CN109515747B - Tandem unmanned aerial vehicle test device - Google Patents
Tandem unmanned aerial vehicle test device Download PDFInfo
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- CN109515747B CN109515747B CN201811433874.0A CN201811433874A CN109515747B CN 109515747 B CN109515747 B CN 109515747B CN 201811433874 A CN201811433874 A CN 201811433874A CN 109515747 B CN109515747 B CN 109515747B
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- 238000012360 testing method Methods 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 abstract description 22
- 238000005096 rolling process Methods 0.000 abstract description 10
- 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 10
- 230000009977 dual effect Effects 0.000 description 7
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response 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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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of unmanned helicopter test devices, and discloses a tandem unmanned aerial vehicle test device which comprises a double-rotor tandem unmanned aerial vehicle, a first bearing and a base, wherein a connecting rod is arranged between two rotors of the double-rotor tandem unmanned aerial vehicle, the inner ring of the first bearing is sleeved on the connecting rod, and the outer ring of the first bearing is connected with the base. According to the tandem unmanned aerial vehicle test device provided by the invention, the connecting rod between the two rotary wings of the tandem unmanned aerial vehicle with the double rotary wings is fixedly connected with the inner ring of the first bearing, so that the tandem unmanned aerial vehicle with the double rotary wings can perform a single degree of freedom attitude control parameter debugging test of rolling motion. The invention further provides a structure required by the pitch channel, the yaw channel and the parameter debugging test of the vertical movement of the double-rotor tandem unmanned aerial vehicle. The test device for the tandem unmanned aerial vehicle provided by the invention can safely and conveniently debug the attitude control parameters of the tandem unmanned aerial vehicle with double rotors.
Description
Technical Field
The invention relates to the field of unmanned helicopter test devices, in particular to a tandem unmanned plane test device.
Background
The double-rotor tandem unmanned helicopter has a series of advantages of large carrying capacity, high hovering efficiency, small space size and the like, can be widely applied to a plurality of fields of transportation, passenger transport, hanging, medical treatment, search and rescue, counter-diving, agricultural plant protection and the like, and is also increasingly valued by related enterprises and scientific research institutions. However, the design of the model control system is more complex, and the true feasibility of the flight control system cannot be verified only through theoretical analysis and software simulation. This is not only because the aircraft has the characteristic of easy interference, but also because with current research progress, the dynamic model accuracy of the dual rotor tandem unmanned aerial vehicle is limited, some minor parameter changes cannot be well described and embodied in the model, and some critical parameters are even difficult to obtain in actual operation. Therefore, a great deal of manual tuning and empirical testing is necessary in the actual debugging process of the development of the flight control system. In addition, the debugging work of the double-rotor tandem unmanned aerial vehicle has a certain danger, and mooring experiments need to be carried out first. However, there is currently no relevant device for performing the parameter tuning of a dual rotor tandem unmanned aerial vehicle.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to provide a tandem unmanned aerial vehicle test device which can safely and conveniently carry out a single-degree-of-freedom attitude control parameter debugging test of the rolling motion of a double-rotor tandem unmanned aerial vehicle.
(II) technical scheme
In order to solve the technical problems, the invention provides a tandem unmanned aerial vehicle test device, which comprises a double-rotor tandem unmanned aerial vehicle, a first bearing and a base; the connecting rod is arranged between two rotors of the double-rotor tandem unmanned aerial vehicle, the connecting rod is sleeved with the inner ring of the first bearing, and the outer ring of the first bearing is connected with the base.
The bearing further comprises an upright post, and the outer ring of the first bearing is connected with the base through the upright post.
The bearing structure comprises a base, a stand column, a second bearing, an outer ring and a bearing, wherein the base is arranged on the stand column, the bearing is arranged on the base, the bearing is arranged on the stand column, and the bearing is arranged on the bearing.
The bearing comprises a vertical column, and is characterized by further comprising a first sliding block, wherein a sliding rail is arranged on the vertical column, the first sliding block is slidably mounted on the sliding rail, and an outer ring of the first bearing is connected with the vertical column through the first sliding block.
