CN109367818A - A kind of rotor wing unmanned aerial vehicle gesture stability test macro and method, unmanned plane - Google Patents
A kind of rotor wing unmanned aerial vehicle gesture stability test macro and method, unmanned plane Download PDFInfo
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- CN109367818A CN109367818A CN201811478292.4A CN201811478292A CN109367818A CN 109367818 A CN109367818 A CN 109367818A CN 201811478292 A CN201811478292 A CN 201811478292A CN 109367818 A CN109367818 A CN 109367818A
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- 238000013112 stability test Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000003028 elevating effect Effects 0.000 claims abstract description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000007667 floating Methods 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 14
- 238000005096 rolling process Methods 0.000 claims description 10
- 238000004088 simulation Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 230000007246 mechanism Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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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- Aviation & Aerospace Engineering (AREA)
- Testing Of Balance (AREA)
Abstract
The invention belongs to unmanned plane emulation/test device field, a kind of rotor wing unmanned aerial vehicle gesture stability test macro and method, unmanned plane are disclosed；It is provided with lifter plate, lifter plate is connect by bolt with elevating lever, elevating lever is connect by retaining ring with rotor plate, rotor plate is bolted on cursor, it is connected between cursor and sliding rail by bearing, track base bottom is rail structure, and track base is connect by V groove bearing with rotating device pedestal, rotating device base portion has been bolted 8 V groove bearings, is embedded with capacity eccentric bearing and floating bearing respectively inside V groove bearing；Revolution outer ring is fixedly connected with rotating device pedestal, is turned round inside outer ring and is fixed with revolution inner ring, and revolution inner ring is bolted on support device.The present invention is small to the size limitation of measurand, can adjust the centroid position of aircraft；Rotate it is more smooth, simulated effect more preferably rotating device is small in size, and strength and stiffness are big, can be used for bear compared with big load and deflection it is small.
Description
Technical field
The invention belongs to unmanned plane emulation/test device fields more particularly to a kind of rotor wing unmanned aerial vehicle gesture stability to test
System and method, unmanned plane.
Background technique
Currently, the prior art commonly used in the trade is such that the domestic ground commissioning device development about unmanned plane is insufficient,
The patent declared is very few.The device of existing external frame, such as patent " a kind of unmanned plane debugging platform ", the patent No. is public
Open CN107063235A, frame size limits the size of measurand, and the intensity and just of frame can be made by increasing frame size
Degree decline will lead to frame influence dynamic (dynamical) on unmanned plane by way of introducing reinforcement structure and increase.Test object range,
Frame intensity, influence three dynamic (dynamical) on unmanned plane mutually restrict, and become the factor that the patent of invention needs choosing comprehensively.Nothing
Method regulating device mass center is allowed to be overlapped with aircraft mass center, so that unmanned plane during flying posture can not be simulated perfectly.Existing apparatus one
As can only measure one or two of data in three attitude angles, angular speed and lift, cannot all measure.
In conclusion problem of the existing technology is:
(1) device of existing external frame, frame size limit the size of measurand, can only to small size,
Middle size unmanned plane is tested, and the scope of application is small, otherwise needs to increase frame size, the strength and stiffness of frame can be made to decline,
It will lead to influence of the frame to unmanned plane dynamic performance test result by way of introducing reinforcement structure to increase.
(2) test object range, frame intensity, the influence three of unmanned plane kinetic test result is mutually restricted.Increase
Add test scope, such as increase unmanned plane size, just inevitably results in frame size increase, and then influence unmanned plane mechanical property
Measurement result；In other words, to obtaining the measurement result of accurate unmanned plane mechanical property, frame intensity cannot be increased, this
Sample cannot measure large scale unmanned plane, then reduce test object range.
(3) existing equipment does not adjust mass center device, can not regulating device mass center, be allowed to be overlapped with aircraft mass center, in this way
The weight for being equivalent to aircraft unevenly increases, and the mass center for being equivalent to aircraft is moved up or moved down, and in aspect transformation, needs more
More power causes test distortion so that unmanned plane during flying posture can not be simulated perfectly.And after solving the problems, such as this, it can be close
Like the flight attitude of perfect simulation aircraft, find in time aircraft there are the problem of.
(4) existing apparatus is because of structure limitation.Can only generally measure one in three attitude angles, angular speed and lift or
Two data, can not complete measument.And structure of the invention is exquisite, can complete measument above data, aircraft can fly at feedback
In most data, better assessment made to the flying quality of aircraft, more comprehensively grasps the performance of aircraft.
