CN108645425A - Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system - Google Patents
Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system Download PDFInfo
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- CN108645425A CN108645425A CN201810212773.4A CN201810212773A CN108645425A CN 108645425 A CN108645425 A CN 108645425A CN 201810212773 A CN201810212773 A CN 201810212773A CN 108645425 A CN108645425 A CN 108645425A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of, and the small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system, include a three-degree-of-freedom motion test platform based on three-axis gyroscope structure, pitching, rolling and yaw Three Degree Of Freedom arbitrary motion are carried out for small drone；The one drone status measurement module based on Multiple Source Sensor combination, including six-dimension force sensor, inertial attitude sensor and unmanned plane external sensor；One test platform ground station control module, including flight controller and test platform controller, the observed parameter model for operating unmanned plane multi-motion modes and measuring table realize unmanned plane action measurement, state aware, data transmission and the visualization of the ends PC；One multisource data fusion and analysis principle model.The present invention one is to meet small rotor wing unmanned aerial vehicle three-degree-of-freedom motion state estimation and indoor training function, realizes flight attitude estimation, vibration analysis, the actual motion displaying of unmanned plane and indoor flight training.
Description
Technical field
The present invention relates to a kind of kinetic test platform mechanism and multi-sensor data collection with merge integrated technology, belong to
Machinery and control system technical field.
Background technology
In recent years, the industry of the unmanned plane enterprise headed by the great Jiang Creative Technology Ltd. of Shenzhen worldwide
Position is higher and higher, to also drive a collection of outstanding scientific and technical innovation type enterprise to put into the R＆D force of unmanned plane.
The unmanned plane platform aerial as one can have multiple functions by its airborne equipment in carrying.Due to more rotor flyings
Utensil has many advantages, such as being vertically moved up or down, is at low cost, is simple in structure, performance is stablized, and more and more concentrations of enterprises are being revolved more
Rotor aircraft sector application (such as take photo by plane, plant protection, logistics, low-altitude detection) research.
But current unmanned plane field is still blue sea-run industry, and the test for being directed to unmanned plane is also and not perfect.It is created with big boundary
The new commercial unmanned plane enterprise for representative more focuses on the real experiences of user, therefore often after the completion of design in solution space
It takes a flight test；But unmanned plane field debugging cost is high, data are complicated, safety is poor, it is more to be disturbed factor.In addition, right now
Function and performance of unmanned plane etc. require more and more, and many unmanned planes need to adapt to some and more severe or exceedingly odious fly
Row condition.To sum up, it requires to be gradually increased instantly in unmanned plane trial voyage or flight, for carrying out unmanned plane during flying aptitude tests emulation platform
What is become is more and more indispensable.
Existing unmanned plane test platform is two axis two degrees of freedom currently on the market, can only test unmanned plane all around
It is mobile.The movement of z-axis needs to simulate by the manual up and down motion of underlying platform, and cannot read data.In addition, unmanned plane is real
The pitch angle that will produce when the flight of border, yaw angle and rotation angle can not in real time be monitored by the test platform.Due to
The defects of it has a single function, generalization degree is low, test sensor is not comprehensive, prevent its from meet it is comprehensive, quickly, it is accurate, can
Test depending on change needs.
Therefore, the small-sized more rotor tests of novel three axis Three Degree Of Freedom, integrated multi-sensor and emulation platform need to be designed, is passed through
Unmanned plane real motion state is simulated in the rotation in three directions of x, y, z and the translation in the directions z.The platform need to integrate power tactile biography
Inherent parameters sensor inside sensor and unmanned plane, to carry out acquisition monitoring in real time to the various jacking conditions of unmanned plane, and
Comprehensive income measures and calculates data, realizes and acquires unmanned plane during flying data with the monitoring detected and to unmanned plane during flying
The test of energy.
Invention content
It is difficult to simulate nobody existing for above-mentioned existing unmanned plane test platform the technical problem to be solved by the present invention is to be directed to
Machine live flying state can not accurately measure the deficiencies of flying quality, and a kind of more rotor gyroscope arrangement tests designed are flat
Platform.By the simulation to unmanned plane real motion state, force-touch sensor and unmanned plane internal sensor are integrated, is realized to nothing
The real-time monitoring of man-machine jacking condition, posture and stress, to improve unmanned plane indoor static test versatility, it is comprehensive,
Accuracy.
In order to solve the above technical problems, the technical scheme is that：
A kind of small-sized rotor wing unmanned aerial vehicle detecting and analysing system based on six-dimension force sensor, which is characterized in that including：
The one three-degree-of-freedom motion test platform based on three-axis gyroscope, for small drone carry out pitching, rolling and
Three Degree Of Freedom arbitrary motion is yawed, including：Test frame, spherical support frame, circular ring shape supporting rack, connector, supporting rod, fixation
Part, deep groove ball bearing and linear bearing；Wherein spherical support frame is assembled into outside spherical frame by the connector；Described
Connector is built-in to have the deep groove ball bearing, the connector to be inserted into linear bearing by rotary shaft；The linear bearing edge
In the braced frame；By axis connection on the arch brace frame, the fixing piece connects at the supporting rod both ends
For connecting tested unmanned plane on the supporting rod；
The one drone status measurement module based on Multiple Source Sensor combination, for measuring unmanned plane during flying posture, three certainly
By degree stressing conditions and the perceptual parameters of UAV system, including six-dimension force sensor, inertial attitude sensor and unmanned plane
Internal sensor；The six-dimension force sensor is connected in the middle part of braced frame；
One test platform ground station control module, for operating unmanned plane and measuring table, realize unmanned plane action measure,
State aware, data transmission and the visualization of the ends PC, including flight controller and test platform controller；
One data fusion and analysis module, the posture obtained based on the drone status measurement module measurement, stress and
Fly control parameter and obtains the flight dynamics feature of unmanned plane.