The novel bearing comprises a base, and is characterized by further comprising a cross rod, wherein the outer ring of the first bearing is arranged on the cross rod, and two ends of the cross rod are connected with the base.
The novel bearing structure comprises a cross rod, and is characterized by further comprising two third bearings, wherein the inner rings of the two third bearings are respectively sleeved at two ends of the cross rod, the outer rings of the two third bearings are connected with the base, and the outer rings of the first bearings are installed in the middle of the cross rod.
The novel vertical rail structure comprises a base, and is characterized by further comprising two vertical rails and two second sliding blocks, wherein the two vertical rails are fixedly arranged on the base, the two second sliding blocks are respectively and slidably arranged on the two vertical rails, and two ends of the cross rod are respectively arranged on the two second sliding blocks.
(III) beneficial effects
According to the tandem unmanned aerial vehicle test device provided by the invention, the double-rotor tandem unmanned aerial vehicle is fixedly connected to the base through the first bearing, and meanwhile, the connecting rod between the two rotary wings is fixedly connected with the inner ring of the first bearing, so that the double-rotor tandem unmanned aerial vehicle can perform a single-degree-of-freedom attitude control parameter debugging test of rolling motion. The tandem unmanned aerial vehicle test device provided by the invention can safely and conveniently debug the attitude control parameters of the rolling motion of the double-rotor tandem unmanned aerial vehicle.
Drawings
FIG. 1 is a schematic diagram of a tandem unmanned aerial vehicle test apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a tandem unmanned aerial vehicle test apparatus according to another embodiment of the present invention;
FIG. 3 is a schematic view of a vertical rail slider mechanism according to an embodiment of the present invention;
in the figure: 1. double-rotor tandem unmanned aerial vehicle; 2. a connecting rod; 3. a base; 4. a first bearing; 5. a column; 6. a second bearing; 7. a cross bar; 8. a third bearing; 9. a vertical rail; 10. a second slider; 11. test bed.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality", "a plurality of groups" is two or more.
As shown in fig. 1-2, the tandem unmanned aerial vehicle test device in the embodiment of the invention comprises a double-rotor tandem unmanned aerial vehicle 1, a first bearing 4 and a base 3, wherein a connecting rod 2 is arranged between two rotors of the double-rotor tandem unmanned aerial vehicle 1, an inner ring of the first bearing 4 is sleeved on the connecting rod 2, and an outer ring of the first bearing 4 is connected with the base 3.
According to the tandem unmanned aerial vehicle test device disclosed by the embodiment of the invention, the connecting rod 2 between the two rotary wings of the tandem unmanned aerial vehicle 1 is fixedly connected with the inner ring of the first bearing 4, so that the tandem unmanned aerial vehicle 1 with the double rotary wings can perform a single-degree-of-freedom attitude control parameter debugging test. In a specific test operation, the roll angle can be selected as a study object, firstly, the unmanned plane body is placed at a roll angle position of 1-45 degrees, for example, 30 degrees, and then the expected roll angle is set to be in a horizontal equilibrium state of 0 degree; electrifying the flight control system, adjusting relevant parameter settings, and observing whether the body gesture of the unmanned aerial vehicle can recover the horizontal equilibrium state under the adjustment of the flight control system. Therefore, the tandem unmanned aerial vehicle test device provided by the embodiment of the invention can safely and conveniently carry out the posture control parameter debugging test of the single degree of freedom of the rolling motion of the double-rotor tandem unmanned aerial vehicle 1.
According to the tandem unmanned aerial vehicle test device disclosed by the embodiment of the invention, the outer ring of the first bearing 4 can be connected with the base 3 through the upright post 5 or can be connected with the base 3 through the cross rod 7. If the outer ring of the first bearing 4 is connected with the base 3 through the upright 5, the outer ring of the first bearing 4 can be directly fixed on the upright 5, and the first bearing 4 is enabled to be axially horizontal, so that the adjustment of the rolling motion parameters of the unmanned aerial vehicle is facilitated.
