CN109387329B - Device and method for measuring weight center of gravity of unmanned aerial vehicle - Google Patents
Device and method for measuring weight center of gravity of unmanned aerial vehicle Download PDFInfo
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- CN109387329B CN109387329B CN201811353148.8A CN201811353148A CN109387329B CN 109387329 B CN109387329 B CN 109387329B CN 201811353148 A CN201811353148 A CN 201811353148A CN 109387329 B CN109387329 B CN 109387329B
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- 230000005484 gravity Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims description 37
- 238000000691 measurement method Methods 0.000 claims 1
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
- G01M1/125—Determining position of centre of gravity of aircraft
Abstract
The invention discloses a measuring device and a measuring method for the weight center of gravity of a small unmanned aerial vehicle, wherein the measuring device comprises an upper bracket and a lower bracket which are symmetrically arranged, a scale plate for marking the position coordinates of the unmanned aerial vehicle is fixed on the upper bracket, the upper bracket and the lower bracket respectively comprise a plurality of vertexes, the vertexes of the upper bracket and the vertexes of the lower bracket are connected through a plurality of struts, a plurality of pressure sensors are respectively arranged on the vertexes of the upper bracket, and one strut is an electric push-pull rod. The measuring device and the measuring method for the weight center of gravity of the small unmanned aerial vehicle can accurately measure the coordinate position of the unmanned aerial vehicle, obtain the weight center of gravity of the unmanned aerial vehicle, and reduce human errors; the design of the tiltable table top can effectively obtain the Z-axis coordinate of the unmanned aerial vehicle, and the practical effect is strong.
Description
Technical Field
The invention relates to the technical field of comprehensive experiments for measuring weight center of gravity, in particular to a device and a method for measuring the weight center of gravity of a small unmanned aerial vehicle.
Background
In the field of unmanned aerial vehicle flight performance calculation and flight control design, data of weight and gravity center of the unmanned aerial vehicle are often required, and the parameters have very critical roles on the accuracy of unmanned aerial vehicle flight performance calculation and the accuracy of flight control design and are necessary parameter data.
At present, a weight measuring instrument of a small unmanned aerial vehicle is common, but the weight measuring instrument of the small unmanned aerial vehicle is rare, and the weight measuring instrument of the small unmanned aerial vehicle has the difficulty in measuring the weight of the small unmanned aerial vehicle, namely, the measurement accuracy is low, and the weight positions of X and Y axes can be generally measured only, and the weight position of a Z axis is not easy to measure.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the device and the method for measuring the weight center of gravity of the unmanned aerial vehicle, which can rapidly acquire the weight center of gravity of the unmanned aerial vehicle, reduce errors caused by human factors to measurement, reduce the time required by measurement and improve the accuracy of measuring the weight center of gravity of the unmanned aerial vehicle.
In order to achieve the above object, the present invention adopts the following technical scheme: the utility model provides a unmanned aerial vehicle weight center of gravity measuring device, measuring device includes the upper bracket that the symmetry set up, the lower carriage, fixed one is used for marking unmanned aerial vehicle's position coordinate's scale plate on the upper bracket, the upper bracket with the lower carriage includes a plurality of summit respectively, the plurality of summit of upper bracket with connect through a plurality of pillars between a plurality of summit of lower carriage, a plurality of pressure sensor are installed respectively to a plurality of summit of upper bracket, and one of them pillar is electronic push-pull rod.
In a specific embodiment, the upper bracket and the lower bracket are symmetrically arranged triangular brackets, and the upper bracket and the lower bracket respectively comprise three vertexes.
In a specific embodiment, the three vertexes of the upper bracket include a first vertex, a second vertex and a third vertex, the three vertexes of the lower bracket include a fourth vertex, a fifth vertex and a sixth vertex, the plurality of struts include a first strut, a second strut and an electric diagonal, the first vertex and the fourth vertex are connected by the first strut, the second vertex and the fifth vertex are connected by the second strut, and the third vertex and the sixth vertex are connected by the electric diagonal.
In a specific embodiment, the pressure sensor comprises a first pressure sensor, a second pressure sensor and a third pressure sensor, wherein the first pressure sensor is connected with the first support column through a first hinge, the second pressure sensor is connected with the second support column through a second hinge, and the third pressure sensor is connected with the electric push-pull rod through a third hinge.