The braced frame includes pedestal and the first aluminium bar on pedestal and the second aluminium bar, is embedded in the first aluminium bar
Linear bearing is embedded with linear bearing in the second aluminium bar, and the pedestal lower end is provided with the lower margin for leveling；
The spherical support frame passes through the first connector, the second connector, third connector, the 4th connector, the 5th
Connector and the 6th connector assemble 12 curved rods for spherical shape；It is embedding inside each connector that there are one the deep-groove balls
Bearing；Each connector is bolted with curved rod；Inside deep groove ball bearing inside first connector passes through perforation
Axis is connected with linear bearing inside the first aluminium bar, in the axis and the second aluminium bar that deep groove ball bearing passes through perforation inside the second connector
Portion's linear bearing is connected；Deep groove ball bearing passes through deep groove ball bearing inside the axis of perforation and the 7th connector inside third connector
It is connected；Deep groove ball bearing is connected by the axis of perforation with deep groove ball bearing inside the 8th connector inside 4th connector；
The circular ring shape supporting rack is by the 7th connector, the 8th connector, the 9th connector and the tenth connector by 4
Curved rod assembles as circular ring shape；Deep groove ball bearing is connected by the axis of perforation with deep groove ball bearing inside 9th connector,
Deep groove ball bearing is connected by the axis of perforation with deep groove ball bearing inside tenth connector.
It is embedded with the first sleeve in described supporting rod one end, second sleeve is fixed on the first sleeve, in the supporting rod
The other end is embedded with 3rd sleeve, and 4th sleeve is fixed in 3rd sleeve, is embedded with respectively inside the second sleeve described
Deep groove ball bearing is embedded with the deep groove ball bearing respectively inside the 4th sleeve；
The six-dimension force sensor is connected with the first aluminium bar, and contacting six-dimensional force by the perforation axis upper surface of linear bearing passes
Sensor lower surface.
The unmanned plane that posture, stress and the winged control parameter obtained based on the drone status measurement module measurement is obtained
Flight dynamics is characterized as：
Wherein, l is rolling moment；M is pitching moment；N is yawing；
It is more accurate, true compared to traditional simulation measurement or semi physical measurement institute measured data that the present invention tests system.And
Thirdly the rotatable gyroscope arrangement of axis can proper reaction unmanned plane practical flight when pitching, rolling, yaw three-dimensional motion, it is comprehensive
It closes and unmanned plane structure is transmitted by gyroscope arrangement carbon plate, linear bearing using three force-touch sensors of mechanism upper end
Power and torque measurement, measurement data more fully, thus more ensures that it internal flies control and peripheral force-touch sensor is surveyed
Amount data can accurately show unmanned plane during flying posture.Multiple Source Sensor Combination Design can carry out unmanned plane multi-parameter posture and be
System parameter measurement；Multisource data fusion analysis is final to be realized.
The mechanism is by peripheral angle steel rack, three axis translation when can limit unmanned plane operation under earth axes,
When carrying out the experiments such as unmanned plane drop test, test flight, low-temperature test with this, can avoid unmanned plane because lose cruising ability,
Lift-off ability and fall, to caused by unmanned plane damage even scraps.As a result, the mechanism can simplify and safe mostly nobody
Machine performance test is tested.
Unmanned plane flies control module measurement data and distinguishes with the sextuple force-touch sensor measurement data that measuring table is installed
It is transmitted to the ends PC.
The six-dimension force sensor
(1) measurement data and its own measurement data for flying control inside unmanned plane can be integrated, is carried out at further data
Reason, analysis can avoid the external interference to DATA REASONING to a greater extent, more accurately to measure and calculate unmanned plane reality
Border flight attitude.
(2) can by the six-dimensional force-force-touch sensor measurement data, by obtained after comprehensive analysis it is more accurate nobody
Longitudinal force suffered by machine, in conjunction with factors such as practical unmanned plane gravity, gyroscope arrangement weight, it is comprehensive obtain lift suffered by unmanned plane,
The relationship of gravity.This function can be used for analyzing the climbing ability for measuring unmanned plane, stagnant empty ability and hang time etc., at nobody
Machine flying quality has very important significance on measuring.Such as：Can be analyzed with this when unmanned plane throttle when each gear starts without
Man-machine state of flight, that is, unmanned plane is landing, lift-off or hovering, and the flying quality of unmanned plane this aspect is judged with this,
Also best flight manipulating mode can be obtained accordingly, improve optimization engine design.
(3) by the 6 DOF sensor institute stress, comprehensive utilization F=ma, that is, a=F/m, unmanned plane can be obtained and be remotely controlled
Control sensitivity when device manipulates, the maneuvering performance of unmanned plane is judged with this.
The data communication mode is using wireless transmission, because wherein unmanned plane and gyroscope arrangement test platform can be into
Row rotary motion in three weeks can encounter certain difficulty, to influence to survey if exercise data line is transmitted in terms of wiring
Amount.
