torque of the upper grating ruler (2-3) causes the torsion of the thin connecting rod, the torsion of the thin connecting rod drives the lower grating ruler (2-4) to be twisted, and the change of angle between the upper grating ruler (2-3) and the lower grating ruler (2-4) converts the torque of the motion module (1) into the change of angle and amplifies the change of torque;
the thin connecting rod is cylindrical;
the thin connecting rod can replace connecting rods with different diameters according to different ranges of torque.
2. The device for testing the aerodynamic characteristics of the single-rotor system of the rotary-wing Mars unmanned aerial vehicle according to claim 1, wherein the motion module (1) comprises a test rotor (1-1), an external high-speed brushless motor (1-2), a Hall element (1-3) and a first adapter rod (1-4);
an output shaft of the external high-speed brushless motor (1-2) drives the test rotor (1-1) to rotate, a shell of the external high-speed brushless motor (1-2) is connected with the upper end of a first switching rod (1-4) through a bottom flange, a Hall element (1-3) is connected with the bottom flange of the external high-speed brushless motor (1-2), the Hall element (1-3) is adjacent to and not in contact with the external high-speed brushless motor (1-2), and the Hall element (1-3) is used for carrying out closed-loop control on the rotating speed of the external high-speed brushless motor (1-2).
3. The aerodynamic characteristic testing device of the single-rotor system of the rotary-wing Mars unmanned aerial vehicle according to claim 1, characterized in that the lift force measuring module (3) comprises a balance support (3-1), a balance rod (3-2), a balancing weight tray (3-3), a pressure strain gauge (3-4) and a dial indicator base (3-5);
the bottom end of the shell bottom cover (2-10) is connected with one end of the balance rod (3-2) through a screw, the balance support (3-1) is connected with the balance rod (3-2), the balance support (3-1) is arranged at the bottom of the middle of the balance rod (3-2), the pressure strain gauge (3-4) is in contact with the balance rod (3-2), the pressure strain gauge (3-4) is arranged at the other end of the balance rod (3-2), the dial gauge (3-5) is connected with the pressure strain gauge (3-4), the counterweight block tray (3-3) is arranged between the pressure strain gauge (3-4) and the balance support (3-1), and the counterweight block tray (3-3) is connected with the upper portion of the balance rod (3-2).
4. The aerodynamic characteristic testing device of a single-rotor system of a rotary-wing Mars unmanned aerial vehicle according to claim 3, wherein the balance support (3-1) and the balance rod (3-2) are connected through a bearing set.
5. The torque testing method based on the aerodynamic characteristic testing device of the single rotor system of the rotary-wing Mars unmanned aerial vehicle of claim 1 is characterized in that the torque testing method comprises the following specific processes:
step 9-1, driving the test rotor (1-1) to rotate at a high speed by the external high-speed brushless motor (1-2) and generating clockwise torque;
the torque generated in the steps 9-2 and 9-1 is transmitted to the upper grating ruler (2-3) sequentially through the first adapter rod (1-4) and the second adapter rod (2-6), and tiny rotation is generated on the upper grating ruler (2-3);
9-3, changing an included angle between the upper grating ruler (2-3) and the lower grating ruler (2-4);
9-4, causing the pressure of the laser emitter (2-2) and the laser receiver (2-5) to change due to the change of the included angle generated in the step 9-3;
and 9-5, acquiring a torque value of the tested rotor (1-1) according to the pressure change generated in the step 9-4.
6. The lift force test method based on the aerodynamic characteristic test device of the single rotor system of the rotary-wing Mars unmanned aerial vehicle according to claim 3 or 4 is characterized in that the lift force test method comprises the following specific processes:
step 10-1, adding a mass balance of a balancing weight in a balancing weight tray (3-3), and arranging a motion module (1) and a torque measurement module (2) at one end of a balancing rod (3-2);
step 10-2, driving the test rotor wing (1-1) to rotate at a high speed by the external high-speed brushless motor (1-2) and generating a vertical upward lifting force; when the balance rod (3-2) is in a balance position, the pressure strain gauge (3-4) is in contact with the balance rod (3-2) and is not extruded;
step 10-3, the lifting force generated in the step 10-2 is transmitted to the balancing pole (3-2) through the motion module (1) and the torque measuring module (2) in sequence;
step 10-4, converting the lifting force at one end of the balance rod (3-2) into the pressure of a pressure strain gauge (3-4) at the other end of the balance rod (3-2), and generating an acting force between the pressure strain gauge (3-4) and the balance rod (3-2);
and step 10-5, acquiring a lift force value of the test rotor wing (1-1) through the pressure change of the pressure strain gauge (3-4).
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| CN110562481A (en) * | 2018-06-06 | 2019-12-13 | 长城汽车股份有限公司 | Aircraft power testing arrangement |
| CN110562484B (en) * | 2019-09-24 | 2022-07-15 | 哈尔滨工业大学 | Hovering characteristic testing device for testing single-shaft rotor system of Mars aircraft |
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| CN110641731B (en) * | 2019-09-29 | 2022-11-15 | 江苏科技大学 | Rotor motor lift force measuring device for multi-rotor unmanned aerial vehicle |
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| CN115027697A (en) * | 2022-07-12 | 2022-09-09 | 广东汇天航空航天科技有限公司 | Rotor system testing device, system and method |
| CN116242575B (en) * | 2023-05-08 | 2023-07-21 | 中国空气动力研究与发展中心低速空气动力研究所 | Virtual flight test device of low-speed wind tunnel |
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