CN110155364A - A kind of unmanned plane electron speed regulator and multi-rotor unmanned aerial vehicle with vibration detection function - Google Patents
A kind of unmanned plane electron speed regulator and multi-rotor unmanned aerial vehicle with vibration detection function Download PDFInfo
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- CN110155364A CN110155364A CN201910381489.4A CN201910381489A CN110155364A CN 110155364 A CN110155364 A CN 110155364A CN 201910381489 A CN201910381489 A CN 201910381489A CN 110155364 A CN110155364 A CN 110155364A
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000005070 sampling Methods 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 abstract description 7
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000005611 electricity Effects 0.000 description 14
- 238000005259 measurement Methods 0.000 description 6
- 238000003745 diagnosis Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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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
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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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)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Abstract
The present invention discloses a kind of unmanned plane electron speed regulator and multi-rotor unmanned aerial vehicle with vibration detection function, it includes control unit, communication interface, Power Entry Module, vibration detection module, driver, sampling resistor, operational amplifier circuit, (PCC) power, communication interface, Power Entry Module, vibration detection module, driver, sampling resistor, operational amplifier circuit is electrically connected with control unit, driver, sampling resistor, operational amplifier circuit is electrically connected with (PCC) power, (PCC) power includes the first (PCC) power, second (PCC) power, third (PCC) power, it is corresponding with the three of motor respectively, control the rotation of motor；Electron speed regulator is fixed on motor cabinet.Electron speed regulator of the invention can carry out real-time monitoring to the complete machine structure vibrational state of aircraft at work, while can be used to assist detection unmanned plane in installation accuracy when assembled.
Description
Technical field
The present invention relates to unmanned plane electron speed regulator fields, and in particular to a kind of unmanned electromechanical with vibration detection function
Sub- governor and multi-rotor unmanned aerial vehicle.
Background technique
Multi-rotor unmanned aerial vehicle has larger impact to the normal work of unmanned plane in the complete machine structure vibration that work generates, specifically
Show that the shake of rack, sensing data deteriorate the erroneous judgement for leading to control system, the shadow for generating excessive noise, machine life
Sound, deterioration of image quality of carry camera etc..How to carry out quantitative measurment to level of vibration is the control of unmanned plane complete machine oscillation
Basis.Existing multi-rotor unmanned aerial vehicle vibration-testing scheme with sensor type be according to can be divided into based on optical visual measurement and
Based on inertia measurement sensor.The former places oneself in the midst of unmanned plane using 208399097 U of CN 109060286 A and CN as representative
In the optical measurement environment put up, the vibration state of unmanned plane, such scheme tool are measured with digital speckle or laser photosensitive
There is obviously defect, time-consuming, at high cost.The latter, will using 206627208 U of CN 107860468 A and CN as representative
On board the aircraft equipped with the installation of the vibration acquisition module of acceleration transducer or gyroscope, collected vibration data is remembered in real time
Record is on acquisition module or data are transmitted back to ground PC end by used wire/wireless communication；But it has problems in that vibration
Acquisition module belongs to subsequent installation, installation form be mostly paste or be glued, and acquisition module itself can stack quality, this can make
At the deviation of measurement accuracy.Meanwhile existing two classes scheme belongs to post-event diagnosis type, cannot accomplish flying to aircraft
When complete machine structure vibrational state real time monitoring.
Summary of the invention
In view of the deficiencies of the prior art, the present invention propose a kind of unmanned plane electron speed regulator with vibration detection function and
Multi-rotor unmanned aerial vehicle, the electron speed regulator can carry out real-time monitoring to the complete machine structure vibrational state of aircraft at work, together
When can be used to assist detection unmanned plane in installation accuracy when assembled.
The purpose of the present invention is realized by the following technical solutions:
A kind of unmanned plane electron speed regulator with vibration detection function, which is characterized in that the electron speed regulator includes control
Unit processed, communication interface, Power Entry Module, vibration detection module, driver, sampling resistor, operational amplifier circuit, (PCC) power,
The communication interface, Power Entry Module, vibration detection module, driver, sampling resistor, operational amplifier circuit with the control
Unit electrical connection processed, the driver, sampling resistor, operational amplifier circuit are electrically connected with the (PCC) power, the function
Rate component includes the first (PCC) power, the second (PCC) power, third (PCC) power, corresponding with the three of motor respectively, control electricity
The rotation of machine；
The electron speed regulator is fixed on motor cabinet.