1, threedimensional model structure and mechanism simulation test, it is ensured that meet test request in terms of mechanism mechanical strength.
S1, have two-dimentional unmanned plane test platform by analyzing, carry out 3D modeling.Through analysis, to ensure to simulate unmanned plane
Real motion state (i.e. pitching, yaw, rotation), the test platform need to make unmanned plane that there are three directions of x, y, z to rotate certainly
By degree and the directions z translation freedoms.Therefore the platform uses gyroscope arrangement, is transported by the rotation in three directions of platform framework
It is dynamic, drive unmanned plane to realize pitching, yaw, rotary motion；
S2, refinement mechanism, realize the feasibility of the test platform in practical applications.In terms of the details of mechanism design,
Difficult point essentially consists between mechanism kinematic whether interference, mechanism assembly and disassembly the feasibility analyses such as facilitate.Therefore in the mechanism
The lower cross connecting piece using 3D printing connects, and z-axis top-support is connected by bolt with pedestal, is convenient for gyroscope arrangement top
1/2 structure removes, to facilitate the installation of unmanned plane；
S3, emulation testing is carried out to mechanism, improves test platform.According to the property of mechanical disturbance power (PERIODIC INTERFERENCE power,
Impact perturbed force) base group dynamics calculation is carried out, it is tentatively chosen according to mechanical type and to integrally-built stress analysis
Corresponding frame material.It analyzes to obtain unmanned plane test platform emulation distribution of force, stress by ANSYS and related software of checking
Distribution and mechanism operation simulation.
2, the selection and installation of mechanism.To ensure the economy of the accuracy of mechanism measurement, the practicability of material, mechanism,
Test platform outer frame part uses aluminium alloy extrusions, and main part is using the bigger carbon fiber of Strength Mass.According to intensity, just
Degree requires, and the double-deck carbon fiber board which is connected by screw bolts, to increase inside casing rigidity, reduction rotates through
Deformation in journey.
3, force-touch sensor type selecting and Interface design, analysis design collecting test platform and unmanned plane self-sensor device letter
Breath carries out the installation of unmanned plane material object and measures test.Force-touch sensor is mounted on gyroscope arrangement test platform upper end, passes through electricity
Source powers, and reaches the six-dimensional force of force acting on transducer end face with linear bearing with measurement.Measured data are carried by sensor
Wireless routing module or 3G transmission, by being handled data, being exported, eventually arrive at the ends PC.Unmanned plane flies the internal biography of control
Sensor carries out posture introduction using complementary filter algorithm UAV Attitude, and the ends PC are transferred to by wireless routing module or 3G.It will
The two is extended Kalman filtering/particle filter data fusion analysis, and then obtains unmanned plane during flying state.
4, comprehensive study is analyzed, and in conjunction with air force and unmanned plane stress, realizes the estimation of unmanned plane jacking condition.It tests
Demonstrate,prove test platform performance.
Beneficial effects of the present invention have：The content of present invention mainly has two large divisions's composition, first, can meet unmanned plane three certainly
By the test platform mechanism of degree movement；Two i.e. exploitation can be used for showing three kinds of lifting of test unmanned plane, yaw, pitching flight attitudes
The data obtained on platform structure are handled to obtain nobody by the detecting and analysing system for synthesizing state of flight by analysis system
The various parameters of machine.
Test flight and the acquisition of unmanned plane during flying data in unmanned plane room may be implemented in the test platform, most importantly
It can carry out such as the unmanned plane during flying environmental simulation under a variety of extremities for being told above, such as extremely cold, very hot, closed sky on fire
Between, plateau etc..By using the unmanned plane during flying test platform, then a variety of fly can be simulated in a smaller fully sheathed case
Row condition completes the measurement of flight parameter under the above situation, not only saves money time saving, also largely eliminates and extremely disliking
The security risk of tester is participated under the conditions of bad.
Description of the drawings
Fig. 1 is overall framework figure of the present invention.
Fig. 2 is comprehensive sensor data fusion block diagram of the present invention.
Fig. 3 is UAV Flight Control sensor data transmission block diagram of the present invention.
Fig. 4 is test platform stress diagram of the present invention.
Fig. 5 is test platform integrated stand figure of the present invention.
Fig. 6 is the composition schematic diagram of spherical support frame and circular ring shape supporting rack of the present invention.
Fig. 7 is constraint schematic diagram in beaded support lower end of the present invention.
Fig. 8 is constraint schematic diagram in beaded support lower end of the present invention.
Fig. 9 is gyroscope rotation schematic diagram of the present invention.
Figure 10 is analysis method block diagram of the present invention.
Specific implementation mode
Embodiment 1：
As shown in figure 5, test platform of the present invention includes aluminium alloy braced frame 1, spherical support frame 2, circular ring shape supporting rack
3, two kinds of connectors 4, supporting rod 5, fixing piece 6, sensor 7, deep groove ball bearing 8 and linear bearing 9.Wherein spherical support frame 2
It is assembled into outside spherical frame by connector 4；Deep groove ball bearing 8 is housed, connector 4 is inserted by rotary shaft in connector 4
In linear bearing 9；Linear bearing 9 is embedded in aluminium alloy braced frame 1；5 both ends of supporting rod are by axis connection in arch brace
Frame 3, unmanned plane are connect by fixing piece 6 with supporting rod 5；Sensor 7 is connected by screw in 1 middle part of aluminium alloy braced frame.