The upright 5 may be directly fixedly mounted on the base 3 or may be rotatably mounted on the base 3 via a second bearing 6. For example, the inner ring of the second bearing 6 is sleeved at one end of the upright 5 close to the base 3, and the outer ring of the second bearing 6 is fixedly installed on the base 3, the second bearing 6 is axially vertical, and the upright 5 can rotate by taking the vertical direction as a rotating shaft through the second bearing 6, so that the degree of freedom of yaw motion in the horizontal plane is provided for the dual rotor tandem unmanned aerial vehicle 1, and the parameter debugging test requirement of yaw motion is met.
The stand 5 can be provided with the slide rail, and be equipped with on the slide rail and can be on the slide rail vertically gliding first slider, the outer lane of first bearing 4 is installed on stand 5 through first slider, and then makes two rotor column formula unmanned aerial vehicle 1 can realize along stand 5 vertical slip from top to bottom through first slider, satisfies vertical motion's parameter debugging test needs.
According to the tandem unmanned aerial vehicle test device disclosed by the embodiment of the invention, the outer ring of the first bearing 4 can be connected with the base 3 through the cross rod 7, at the moment, the outer ring of the first bearing 4 is fixedly arranged on the horizontally arranged cross rod 7, and two ends of the cross rod 7 are connected with the base 3. Further, as shown in fig. 3, the cross bar 7 may be directly fixedly connected to the base 3, or may be rotatably mounted on the base 3 through two third bearings 8. Specifically, the inner rings of the two third bearings 8 may be respectively sleeved at two ends of the cross bar 7, and then the outer rings of the two third bearings 8 are connected with the base 3, and the outer ring of the first bearing 4 is installed at the middle part of the cross bar 7. Then the crossbar 7 can be turned by means of the two third bearings 8, thereby providing the double rotor tandem unmanned 1 with freedom of pitching movement. The axis of the first bearing 4 may be mounted perpendicular to the cross bar 7, and the cross bar 7 may be maintained in a horizontal state. The outer rings of the two third bearings 8 can be directly fixed on the base 3, or can be in sliding connection with the base 3 through a vertical rail sliding block mechanism. Specifically, the vertical rail slider mechanism includes a vertical rail 9 vertically mounted on the base 3 and a second slider 10 vertically slidable on the vertical rail 9; the two third bearings 8 are respectively fixed on the two second sliding blocks 10, so that the vertical sliding of the cross rod 7 is realized, and the parameter debugging requirement of the vertical motion of the double-rotor tandem unmanned aerial vehicle 1 is met. Meanwhile, in order to facilitate the pitching motion of the dual rotor tandem unmanned aerial vehicle 1, the base 3 may be two test benches 11, and the two vertical rails 9 are respectively installed on different test benches 11, the test benches 11 raise the cross rod 7 and provide a height space for the pitching motion of the dual rotor tandem unmanned aerial vehicle 1, and meanwhile, a certain interval should be provided between the two test benches 11, so as to prevent the dual rotor tandem unmanned aerial vehicle 1 from colliding with the table surface of the test benches 11 during the pitching motion. It should be noted that the two ends of the cross rod 7 can also be directly installed on the two second sliding blocks 10, so that the cross rod 7 can vertically slide up and down, and the parameter debugging requirement of the vertical motion of the double-rotor tandem unmanned aerial vehicle 1 is met.