Further, the vibration detection module includes that three axes acceleration sensors and three axis angular velocities sense
Device.
Further, the (PCC) power is MOSFET.
A kind of multi-rotor unmanned aerial vehicle, which is characterized in that the unmanned plane includes above-mentioned electron speed regulator.
Beneficial effects of the present invention are as follows:
Relative to the post-event diagnosis scheme of traditional vibration to unmanned plane, electron speed regulator of the invention can supervise in real time
The motor and the level of vibration at propeller for surveying unmanned plane carry out the complete machine structure vibrational state of aircraft during the work time
Real-time monitoring, while the electron speed regulator can also assist detection unmanned plane installation accuracy when assembled.
Detailed description of the invention
Fig. 1 is the configuration diagram of the unmanned plane electron speed regulator with vibration detection function of the invention；
Fig. 2 is the schematic view of the mounting position of the unmanned plane electron speed regulator with vibration detection function of the invention；
Fig. 3 is the bottom view of the installation site of the unmanned plane electron speed regulator with vibration detection function of the invention；
In figure, 1- electron speed regulator, 2- fuselage, 3- horn, 4- motor cabinet, 5- motor, 6- propeller, 11- control unit,
12- communication interface, 13- Power Entry Module, 14- vibration detection module, 15- driver, 16- (PCC) power, 17- sampling electricity
Resistance, 18- operational amplifier circuit, the first (PCC) power of 161-, the second (PCC) power of 162-, 163- third (PCC) power.
Specific embodiment
Below according to attached drawing and preferred embodiment the present invention is described in detail, the objects and effects of the present invention will become brighter
White, below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein specific
Embodiment is only used to explain the present invention, is not intended to limit the present invention.
Existing multi-rotor unmanned aerial vehicle power form is usually electron speed regulator (electricity is adjusted) driving brushless motor rotation, and electric
The propeller carried on machine can generate upward pulling force and circumferential torque in rotation.The motor and propeller of high-speed rotation be
Where the root of complete machine oscillation.Therefore, how to obtain the level of vibration at Power Component just becomes multi-rotor unmanned aerial vehicle vibration
The key of measurement.Generally, electricity is adjusted and motor is to exist in layout as kit form, and electricity is adjusted and is generally fixedly mounted,
Therefore it can use the level of vibration that electricity is adjusted and carry out the approximate level of vibration instead of motor side.
As shown in Figure 1, the electron speed regulator with vibration detection function of the invention includes control unit 11, communication interface
12, Power Entry Module 13, vibration detection module 14, driver 15, (PCC) power 16, sampling resistor 17, operational amplifier circuit 18, control
Unit 11 processed is generally MCU, is the main control chip of the electron speed regulator 1.Company between communication interface 12 and control unit 11
It is connected in electrical connection, electron speed regulator is communicated by communication interface with the master control of aircraft, including master control turns control instruction
Reach electricity reconciliation electricity tune and oneself state is fed back into aircraft master control, communication mode is usually CAN communication.Power Entry Module
External supply input is transformed into electricity by 13 adjusts power demands, and main devices are DC-DC module, play the work of voltage conversion
With.Vibration detection module 14 is exactly mainly motion measuring sensor chip, is electrically connected between control unit, is acquired
To exercise data transfer back to control unit, aircraft master control is then transferred back to by communication interface；Preferably as one of which,
Vibration detection module 14 includes three axes acceleration sensors and three axis angular rate sensors；The weight of motion measuring sensor chip
Amount and volume can be ignored for electricity adjusts pcb board itself not to be remembered, therefore can ignore its bring weight and rigidity shadow
It rings.It is electrically connected and is connected between driver 15 and control unit 11, by the instruction of reception control unit 11 come driving power component
16 are turned on or off.(PCC) power 16 includes the first (PCC) power 161, the second (PCC) power 162 and third (PCC) power
163, these three (PCC) powers are respectively corresponded with motor three-phase, to control the rotation of motor 5；(PCC) power 16 can be
MOSFET, the corresponding MOSFET element quantity of each (PCC) power can be one or more.Per on (PCC) power circuit all the way
Electric current can be collected by sampling resistor 17, be transmitted back to control unit 11；Voltage on each (PCC) power circuit passes through
Operational amplifier circuit 18 is transmitted back to control unit 11；Control unit 11 can play the role of monitoring to the final drive of motor 5.This hair
Bright electron speed regulator is installed on the motor cabinet of unmanned plane motor.