1, aluminium alloy braced frame 1 is formed by connecting by several aluminium bars and connecting angle pieces, wherein contacted with gyroscope arrangement
Embedding respectively in two aluminium bars there are two linear bearings, and vertical four aluminium bar bottoms are tapped, and four aluminium bars pass through screw thread and lower margin
It is bolted, realizes the horizontal positioned of braced frame.
2, aluminium alloy braced frame 1 is formed by connecting by several aluminium bars and connecting angle pieces, wherein composition aluminium alloy braced frame
Aluminium bar 1-1 and 1-2 in respectively be embedded with linear bearing 9-1 and 9-2, the bottoms aluminium bar 1-3,1-4,1-5 and 1-6 are tapped, four
Aluminium bar is connect by screw thread with foundation bolt, realizes the horizontal positioned of braced frame.
3. spherical support frame 2 is by connector 4-1-1,4-1-2,4-1-3,4-1-4,4-1-5 and 4-1-6 by 12 arcs
Shape bar assembles as spherical shape.4 inside of each connector is embedded with deep groove ball bearing 8.Each connector 4 is tapped, with curved rod 2-
1-1 and 2-1-2 are bolted.Deep groove ball bearing 8-1-1,8-1-2 pass through perforation inside connector 4-1-1 and 4-1-2
Axis is connected with linear bearing 9-1 and 9-2 inside aluminium bar 1-1 and 1-2 respectively.Deep groove ball bearing inside connector 4-1-3 and 4-1-4
8-1-3,8-1-4 are connected with deep groove ball bearing 8-2-1,8-2-2 inside connector 4-2-1 and 4-2-2 respectively by the axis of perforation.
4. circular ring shape supporting rack 3 is assembled 4 curved rods by connector 4-2-1,4-2-2,4-2-3 and 4-2-4
For circular ring shape.Inside connector 4-2-3 and 4-2-4 deep groove ball bearing 8-2-3,8-2-4 by the axis of perforation respectively with deep-groove ball
Bearing 8-3-1,8-3-2 are connected.
5. 5 both ends of supporting rod are embedded with sleeve 5-1-1,5-1-2,5-2-1 and 5-2-2, in the both ends sleeve 5-2-1 and 5-2-2
Portion is embedded with deep groove ball bearing 8-3-1,8-3-2 respectively.
6. fixing piece 6 is tapped, supporting rod 5 is connected with unmanned plane by bolt.
7. sensor 7 is connected through bolt with aluminium bar 1-1 by installing mechanism, pass through the perforation axis upper table of linear bearing 9-1
7 lower surface of face contact sensor.
Spherical support top of the trellis and bottom are connect with aluminum outline border, it can be achieved that spherical frame rotates about the z axis by penetrating through axis
That is unmanned plane yawing rotation, and it is unmanned plane lifting that can move up and down along linear bearing.
Circular ring shape supporting rack is connect with spherical frame, it can be achieved that unmanned plane pitching movement by penetrating through axis.
Supporting rod is connect with circular ring shape supporting rack, it can be achieved that unmanned plane tumbling motion by penetrating through axis.
Unmanned plane is fixed on being bolted in the middle part of supporting rod by fixing piece.
Sensor is connected with outer framework, and the lift of unmanned plane can penetrate through axis by top and pass to sensor.
The stress of test platform is as shown in figure 4, unmanned plane power output, torque -- and bar C-A, B node-frame D- nodes E are certain
Point F- sensors G.
Sensor passes data to the ends PC, measures unmanned plane pitching, yaw, tumbling motion information and lift numerical value.
Embodiment 2：
As shown in Figure 1, Figure 2, Figure 3 shows, the small-sized rotor wing unmanned aerial vehicle detecting and analysing system based on six-dimension force sensor, including：
As the Three Degree Of Freedom mechanical structure of test platform, pitching, rolling and yaw three are carried out certainly for small drone
By degree arbitrary motion, including：Test frame, spherical support frame, circular ring shape supporting rack, connector, supporting rod, fixing piece, zanjon
Ball bearing and linear bearing；Wherein spherical support frame is assembled into outside spherical frame by the connector；In the connector
It is built-in to there is the deep groove ball bearing, the connector to be inserted into linear bearing by rotary shaft；The linear bearing is embedded in institute
It states in braced frame；By axis connection on the arch brace frame, the fixing piece is connected to described at the supporting rod both ends
For connecting tested unmanned plane on supporting rod；
Based on the drone status measurement module of multi-source heterogeneous asynchronous sensor combination, for measuring unmanned plane during flying appearance
The perceptual parameters of state, Three Degree Of Freedom stress and Three Degree Of Freedom torque situation and UAV system, including power management sensor
Module, inertial attitude sensor and unmanned plane internal sensor and six-dimension force sensor, barometer, thermometer external sense
Device；The six-dimension force sensor such as Fig. 4 is connected in the middle part of braced frame；
Test platform ground station control module such as Fig. 3 realizes that unmanned plane action is surveyed for operating unmanned plane and measuring table
Amount, state aware, data transmission and the visualization of the ends PC；Control module includes flight controller and test platform controller, is used
Two-stage PID control method, angle, angular speed, velocity gesture of the inner ring control based on micro-inertia sensor perceive parameter, outer shroud control
System is based on the external sensors such as six-dimension force sensor and pitot meter, barometer, Hygrothermograph；Data fusion and analysis module,
The posture that is obtained based on the drone status measurement module measurement, stress and fly control parameter, by Bayes Fusion Method into
Row flight dynamics feature and control law optimization.