In a specific embodiment, the lower end of the electric push-pull rod is connected with the sixth vertex of the lower bracket through a movable hinge.
In a specific embodiment, the telescopic movement of the electric push-pull rod can control the inclination angle between the scale plate and the horizontal plane.
In a specific embodiment, the electric push-pull rod pushes upwards to drive the third pressure sensor to move upwards, and one end of the scale plate connected with the third pressure sensor is inclined upwards, so that a certain included angle is formed between the scale plate and the horizontal plane.
Correspondingly, the invention also provides a measuring method of the measuring device of the weight center of gravity of the unmanned aerial vehicle, the measuring device comprises a first pressure sensor, a second pressure sensor and a third pressure sensor, the third pressure sensor is connected with the electric push-pull rod, and the method comprises the following steps:
a third sensor is used as a coordinate origin to establish a space rectangular coordinate system;
placing the unmanned aerial vehicle on a scale plate, recording measurement data of a first pressure sensor, a third pressure sensor and a second pressure sensor for the first time, and measuring the weight w of the unmanned aerial vehicle;
measuring the gravity center coordinate X of the unmanned aerial vehicle in the X-axis direction;
starting the electric push-pull rod to enable the included angle between the scale plate and the horizontal plane to be sigma;
re-recording measurement data of the first pressure sensor, the third pressure sensor and the second pressure sensor;
the X-axis direction barycenter coordinate X2 of the unmanned aerial vehicle is measured,
projecting X2 into a horizontal plane coordinate system of the scale plate to obtain a coordinate value X22, wherein the Z-axis gravity center position Z of the unmanned aerial vehicle in the horizontal plane is:
wherein,w11 is the measurement data of the first pressure sensor which is re-recorded, W33 is the measurement data of the second pressure sensor, x11 is the x-axis coordinate value of the first pressure sensor, and x33 is the x-axis coordinate value of the second pressure sensor;
wherein,x1 is the x-axis coordinate value of the first pressure sensor, x3 is the x-axis coordinate value of the second pressure sensor, W1 is the first recorded measurement data of the first pressure sensor, and W3 is the measurement data of the second pressure sensor.
In a specific embodiment, the unmanned aerial vehicle weight W is: w=w1+w2+w3-W4,
wherein, W1 is the first recorded measurement data of the first pressure sensor, W2 is the measurement data of the third pressure sensor, W3 is the measurement data of the second pressure sensor, and W4 is the sum of the weights of the scale plate and the upper bracket.
In a specific embodiment, the Y-axis direction barycentric coordinate Y of the unmanned aerial vehicle is:
wherein y1 is the y-axis coordinate value of the first pressure sensor, and y3 is the y-axis coordinate value of the third pressure sensor.
The measuring device and the measuring method for the weight center of gravity of the unmanned aerial vehicle can accurately measure the coordinate position of the unmanned aerial vehicle, obtain the weight center of gravity of the unmanned aerial vehicle, and reduce human errors; the design of the tiltable table top can effectively obtain the Z-axis coordinate of the unmanned aerial vehicle, and the practical effect is strong.
Drawings
FIG. 1 is a main view of a weight center of gravity measuring device of a small unmanned aerial vehicle;
FIG. 2 is a schematic diagram showing the distribution of pressure sensors of the measuring device for the weight center of gravity of the unmanned aerial vehicle;
fig. 3 is a schematic diagram of an electric push rod device of the weight center of gravity measuring device of the small unmanned aerial vehicle.
Detailed Description
Preferred embodiments of the apparatus and method of the present invention are described in further detail below with reference to the attached drawing figures.
Referring to fig. 1, a measuring device for the weight center of gravity of a small unmanned aerial vehicle includes an upper bracket 2 and a lower bracket 4 which are symmetrically arranged, wherein a scale plate 1 for marking the position coordinates of the unmanned aerial vehicle is fixed on the upper bracket 2, the upper bracket 2 and the lower bracket 4 respectively include a plurality of vertexes, the vertexes of the upper bracket 2 and the vertexes of the lower bracket 4 are connected through a plurality of struts, a plurality of pressure sensors are respectively installed on the vertexes of the upper bracket 2, and one strut is an electric push-pull rod 3.