Solve the difficulty and meaning of above-mentioned technical problem:
It solves the above problems, first has to abandon outer casing design, can solve the accurate of large scale In-Flight Performance
Measurement problem, while the detection of flying quality is also taken into account, such angular transducer needs are co-axially mounted with equipment, are monitored each
The riding position problem of the sensor of flying quality is just difficult to solve, this just considerably increases the difficulty of structure design.And it is
True flying quality is obtained, is overlapped the mass center of aircraft, the mass center of equipment with the center of rotation of equipment, just more into one
Step increases structure design difficulty.
After solving problem above, will to a kind of test scope is wide, measurement data is more, the survey of measurement result accurate ground
Try equipment.Can almost Perfect on the ground simulation aircraft flight, grasp In-Flight Performance, find that aircraft is deposited in time
The problem of, to correct in time, greatly reduce loss, save the cost caused by the accidents such as aircraft aircraft bombing.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of rotor wing unmanned aerial vehicle gesture stability test macro and sides
Method, unmanned plane.
The invention is realized in this way a kind of rotor wing unmanned aerial vehicle gesture stability test macro is provided with lifter plate, lifter plate
It is connect by bolt with elevating lever, elevating lever is connect by retaining ring with rotor plate, and rotor plate is bolted on cursor
On, it is connected between cursor and track base by bearing, track base bottom is rail structure, and track base is by V groove bearing and turns
Dynamic device pedestal connection, rotating device base portion have been bolted 8 V groove bearings, have been embedded with respectively inside V groove bearing inclined
Mandrel is held and floating bearing；Revolution outer ring is fixedly connected with rotating device pedestal, is turned round inside outer ring and is fixed with revolution inner ring, returns
Turn inner ring and is bolted on support device.
Further, the support means bottom portion is equipped with lift transducer by bolt, lift transducer by conducting wire with
Power supply connection.
Further, sensor is installed between three rotating devices, sensor is connected to power supply by conducting wire.
In conclusion advantages of the present invention and good effect are as follows:
The present invention designs unmanned plane mounting plate on third rotating device, the size of unmanned plane can be made to limit small；Dress
Three centers of rotation set are overlapped, and using, which can adjust, to obtain elevating lever, so that the centroid position of different unmanned planes can and fill
The center of rotation set is overlapped；Device rotating mechanism uses bearing and V-type sliding slot, and rotation is more smooth, and simulated effect is more preferably；Three
Sensor is installed between a rotating device, it being capable of three axis angular rate of real-time measurement unmanned plane and three attitude angles；It is supporting
Bottom of device is equipped with lift transducer, is capable of the lift of real-time measurement aircraft unmanned plane generation.
Compared with prior art, apparatus of the present invention are small to the size limitation of measurand, can adjust the mass center position of aircraft
It sets.Device rotating mechanism uses bearing and V-type sliding slot, and rotation is more smooth, and simulated effect more preferably rotating device is small in size, intensity
It is big with rigidity, can be used for bear compared with big load and deflection it is small.Can not only real-time measurement unmanned plane three attitude angles, moreover it is possible to
The lift that the angular speed and unmanned plane for measuring three axis of unmanned plane simultaneously generate.
Detailed description of the invention
Fig. 1 is the revolution of rotor wing unmanned aerial vehicle gesture stability test macro, centroid adjustment and trim provided in an embodiment of the present invention
Apparatus structure schematic diagram；
Fig. 2 is rotor wing unmanned aerial vehicle gesture stability test system structure schematic diagram provided in an embodiment of the present invention；
In figure: 1, track base；2, V groove bearing；3, outer ring is turned round；4, cursor；5, clump weight；6, lifter plate；7, it goes up and down
Bar；8, retaining ring；9, rotor plate；10, tension sensor.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The invention mainly comprises support, revolution, the center of gravity of airplane adjusts and balancing device.Wherein support device uses three foot branch
Frame structure, while adjustable each foot prop height, plane holding is horizontal where making aircraft, and provides stable support.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
Rotor wing unmanned aerial vehicle gesture stability test macro provided in an embodiment of the present invention includes: track base 1, V groove bearing 2, returns
Change 3, cursor 4, clump weight 5, lifter plate 6, elevating lever 7, retaining ring 8, rotor plate 9, tension sensor 10.