Unmanned plane flies control module measurement data and distinguishes with the sextuple force-touch sensor measurement data that measuring table is installed
It is transmitted to the ends PC.Thereafter, processing analysis is carried out to the data obtained by PC end datas analysis module and obtains phasic property test parameters.Its
In the effect of each measurement sensor it is as follows：
Three-dimensional force -- force-touch sensor is mounted on gyroscope arrangement test platform upper end, by power supply power supply, to measure
The six-dimensional force and torque of force acting on transducer end face are reached with external gyroscope arrangement frame.Measured data pass through sensor strip
Some wireless routing modules or 3G transmission handle data by software kit, are exported, and the ends pc are eventually arrived at.
Unmanned plane flies in control, the unmanned plane surveyed first by attitude transducers such as accelerometer, gyroscopes in unmanned plane
Real-time flight data, and carried out data transmission by flying the communication original paper in control.Wherein, bowing for unmanned plane is measured by accelerometer
The elevation angle and roll angle measure unmanned plane yaw angle by magnetometer.Meanwhile the winged internal gyroscope for including of control also can be to unmanned plane appearance
State angle measures.
As a result, on the one hand this measuring mechanism has used for reference the data surveys such as accelerometer, the magnetometer that former unmanned plane flies inside control
Module is measured, the peripheral gyroscope shaped frame with three axis rotary freedoms is comprehensively utilized, unmanned plane can be made to be confined to test
It completes, for the measurement of the important flying qualities such as its pitching, roll angle, yaw angle, to greatly improve survey in the small space of platform interior
Safety is measured, meanwhile, mechanism top three-dimensional force force-touch sensor can be compared by carrying out comprehensive analysis to the data surveyed
The Z-direction resultant force data of the Z weeks stress data in longitudinal direction and unmanned plane lift and gravity when more accurate unmanned plane during flying；On the other hand,
Limiting, being connected for each point of rotation can be carried out to peripheral gyroscope arrangement frame, or rotation limitation is carried out to rolling bearing, it can with this
The limitation that arbitrary direction of rotation is targetedly carried out to gyroscope arrangement frame, to ensure that direction unmanned plane torque passes through top
Spiral shell instrument structure is transferred on three-dimensional force force-touch sensor, is carried out analysis and data processing to institute's measuring moment, is thus obtained one kind
Not in the way of flying stool control mode inside unmanned plane and can measure the DATA REASONING of unmanned plane during flying attitude angle.
Therefore the force-touch sensor by flying to control internal attitude transducer, test platform is installed to unmanned plane, it is comprehensive
It closes the reasonable processing to external gyroscope arrangement frame, utilize, a variety of measurement methods for unmanned plane during flying attitude angle can be obtained,
And it can the more accurate relationship safely measured between lift suffered when unmanned plane during flying, gravity, flight attitude.
In addition, by installing all kinds of environmental testing sensors, such as airspeedometer, forcing press, temperature sensor additional, you can survey
Obtain state of flight of the unmanned plane under the test of any simulated environment.
During being transmitted processing to Unmanned Aerial Vehicle Data, it should be noted that the selection of transmission mode and the analysis of data
The reduction of mode, error；It is respectively in the communication device that conventional unmanned plane flies contained in control：For receiving remote command
Receiver, number passes, figure transmission module and bluetooth, wifi etc.；Design is flown using bluetooth or WiFi progress unmanned planes in mechanism
The data transmission at control and the ends pc.After data transmission, should data be carried out with Kalman filtering processing to improve accuracy.
Embodiment 3：
On the one hand the data analysing method of the test platform can pass through three-dimensional force sensor and nothing under general state of flight
Man-machine winged control internal sensor, obtains the data such as flight lift, thrust, in conjunction with air velocity etc., to carry out flying power point
Analysis and Aerodynamic Analysis；On the one hand by the test platform of Three Degree Of Freedom, it can be achieved that the simulation to unmanned plane live flying posture；
On the one hand sensor etc. does three proofings processing in the test platform as shown in Figure 10, can be by the way that the test platform is placed in different rings
Border (such as high/low temperature, wind-tunnel, electromagnetic field), flight attitude and stressing conditions of the simulation unmanned plane under specific condition, to divide
Analysis obtains the stability of influence and unmanned plane of the specific condition to unmanned plane various aspects：
(1) high/low temperature is tested.The test platform is placed in vacuum insulation secret room, by changing secret room temperature and vacuum degree mould
Can draw up have different temperatures, the complexity of air pressure, adverse circumstances (such as mountain valley, plateau), test unmanned plane under given conditions
Meet job requirements.
(2) the anti-interference test of electromagnetism.The major electromagnetic interference that unmanned plane is subject to has middle short distance thunder and lightning, telemetering and remote control system
The interference etc. of other electrical equipments of the radiation interference and surrounding of emitter.When testing unmanned plane during flying stability, commonly
Test method be situations such as being difficult to short distance thunder and lightning in simulating directly in outdoor test flight, though can test is having it
Flight condition under his electrical equipment disturbed condition, but big energy can be lost.It is small by making in test platform disposed within
Type thunder and lightning generator can save energy, and can test the anti-electromagnetic interference capability of unmanned plane.