The scale plate 1 is fixed on the upper bracket 2, the lower bracket 4 is placed on the ground, and the electric push-pull rod 3 is positioned between the scale plate 1 and the lower bracket 4. The telescopic movement of the electric push-pull rod 3 can control the inclination angle between the scale plate 1 and the horizontal plane. The scale plate 1 can accurately mark the position coordinates of the measured object and can conveniently record the barycenter position coordinates.
In a specific embodiment, the upper bracket 2 and the lower bracket 4 are symmetrically arranged triangular frames, and the upper bracket 2 and the lower bracket 4 respectively comprise three vertexes. The three vertexes of the upper bracket 2 comprise a first vertex, a second vertex and a third vertex, the three vertexes of the lower bracket 4 comprise a fourth vertex, a fifth vertex and a sixth vertex, the plurality of struts comprise a first strut 6, a second strut 5 and an electric push-pull rod 3, the first vertex is connected with the fourth vertex through the first strut 6, the second vertex is connected with the fifth vertex through the second strut 5, and the third vertex is connected with the sixth vertex through the electric push-pull rod 3.
In a specific embodiment, the upper bracket 2 and the lower bracket 4 are made of aluminum profiles, and the first support column 6 and the second support column 5 are made of aluminum profiles, so that the main functions of the upper bracket and the lower bracket are to provide mounting positions for all parts of the measuring device and ensure the stability of the device.
In a specific embodiment, as shown in fig. 2, the pressure sensor includes a first pressure sensor 7, a second pressure sensor 12, and a third pressure sensor 9, where the first pressure sensor 7, the third pressure sensor 9, and the second pressure sensor 12 are respectively installed at three vertexes of the device, and are all connected to the upper bracket 2. The first pressure sensor 7 is connected to the first support column 6 via a first hinge 8, the second pressure sensor 12 is connected to the second support column 5 via a second hinge 11, and the third pressure sensor 9 is connected to the electric push-pull rod 3 via a third hinge 10. It will be appreciated that the first pressure sensor 7, the third pressure sensor 9 and the second pressure sensor 12 are capable of measuring the pressure values to which the respective points are subjected.
In a specific embodiment, as shown in fig. 3, the lower end of the electric push-pull rod 3 is connected to the sixth vertex of the lower bracket 4 by a living hinge 13. The electric push-pull rod 3 pushes upwards to drive the third pressure sensor 9 to move upwards, and one end, connected with the third pressure sensor 9, of the scale plate 1 inclines upwards, so that a certain included angle is formed between the scale plate 1 and the horizontal plane.
The invention also provides a measuring method of the measuring device of the weight center of gravity of the unmanned aerial vehicle, the measuring device comprises a first pressure sensor 7, a second pressure sensor 12, a third pressure sensor 9, and the third pressure sensor 9 is connected with the electric push-pull rod 3, and the method comprises the following steps:
a space rectangular coordinate system is established by taking the third sensor 9 as the origin of coordinates;
placing the unmanned aerial vehicle on a scale plate 1, recording measurement data of a first pressure sensor 7, a third pressure sensor 9 and a second pressure sensor 12 for the first time, and measuring the weight w of the unmanned aerial vehicle;
measuring the gravity center coordinate X of the unmanned aerial vehicle in the X-axis direction;
starting the electric push-pull rod 3 to enable the included angle between the scale plate 1 and the horizontal plane to be sigma;
re-recording the measurement data of the first pressure sensor 7, the third pressure sensor 9 and the second pressure sensor 12;
the X-axis direction barycenter coordinate X2 of the unmanned aerial vehicle is measured,
projecting X2 into a horizontal plane coordinate system of the scale plate to obtain a coordinate value X22, wherein the Z-axis gravity center position Z of the unmanned aerial vehicle in the horizontal plane is:
wherein,w11 is the measurement data of the first pressure sensor which is re-recorded, W33 is the measurement data of the second pressure sensor, x11 is the x-axis coordinate value of the first pressure sensor, and x33 is the x-axis coordinate value of the second pressure sensor;
wherein,x1 is the x-axis coordinate value of the first pressure sensor, x3 is the x-axis coordinate value of the second pressure sensor, W1 is the first recorded measurement data of the first pressure sensor, and W3 is the measurement data of the second pressure sensor.