As shown in Figures 2 and 3, as one of embodiment, electron speed regulator of the invention is mounted on six rotor of a frame
On unmanned plane, this unmanned plane further includes fuselage 2, horn 3, motor cabinet 4, motor 5 and propeller 6.Motor 5 is mounted on motor cabinet 4
On, the electron speed regulator 1 with vibration detection function is fixed together with motor cabinet 4.Due to motor 5 and propeller
6 rotation is the vibration source of complete machine structure, thus the linear acceleration that detects of the motion measuring sensor on electron speed regulator 1 and
Angular velocity data can be used to the level of vibration that motor side generation is quantitatively evaluated, to judge the health status of complete machine structure.Meanwhile this
The vibration data of the electron speed regulator acquisition with vibration detection function of invention, can be used to assist multi-rotor unmanned aerial vehicle in group
The angular deviation of horn component and fuselage 2 that precision calibration when dress, especially horn 3 and motor cabinet 4 form.With the six of Fig. 2
Rotor wing unmanned aerial vehicle institute example can compare the collected vibration data of electricity tune of each horn motor side, if there is some or
The vibration data that several electricity are adjusted is noticeably greater than the collected vibration data of electricity tune of other remaining horns, that can suspect corresponding electricity
The setting angle deviation of horn component where adjusting is greater than other remaining horn component setting angles, can do detailed angle again later
Degree measurement.
It will appreciated by the skilled person that being not used to limit the foregoing is merely the preferred embodiment of invention
System invention, although invention is described in detail referring to previous examples, for those skilled in the art, still
It can modify to the technical solution of aforementioned each case history or equivalent replacement of some of the technical features.It is all
Within the spirit and principle of invention, modification, equivalent replacement for being made etc. be should be included within the protection scope of invention.
Claims (4)
1. a kind of unmanned plane electron speed regulator with vibration detection function, which is characterized in that the electron speed regulator includes control
Unit (11), communication interface (12), Power Entry Module (13), vibration detection module (14), driver (15), sampling resistor
(17), operational amplifier circuit (18), (PCC) power (16), the communication interface (12), Power Entry Module (13), vibration detection mould
Block (14), driver (15), sampling resistor (17), operational amplifier circuit (18) are electrically connected with the control unit (11), described
Driver (15), sampling resistor (17), operational amplifier circuit (18) be electrically connected with the (PCC) power (16), the power
Component (16) include the first (PCC) power (161), the second (PCC) power (162), third (PCC) power (163), respectively with motor
It is three corresponding, control the rotations of motor (5).
The electron speed regulator is fixed on motor cabinet.
2. the unmanned plane electron speed regulator according to claim 1 with vibration detection function, which is characterized in that described
Vibration detection module includes three axes acceleration sensors and three axis angular velocity sensors.
3. the unmanned plane electron speed regulator according to claim 1 with vibration detection function, which is characterized in that described
(PCC) power is MOSFET.
4. a kind of multi-rotor unmanned aerial vehicle, which is characterized in that the unmanned plane includes the electronics tune of claim 1-3 any one
Fast device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910381489.4A CN110155364A (en) | 2019-05-08 | 2019-05-08 | A kind of unmanned plane electron speed regulator and multi-rotor unmanned aerial vehicle with vibration detection function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910381489.4A CN110155364A (en) | 2019-05-08 | 2019-05-08 | A kind of unmanned plane electron speed regulator and multi-rotor unmanned aerial vehicle with vibration detection function |
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| Publication Number | Publication Date |
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| CN110155364A true CN110155364A (en) | 2019-08-23 |
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| CN201910381489.4A Pending CN110155364A (en) | 2019-05-08 | 2019-05-08 | A kind of unmanned plane electron speed regulator and multi-rotor unmanned aerial vehicle with vibration detection function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415002A (en) * | 2020-11-10 | 2021-02-26 | 之江实验室 | Multimode sensing device based on image sensor |
| CN113022885A (en) * | 2021-02-26 | 2021-06-25 | 苏州臻迪智能科技有限公司 | Detection device and detection method for unmanned aerial vehicle arm |
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| CN102364311A (en) * | 2011-08-31 | 2012-02-29 | 中国人民解放军军械工程学院 | Six-degree of freedom vibration absolute measuring method based on triaxial acceleration sensor array |
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Cited By (2)
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| CN113022885A (en) * | 2021-02-26 | 2021-06-25 | 苏州臻迪智能科技有限公司 | Detection device and detection method for unmanned aerial vehicle arm |
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