(3) extreme environment is tested.Unmanned plane can be used for the monitoring of the dangerous situations such as storm, it is therefore desirable to which unmanned plane has relatively strong
Wind resistance rain ability.In common outdoor test flight, it is more difficult to the similar extreme environment of simulation.In the indoor test method, by nothing
It is man-machine to be placed in the auxiliary test environments such as wind-tunnel, heavy rain simulation box, the flight stability of test unmanned plane under extreme conditions can be facilitated
Property, to make corresponding windproof, rainproof treatment to unmanned plane according to test result.
Embodiment 4：
Coordinate system during aircraft motion calculation
A) earth axes Sg：O-xgygzg
B) air path axis system Sa：O-xayaza
C) body coordinate system Sb：O-xbybzb
For aircraft in the air in motion process, surface is dispersed with the effect of aerodynamic force, and the aerodynamic force of distribution is normalized
The total aerodynamic force acted at aircraft barycenter is formed afterwards(resultant force) and total aerodynamic force square around barycenter(resultant moment) is made
It is the important composition part of its suffered external force and moment of face for carry-on total aerodynamic force and total aerodynamic force square.Aerodynamic force
It is decomposed along each axis of air path axis system, can be analyzed to resistance D, side force Y and lift L；Aerodynamic momentAlong each axis of body coordinate system point
Solution, can be analyzed to rolling moment 1, pitching moment m and yawing n.Each aerodynamic force dimensionless corresponding with aerodynamic moment is pneumatic
Force coefficient includes：Lift coefficient CL, resistance coefficient CD, lateral force coefficient CY；Pitching moment coefficient Cm, yawing moment coefficient CnRolling power
Moment coefficient Cl。
For the common coordinate system of defined aircraft, all many reference amounts of aircraft, including common seat will be defined below
State parameter when angular relationship and aircraft between mark system move.
(1) attitude angle
It is determined by the correlation between earth axes and body coordinate system, i.e., commonly used Eulerian angles.Including：
A) pitching angle theta, body coordinate system xbAxis and ground level O-xgygBetween angle, to come back as just；
B) yaw angle ψ, body coordinate system xbProjection of the axis on ground level and earth axes xgAngle between axis, with
For just when head right avertence；
C) roll angle Φ, body coordinate system zbAxis and pass through body coordinate xbAngle between the vertical guide of axis, in aircraft
To the right for just when rolling.
(2) flow angle
By the velocity vector of barycenterRelationship determination between body coordinate system, including：
A) angle of attack α, velocity vectorIn aircraft symmetrical plane O-xbzbOn projection and body coordinate system xbBetween axis
Angle,Projection be located at body coordinate system xbFor just when below axis；
B) yaw angle β, velocity vectorWith the angle between aircraft symmetrical plane,The aircraft that is projected in symmetrically put down
For just when right side of face.
(3) flight-path angle
It is determined by the correlation between earth axes and air path axis system, including：
A) flight path inclination angle μ, the velocity vector at barycenterWith ground level O-xgygBetween angle, it is upward in aircraft
For just when flying；
B) flight path azimuthangle φ, velocity vectorProjection on ground level and earth axes xgAngle between axis,
Be projected in xgFor just when on the right side of axis；
C) flight path roll angle γ, air path axis system zbAxis and pass through air path axis system xaAngle between the vertical guide of axis,
For just when aircraft rolling to the right.
(4) velocity component on body coordinate system
3 velocity components (u, v, w) being defined on body coordinate system are the velocity vectors at barycenterIn body coordinate system
Projection components on each axis, wherein u is body coordinate system xbComponent on axis, v are body coordinate system ybComponent on axis, w be machine
Body coordinate system zbComponent on axis.
(5) angular velocity component on body coordinate system
3 angular velocity components (p, q, r) for being defined on body coordinate system are body coordinate systems relative to earth axes
Tarnsition velocityProjection components on each axis of body coordinate system.Wherein, angular velocity in roll p is body coordinate system xbComponent on axis；
Rate of pitch q is body coordinate system ybComponent on axis；Yaw rate r is body coordinate system zbComponent on axis.
The when of analyzing its kinematical equation is established in the present system, and following hypothesis is done to the movement of aircraft：
(1) aircraft is considered as rigid body, quality perseverance is constant；
(2) earth axes are inertial system；
(3) acceleration of gravity is set when practical flight not change with height above sea level and change；
(4) it is symmetrical to be satisfied by face for the geometric shape of aircraft and the distribution of its internal soundness；
By Newton's second law the kinetics equation of aircraft is established under bonding force and the effect of bonding force square.According to vacation
If it is found that the quality perseverance of aircraft is constant, and earth axes can be considered inertial system：Therefore, have in earth axes
In formula,For bonding force,For bonding force square,For velocity vector,For angular momentum,For quality.
Above-mentioned expression formula is built upon in the earth axes (inertial coodinate system) of suitable Newton's second law, is flown to establish
Relative motion relation of the row device relative to earth axes, selection body coordinate system are moving coordinate system.Assuming that moving coordinate system is opposite
It is in the speed of inertial coodinate systemAngular speed is
(1) kinetics equation of center of mass motion
According to the relationship between the absolute derivative and Relative Derivations of vector expression, velocity vectorThe derivative of time is being moved
It is represented by coordinate system
In formula,It indicates in earth axes (inertial coodinate system) medium velocity vectorAbsolute derivative；It is expressed as in machine
Body coordinate system (moving coordinate system) medium velocity vectorRelative Derivations,For angular speed.