It can be appreciated that the unmanned aerial vehicle weight W is: w=w1+w2+w3-W4,
wherein, W1 is the first recorded measurement data of the first pressure sensor, W2 is the measurement data of the third pressure sensor, W3 is the measurement data of the second pressure sensor, and W4 is the sum of the weights of the scale plate and the upper bracket.
The gravity center coordinate Y of the unmanned plane in the Y-axis direction is as follows:
wherein y1 is the y-axis coordinate value of the first pressure sensor, and y3 is the y-axis coordinate value of the third pressure sensor.
Specifically, the specific working principle of the method is as follows: firstly, a space rectangular coordinate system is established on the scale plate 1 by taking a third pressure sensor 9 as a coordinate origin, and the unmanned aerial vehicle is placed on the scale plate 1, wherein the weight W of the unmanned aerial vehicle is as follows:
W＝W1+W2+W3-W4
wherein, W1 is the measurement data of the first pressure sensor 7, W2 is the measurement data of the third pressure sensor 9, W3 is the measurement data of the second pressure sensor 12, and W4 is the sum of the weights of the scale plate 1 and the upper bracket 2.
The gravity center coordinate X of the unmanned plane in the X-axis direction is as follows:
where x1 is the x-axis coordinate value of the first pressure sensor 7 and x3 is the x-axis coordinate value of the second pressure sensor 12.
The gravity center coordinate Y of the unmanned plane in the Y-axis direction is as follows:
where y1 is the y-axis coordinate value of the first pressure sensor 7, and y3 is the y-axis coordinate value of the third pressure sensor 12.
The electric push rod 3 is started to enable the included angle between the scale plate 1 and the horizontal plane to be sigma (the angle value can be measured by placing a level gauge on the scale plate 1). At this time, the measurement results of the first pressure sensor 7, the third pressure sensor 9 and the second pressure sensor 12 are changed, and the measurement data of the first pressure sensor 7, the third pressure sensor 9 and the second pressure sensor 12 are re-recorded.
On the inclined plane, a space rectangular coordinate system is established on the scale plate 1 by taking the third pressure sensor 9 as the origin of coordinates, and the original position of the unmanned aerial vehicle is kept unchanged.
The unmanned aerial vehicle X-axis direction barycenter coordinate X2 is:
where W11 is measurement data of the first pressure sensor 7, W33 is measurement data of the second pressure sensor 12, x11 is an x-axis coordinate value of the first pressure sensor 7, and x33 is an x-axis coordinate value of the second pressure sensor 12.
Projecting X2 to a horizontal plane coordinate system of the scale plate, wherein at the moment, the coordinate value is X22, and then the Z-axis gravity center position Z of the unmanned aerial vehicle in the horizontal plane is:
the weight center of gravity of the unmanned aerial vehicle is finally obtained through the measuring device.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be appreciated by persons skilled in the art that the examples described above are not intended to limit the invention in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the invention.