In a specific test operation, the tandem unmanned aerial vehicle test device can perform a single-degree-of-freedom attitude control test first, and at the moment, the output of other control channels in a flight control program can be temporarily shielded. In a single degree of freedom parameter tuning test, the performance of the system may be tested by a step signal. For example, the pitch angle parameter adjustment can be performed by firstly placing the dual rotor tandem unmanned aerial vehicle 1 body at any position between 20 ° and 45 ° in pitch angle, and then setting the desired pitch angle to be in a balance state of 0 ° in a flight control program. And electrifying the flight control system, and observing whether the body gesture can be restored to the level under the regulation of the flight control system. If the double-rotor tandem unmanned aerial vehicle 1 quickly recovers to the level under the action of the flight control system, the purpose of attitude control can be achieved by the relevant parameter setting of the flight control system, and the system hardware/software works well. After the basic function of the flight control system is verified through the single-degree-of-freedom control test debugging, the debugging test can be carried out on the working condition of the flight control under the combined action of two or three control channels, and the effectiveness of the two-degree-of-freedom and three-degree-of-freedom coupling control of the controller is verified. The multi-degree-of-freedom coupling control method adopts linear superposition of two or three single-degree-of-freedom control channels. For example, the PID parameters obtained by the previous roll single degree of freedom settings may be directly applied to the pitch control. However, due to the pulling motion caused by the two-degree-of-freedom coupling, the PID parameters which can normally work under the control of a single degree of freedom may cause the system to diverge and oscillate under the control of coupling, so that multiple trial and error are required. The method is similar to the single degree of freedom, the double-rotor tandem unmanned aerial vehicle 1 can be placed at an initial position where the rolling angle and the pitch angle are both close to 30 degrees, expected values of the rolling angle and the pitch angle are set to 0 degrees in a flight control program, data acquired by a sensor are recorded after power-on and power-on, and time domain step response of rolling and pitch under the coupling control can be obtained. Through experimental observation, the multi-channel linear superposition control comprehensive mode can effectively complete the debugging test of the attitude control parameters of the aircraft.
According to the tandem unmanned aerial vehicle test device disclosed by the embodiment of the invention, the double-rotor tandem unmanned aerial vehicle 1 is fixedly connected to the base 3 through the first bearing 4, and meanwhile, the connecting rod 2 between the two rotary wings is fixedly connected with the inner ring of the first bearing 4, so that the double-rotor tandem unmanned aerial vehicle 1 can perform a single-degree-of-freedom attitude control parameter debugging test of rolling motion, and the parameter debugging process is safe and convenient. Further, the first bearing 4 can be installed on the upright post 5, and the upright post 5 is rotatably installed on the base 3 through the second bearing 6, so that the degree of freedom of yaw motion in the horizontal plane is provided for the double-rotor tandem unmanned aerial vehicle 1, and the parameter debugging requirement of yaw motion is met; the first bearing 4 is installed on the stand column 5 provided with the sliding rail through the first sliding block, so that the double-rotor tandem unmanned aerial vehicle 1 can vertically slide along the stand column 5 through the first sliding block, and the parameter debugging requirement of vertical movement is met. The first bearing 4 may also be connected to the base 3 by means of a cross bar 7; the cross rod 7 can be rotatably arranged on the base 3 through two third bearings 8 to provide the pitching freedom degree for the double-rotor tandem unmanned aerial vehicle 1; the two third bearings 8 can be in sliding connection with the base 3 through the vertical rail sliding block mechanism, so that vertical sliding of the cross rod 7 is realized, and the parameter debugging requirement of vertical movement of the double-rotor tandem unmanned aerial vehicle 1 is met.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (1)
1. The test device for the tandem unmanned aerial vehicle is characterized by comprising a double-rotor tandem unmanned aerial vehicle, a first bearing and a base; a connecting rod is arranged between two rotors of the double-rotor tandem unmanned aerial vehicle, and an inner ring of the first bearing is sleeved on the connecting rod;
the novel cross bar structure comprises a cross bar, two third bearings, a first bearing and a second bearing, wherein the outer ring of the first bearing is arranged on the cross bar, the inner rings of the two third bearings are respectively sleeved at two ends of the cross bar, and the outer ring of the first bearing is arranged in the middle of the cross bar;
the test bench further comprises two vertical rails and two second sliding blocks, wherein the two vertical rails are fixedly arranged on the base, the two second sliding blocks are respectively and slidably arranged on the two vertical rails, the two third bearings are respectively and fixedly arranged on the two second sliding blocks, and the two vertical rails are respectively arranged on different test benches.
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| CN201811433874.0A CN109515747B (en) | 2018-11-28 | 2018-11-28 | Tandem unmanned aerial vehicle test device |
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| CN201811433874.0A CN109515747B (en) | 2018-11-28 | 2018-11-28 | Tandem unmanned aerial vehicle test device |
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| CN109515747B true CN109515747B (en) | 2024-03-22 |
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| CN111874259B (en) * | 2020-05-25 | 2021-10-29 | 中国农业大学 | Plant protection unmanned aerial vehicle lift and ground effect change real-time detection system |
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