3 structure of pivoted loop is the integral structure being made of revolution inner ring and revolution outer ring, and (only display revolution is outer in figure one
Ring), similar rolling bearing structure is constituted, revolution outer ring can be around revolution inner ring rotation, wherein revolution inner ring is fixed by screw
On the support structure, 3 top of pivoted loop has been bolted 8 V groove bearings 2, is embedded with bias respectively inside V groove bearing 2
Bearing and floating bearing, track base 1 are connect by V groove bearing 2 with pivoted loop 3, and the sliding rail shape of V-shaped is processed into 1 bottom of track base
The v-shaped track portion of track base 1 is placed on inside the v slot of v groove bearing by shape, and 4 in 8 V groove bearings are located at guide rail
1 lower part of seat, is used for bearing guide rail seat 1 and its upper-part；Other 4 and v groove bearing be located at 1 top of track base, push down track base 1,
Avoid its upward play.1 reservation one degree of freedom of track base, i.e. track base 1 can only do circumference along the circular arc of its underpart in this way
Movement, and because the effect of the bearing of v groove bearing can reduce the friction of motion resistance of track base.Pass through between cursor 4 and sliding rail
Bearing connection, cursor 4 have been bolted rotor plate 9, and elevating lever 7 is connect by retaining ring 8 with rotor plate 9, elevating lever 7
It is connect by bolt with lifter plate, clump weight 5 has been bolted on track base 1, support means bottom portion is installed by bolt
There is lift transducer 10, lift transducer one end is fixed by screws in bottom of device, and the other end and ground are connected, lift sensing
Device is connected to power supply by conducting wire, is equipped with angular transducer on three rotating devices, can be with the attitude angle of survey aircraft.Its
In, the sensor on cursor is co-axially mounted with cursor, when cursor rotation, that is, can measure its rotational angle；And it measures
The angular transducer of track base and pivoted loop is separately mounted to revolution outer ring and turns round in the support construction that outer ring is first bought, the two
Friction pulley is installed on the input shaft of sensor, friction wheel outer surface is in contact respectively at the outer wall of track base and revolution outer ring,
Sensor is set to obtain rotational angle data by friction, sensor is connected to power supply by conducting wire.
Rotor wing unmanned aerial vehicle gesture stability test macro slewing equipment provided in an embodiment of the present invention includes three parts rotation dress
It sets:
First rotating device, around revolution inner ring rotation, is realized 360 degree rotation, can be used for simulating unmanned plane by pivoted loop 3
Yawing rotation.
Track base 1 is rotated around its center of circle in second rotating device, for simulating the movement of rolling direction.
Third rotating device is made of left and right two parts cursor 4 and rotor plate 9, is passed through between cursor 4 and track base 1
Bearing connection, realizes the rotation of pitch orientation.
The operation principle of the present invention is that:
The pivoted loop 3 of whole device is the following are fixed part, and tension sensor is placed between fixed part and ground, aircraft
Lift data can be measured when generating lift.There are three angular transducers altogether, are respectively used for measuring yaw, rolling, pitch angle
Data.Wherein, pivoted loop 3 can be with 360 degree rotation, for simulating the yawing rotation of aircraft；Measurement is fixed on fixed part
The angular transducer of yaw measures the angular transducer input shaft connection pivoted loop 3 of yaw, can measure yaw angle.Guide rail
Seat 1 can be rotated along its outer circle, for simulating the rolling movement of aircraft；The angle of measurement rolling is fixed in revolution outer ring portion
Sensor is spent, the angular transducer input axis connection track base 1 of rolling is measured, roll angle can be measured.Similarly, cursor 4
Axis connection is leaned on 1 side wall of track base, cursor 4 completes the pitching movement of simulation aircraft by rotating around the axis；On track base 1
It is fixed with the angular transducer of measurement pitching, the angular transducer input axis connection cursor 4 of pitching is measured, pitching can be measured
Angle.
First rotating device is mainly made of revolution inner ring and revolution outer ring 3, wherein revolution inner ring is located at turn around in outer ring 3
Portion is fixedly connected with support device, and revolution outer ring is fixedly connected with rotating device pedestal.
Mainly by sliding rail, 8 V groove bearings 2 are constituted second rotating device；It is realized under the constraint of V groove bearing 2 by sliding rail
It rolls；Simultaneously for the ease of assembling, capacity eccentric bearing and floating bearing will be used simultaneously in 8 bearings in second device.
Third rotating device is made of left and right two parts cursor 4 and rotor plate 9, passes through axis between cursor 4 and sliding rail
Hold connection.
Centroid adjustment device mainly has elevating lever 7, rotor plate 9, retaining ring 8 and lifter plate 6 to constitute；By elevating lever 7 come
Adjusting height of the lifter plate relative to fixed plate makes the rotation of its mass center and device to adjust height of the aircraft relative to device
Center is overlapped.
Balancing device mainly adjusts the center of gravity of the second rotating device by the clump weight 5 on track base 1, is allowed to and rotates
Center is overlapped, and furthermore also has clump weight to adjust the center of gravity of third rotating device on cursor 4.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (5)
1. a kind of rotor wing unmanned aerial vehicle gesture stability test macro, which is characterized in that the rotor wing unmanned aerial vehicle gesture stability test
System is provided with
Lifter plate；
Lifter plate is connect by bolt with elevating lever, and elevating lever is connect by retaining ring with rotor plate, and rotor plate is solid by bolt
It is scheduled on cursor；
It is connected between cursor and sliding rail by bearing, track base bottom is rail structure, and track base passes through V groove bearing and rotation
Device pedestal connection, rotating device base portion have been bolted 8 V groove bearings, have been embedded with bias respectively inside V groove bearing
Bearing and floating bearing；
Revolution outer ring is fixedly connected with rotating device pedestal, is turned round inside outer ring and is fixed with revolution inner ring, and revolution inner ring passes through spiral shell
Bolt is fixed on support device.