Claims (7)
1. The measuring device comprises an upper bracket and a lower bracket which are symmetrically arranged, wherein a scale plate for marking the position coordinates of the unmanned aerial vehicle is fixed on the upper bracket, the upper bracket and the lower bracket respectively comprise a plurality of vertexes, the vertexes of the upper bracket and the vertexes of the lower bracket are connected through a plurality of struts, a plurality of pressure sensors are respectively arranged on the vertexes of the upper bracket, and one strut is an electric push-pull rod;
the telescopic movement of the electric push-pull rod can control the inclination angle between the scale plate and the horizontal plane, and is characterized in that the measuring device comprises a first pressure sensor, a second pressure sensor and a third pressure sensor, the third pressure sensor is connected with the electric push-pull rod, and the method comprises the following steps:
a third sensor is used as a coordinate origin to establish a space rectangular coordinate system;
placing the unmanned aerial vehicle on a scale plate, recording measurement data of a first pressure sensor, a third pressure sensor and a second pressure sensor for the first time, and measuring the weight w of the unmanned aerial vehicle;
measuring the gravity center coordinate X of the unmanned aerial vehicle in the X-axis direction;
starting the electric push-pull rod to enable the included angle between the scale plate and the horizontal plane to be sigma;
re-recording measurement data of the first pressure sensor, the third pressure sensor and the second pressure sensor;
the X-axis direction barycenter coordinate X2 of the unmanned aerial vehicle is measured,
projecting X2 into a horizontal plane coordinate system of the scale plate to obtain a coordinate value X22, wherein the Z-axis gravity center position Z of the unmanned aerial vehicle in the horizontal plane is:
wherein,w11 is the measurement data of the first pressure sensor which is re-recorded, W33 is the measurement data of the second pressure sensor which is re-recorded, x11 is the x-axis coordinate value of the first pressure sensor which is re-recorded, and x33 is the x-axis coordinate value of the second pressure sensor which is re-recorded;
wherein,x1 is the x-axis coordinate value of the first pressure sensor recorded for the first time, x3 is the x-axis coordinate value of the second pressure sensor recorded for the first time, W1 is the measurement data of the first pressure sensor recorded for the first time, and W3 is the measurement data of the second pressure sensor recorded for the first time;
the gravity center coordinate Y of the unmanned plane in the Y-axis direction is as follows:
wherein y1 is the y-axis coordinate value of the first pressure sensor that is re-recorded, and y3 is the y-axis coordinate value of the second pressure sensor that is re-recorded.
2. The method of claim 1, wherein the unmanned aerial vehicle weight W is: w=w1+w2+w3-W4,
wherein, W1 is the first pressure sensor's of first record measurement data, W2 is the third pressure sensor's of first record measurement data, W3 is the second pressure sensor's of first record measurement data, W4 is the weight sum of scale plate and upper bracket.
3. The method of claim 1, wherein the upper and lower brackets are symmetrically arranged triangular brackets, and the upper and lower brackets each comprise three vertices.
4. A method of measuring according to claim 3, wherein the three apices of the upper bracket include a first apex, a second apex, and a third apex, the three apices of the lower bracket include a fourth apex, a fifth apex, and a sixth apex, the plurality of struts include a first strut, a second strut, and an electric push-pull rod, the first apex and the fourth apex are connected by the first strut, the second apex and the fifth apex are connected by the second strut, and the third apex and the sixth apex are connected by the electric push-pull rod.
5. The measurement method according to claim 4, wherein the pressure sensor includes a first pressure sensor connected to the first pillar by a first hinge, a second pressure sensor connected to the second pillar by a second hinge, and a third pressure sensor connected to the electric push-pull rod by a third hinge.
6. The method according to claim 4, wherein the lower end of the electric push-pull rod is connected to the sixth vertex of the lower bracket by a living hinge.
7. The measuring method according to claim 6, wherein the electric push-pull rod pushes upwards to drive the third pressure sensor to move upwards, and one end of the scale plate connected with the third pressure sensor tilts upwards, so that a certain included angle is formed between the scale plate and a horizontal plane.
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| CN110553793B (en) * | 2019-07-26 | 2021-04-20 | 中国航空工业集团公司济南特种结构研究所 | Method for measuring gravity center of large composite material component |
| CN111207887A (en) * | 2019-12-10 | 2020-05-29 | 中船重工海空智能装备有限公司 | Unmanned aerial vehicle weight focus measuring device |
| CN110954202A (en) * | 2019-12-19 | 2020-04-03 | 中国航空工业集团公司沈阳飞机设计研究所 | Attitude-variable airplane weight and gravity center measuring equipment and attitude-variable airplane weight and gravity center measuring method |
| CN111307370A (en) * | 2020-03-19 | 2020-06-19 | 青岛航空技术研究院(中国科学院工程热物理研究所青岛研究中心) | Method for measuring rotational inertia of unmanned aerial vehicle |
| CN114674405B (en) * | 2022-03-21 | 2024-03-01 | 广州极飞科技股份有限公司 | Gravity measurement method, gravity measurement device, computer equipment and computer readable storage medium |
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