It integrates in the body coordinate system,Expression formula decomposes bonding force on body coordinate system, comprehensive that conjunction is outer
Effect of the power to aircraft
In formulaIt is the derivative of three velocity components u, v, w about the time on body coordinate system respectively.
Aircraft external force suffered in flight course mainly has：Motor power(assuming that motor power established angle
αT=βT=0 °., then thrust is only in body coordinate system xbComponent on axis), total air forceAnd gravityEach external force is existed
Projective decomposition on each axis of body coordinate system, total bonding force expression formula, which can be obtained, is
Wherein TΦθψ, TβαIt is converted to by coordinate system, specially：
For TβαTransposed matrix.
(2) kinetics equation of rotation around center of mass
Angular momentumThe derivative of time is represented by moving coordinate system
In formula,It is expressed as the angular momentum in earth axes (inertial coodinate system)Absolute derivative；It is expressed as
The angular momentum in body coordinate system (moving coordinate system)Relative Derivations,For angular speed.
Thereafter, will in the body coordinate system,AndExpression formula brings preceding Shi Ke get into
In formulaIt is defined in the derivative of three angular velocity components p, q, r about the time on body coordinate system respectively.It is body coordinate system x respectivelybAxis, ybAxis and zbThe unit vector of axis.
Moment of faceMainly act on carry-on aerodynamic moment, its comprehensive expression formula on body coordinate system
Then bonding force square is represented by the effect of aircraft
In formula, Ix、IyAnd IzRespectively around body coordinate system xbAxis, ybAxis and zbThe rotary inertia of axis, and about xyIt is flat
The product of inertia I in facexyWith the product of inertia I about xz planesxz。
(1) tilt angle calculation and measurement
Gravity vector FgCoordinate in earth axes isIt converts it in body coordinate system,
It obtains
It can be measured by three-dimensional force sensor, mg can be measured by aircraft static state, can be derived by formula above
Go out two attitude angle pitching angle thetas, the roll angle φ of aircraft.
(2) lift coefficient of rotor is measured with torque coefficient
When aircraft has preceding winged trend, rotor not only will receive the lift T and reaction torque of body coordinate system Z-direction
Q, while also will receive the effect of resistance D and moment resulting from sidesway L.These air forces or aerodynamic couple are proportional to rotor rotating speed
Square (Ω2) formula is as follows：
Wherein, CT、CQ、CD、CLThe respectively lift coefficient of rotor, torque coefficient, resistance coefficient and moment resulting from sidesway coefficient, ρ
It is atmospheric density, R is blade radius, and A is the rotor disk area of propeller,For the rotating speed of i rotors.
When aircraft is in low-speed condition, lift coefficient CTWith torque coefficient CQIt is considered that immobilize, resistance
Coefficient CDWith moment resulting from sidesway coefficient CLIt is approximately 0, ignores resistance D and moment resulting from sidesway L, it is believed that the rotor of aircraft is only by lift T
And the effect of reaction torque Q.Since the rotor disk area A of atmospheric density ρ, prize leaf radius R, spiral prize is constant, it is possible to
It is write as：
K in above formulaTIt is denoted as rotor lift overall coefficient, KQIt is denoted as rotor torque overall coefficient.Quadrotor is horizontally fixed on survey
In test stand, four motor speeds are recorded with earth station, force snesor records the power and torque that rotor generates, can calculate lift
Coefficient and torque coefficient.
The total life that rotor generates acts on body coordinate system zbOn the negative direction of axis, around xb、ybThe torque of axis is by corresponding
Lift difference generates, around zbThe torque of axis be four propellers torque and, shown in formula specific as follows；
Wherein l is the distance between rotorshaft to body center of gravity.By turning for body axis system to ground coordinate shafting
Matrix is changed it is found that the lift that rotor generates in earth axesFor
In formula, R be slave system to direction cosine matrix (DCM) matrix of earth axes, it can be by the same sky
Between vectorial slave system expression to be transformed into the earth be representation.The pitching angle theta that it can be measured by the IMU of unmanned plane, roll
Angle φ and yaw angle ψ indicate：
(3) gyroscopic effect torque
When attitude of flight vehicle angle generates variation, the high speed rotation of brshless DC motor and spiral prize will produce one and add
Torque, i.e. gyroscopic couple.The calculation formula of gyroscopic couple is：
Wherein ω is the angular speed that aircraft is rotated around axis, and H is the moment of momentum caused by motor and spiral prize.If body
Vehicle rate is ω in coordinate systemb=(p, q, r)T, analyzed by taking No. 1 motor and propeller as an example.Due to motor and propeller
Only there is angular speed in motor rotation axis direction, defines JrBe motor and propeller around the rotary inertia of motor shaft, then No. 1 motor and
The moment of momentum H of propeller1For
To which the gyroscopic couple generated is：
The gyroscopic couple of other motors and propeller can be similarly obtained, therefore four total gyroscopic couples of rotor are
Quadrotor nobody fly suffered bonding force of the skilful device in earth axes and body coordinate system be respectively
Suffered bonding force square in the body coordinate system is
Claims (6)
1. a kind of small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system, which is characterized in that including：
The one three-degree-of-freedom motion test platform based on three-axis gyroscope structure, for small drone carry out pitching, rolling and
Yaw Three Degree Of Freedom arbitrary motion；
The one drone status measurement module based on Multiple Source Sensor combination, including six-dimension force sensor, inertial attitude sensor
With unmanned plane external sensor, for measuring unmanned plane x, y, z-axis power and torque react flight attitude situation；And unmanned plane system
The IMU posture perception sensors of system are for measuring the reaction unmanned plane motor imagination performance such as acceleration and angular speed；The 6 DOF
Force snesor is connected in the middle part of braced frame；Wherein unmanned plane external sensor includes pitot meter, barometer and visual sensor；
One test platform ground station control module, including flight controller and test platform controller are more for operating unmanned plane
The observed parameter model of kind motor pattern and measuring table realizes unmanned plane action measurement, state aware, data transmission and the ends PC
Visualization；
One multisource data fusion and analysis principle model, the posture obtained based on the drone status measurement module measurement, by
Power and winged control parameter obtain the flight dynamics feature of unmanned plane.