2. rotor wing unmanned aerial vehicle gesture stability test macro as described in claim 1, which is characterized in that the support means bottom portion
Lift transducer is installed by bolt, lift transducer is connected to power supply by conducting wire.
3. rotor wing unmanned aerial vehicle gesture stability test macro as described in claim 1, which is characterized in that described, described three turn
Sensor is installed between dynamic device, sensor is connected to power supply by conducting wire.
4. a kind of rotor wing unmanned aerial vehicle gesture stability test for implementing rotor wing unmanned aerial vehicle gesture stability test macro described in claim 1
Method, which is characterized in that the rotor wing unmanned aerial vehicle gesture stability test method includes: that tension sensor is placed in fixed part and ground
Between face, aircraft can measure lift data when generating lift；There are three angular transducers altogether, are respectively used for measuring yaw, rolling
Turn, pitch angle data.Wherein, pivoted loop 360 degree rotation, for simulating the yawing rotation of aircraft；It is fixed on fixed part
The angular transducer for having measurement to yaw measures the angular transducer input shaft connection pivoted loop of yaw, measures yaw angle；Guide rail
Seat is rotated along its outer circle, for simulating the rolling movement of aircraft；The angle that measurement rolling is fixed in revolution outer ring portion passes
Sensor measures the angular transducer input axis connection track base of rolling, measures roll angle；Similarly, cursor and track base side
Wall leans on axis connection, and cursor completes the pitching movement of simulation aircraft by rotating around the axis；Measurement is fixed on track base to bow
The angular transducer faced upward measures the angular transducer input axis connection cursor of pitching, measures pitch angle.
5. a kind of unmanned plane of rotor wing unmanned aerial vehicle gesture stability test macro described in operation claims 1 to 3 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478292.4A CN109367818A (en) | 2018-12-05 | 2018-12-05 | A kind of rotor wing unmanned aerial vehicle gesture stability test macro and method, unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811478292.4A CN109367818A (en) | 2018-12-05 | 2018-12-05 | A kind of rotor wing unmanned aerial vehicle gesture stability test macro and method, unmanned plane |
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| Publication Number | Publication Date |
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| CN201811478292.4A Pending CN109367818A (en) | 2018-12-05 | 2018-12-05 | A kind of rotor wing unmanned aerial vehicle gesture stability test macro and method, unmanned plane |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850183A (en) * | 2019-03-20 | 2019-06-07 | 绵阳富莱特航空科技有限公司 | A kind of device for unmanned plane rolling pitching assembly |
| CN109927934A (en) * | 2019-04-12 | 2019-06-25 | 中国民航大学 | A kind of multiple degrees of freedom quadrotor drone attitude test device |
| CN111413063A (en) * | 2020-03-05 | 2020-07-14 | 长春理工大学 | Ducted fan multi-degree-of-freedom testing device and method thereof |
| CN113970676A (en) * | 2021-09-30 | 2022-01-25 | 西安交通大学 | Heat source simulation device under space airborne environment |
| CN114355986A (en) * | 2022-03-21 | 2022-04-15 | 山东天空之眼智能科技有限公司 | Unmanned aerial vehicle self-adaptation anti-interference control system |
-
2018
- 2018-12-05 CN CN201811478292.4A patent/CN109367818A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850183A (en) * | 2019-03-20 | 2019-06-07 | 绵阳富莱特航空科技有限公司 | A kind of device for unmanned plane rolling pitching assembly |
| CN109927934A (en) * | 2019-04-12 | 2019-06-25 | 中国民航大学 | A kind of multiple degrees of freedom quadrotor drone attitude test device |
| CN111413063A (en) * | 2020-03-05 | 2020-07-14 | 长春理工大学 | Ducted fan multi-degree-of-freedom testing device and method thereof |
| CN113970676A (en) * | 2021-09-30 | 2022-01-25 | 西安交通大学 | Heat source simulation device under space airborne environment |
| CN114355986A (en) * | 2022-03-21 | 2022-04-15 | 山东天空之眼智能科技有限公司 | Unmanned aerial vehicle self-adaptation anti-interference control system |
| CN114355986B (en) * | 2022-03-21 | 2022-06-03 | 山东天空之眼智能科技有限公司 | Unmanned aerial vehicle self-adaptation anti-interference control system |
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