2. small-sized rotor wing unmanned aerial vehicle according to claim 1 tests system, it is characterised in that：
The three-degree-of-freedom motion test platform includes：Test frame, spherical support frame, circular ring shape supporting rack, connector, support
Bar, fixing piece, deep groove ball bearing and linear bearing；Wherein spherical support frame is assembled into the spherical frame in outside by the connector
Frame；There is a deep groove ball bearing the connector is built-in, the connector passes through rotary shaft and is inserted into linear bearing；It is described straight
Spool, which is held, to be embedded in the braced frame；The supporting rod both ends by axis connection on the arch brace frame, it is described solid
Determine part to be connected on the supporting rod for connecting tested unmanned plane.
3. small-sized rotor wing unmanned aerial vehicle according to claim 2 tests system, it is characterised in that：
The braced frame includes pedestal and the first aluminium bar (1-1) on pedestal and the second aluminium bar (1-2), in the first aluminium bar
(1-1) is embedded with linear bearing (9-1), is embedded with linear bearing (9-2) in the second aluminium bar (1-2), is set in the pedestal lower end
It is equipped with the lower margin for leveling；
The spherical support frame passes through the first connector (4-1-1), the second connector (4-1-2), third connector (4-1-
3), the 4th connector (4-1-4), the 5th connector (4-1-5) and the 6th connector (4-1-6) assemble 12 curved rods
For spherical shape；It is embedding inside each connector that there are one the deep groove ball bearings；Each connector is bolted with curved rod；The
The internal straight line of axis and the first aluminium bar (1-1) that the internal inside deep groove ball bearing (8-1-1) of a connection piece (4-1-1) passes through perforation
Bearing (9-1) is connected, the axis and the second aluminium bar (1- that the internal deep groove ball bearing (8-1-2) of the second connector (4-1-2) passes through perforation
2) internal linear bearing (9-2) is connected；The internal deep groove ball bearing (8-1-3) of third connector (4-1-3) by the axis of perforation with
The internal deep groove ball bearing (8-2-1) of 7th connector (4-2-1) is connected；Internal deep groove ball bearing (the 8- of 4th connector (4-1-4)
1-4) it is connected with the internal deep groove ball bearing (8-2-2) of the 8th connector (4-2-2) by the axis of perforation；
The circular ring shape supporting rack passes through the 7th connector (4-2-1), the 8th connector (4-2-2), the 9th connector (4-2-3)
4 curved rods are assembled as circular ring shape with the tenth connector (4-2-4)；9th connector connector (4-2-3) is internal deep
Ditch ball bearing (8-2-3) is connected by the axis of perforation with deep groove ball bearing (8-3-1), the internal zanjon of the tenth connector (4-2-4)
Ball bearing (8-2-4) is connected by the axis of perforation with deep groove ball bearing (8-3-2).
It is embedded with the first sleeve (5-1-1) in described supporting rod one end, second sleeve (5- is fixed on the first sleeve (5-1-1)
1-2), it is embedded with 3rd sleeve (5-2-1) in the supporting rod other end, 4th sleeve is fixed in 3rd sleeve (5-2-1)
(5-2-2), it is internal respectively embedded with the deep groove ball bearing (8-3-1) in the second sleeve (5-2-1), in the 4th sleeve
(5-2-2) is internal to be embedded with the deep groove ball bearing (8-3-2) respectively；
The six-dimension force sensor is connected with the first aluminium bar (1-1), and six are contacted by the perforation axis upper surface of linear bearing (9-1)
Dimensional force sensor lower surface.
4. small-sized rotor wing unmanned aerial vehicle according to claim 1 tests system, it is characterised in that：Based on the drone status
The flight dynamics for the unmanned plane that posture, stress and the winged control parameter that measurement module measurement obtains obtain is characterized as：
Wherein, l is rolling moment；M is pitching moment；N is yawing；Ix、IyAnd IzRespectively around body coordinate system xbAxis,
ybAxis and zbThe rotary inertia of axis；IxyFor the product of inertia about x/y plane；IxzFor the product of inertia about xz planes；Point
Not Wei on body coordinate system the derivative of three angular velocity components p, q, r about the time.
5. small-sized rotor wing unmanned aerial vehicle according to claim 1 tests system, it is characterised in that：Unmanned plane flies control module and measures
Data are transmitted separately to the ends PC with the sextuple force-touch sensor measurement data that measuring table is installed.
6. small-sized rotor wing unmanned aerial vehicle according to claim 5 tests system, it is characterised in that：The data communication mode is adopted
With wireless transmission.
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