CN110667883A - Simple method for searching lift center of fixed-wing unmanned aerial vehicle - Google Patents
Simple method for searching lift center of fixed-wing unmanned aerial vehicle Download PDFInfo
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- CN110667883A CN110667883A CN201910799384.0A CN201910799384A CN110667883A CN 110667883 A CN110667883 A CN 110667883A CN 201910799384 A CN201910799384 A CN 201910799384A CN 110667883 A CN110667883 A CN 110667883A
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Abstract
The invention discloses a simple method for searching a lift center of a fixed-wing unmanned aerial vehicle. Specifically, the unmanned aerial vehicle is tied and hung in a test space of a wind tunnel through a rope for testing; during the test, through observing the every single move gesture of unmanned aerial vehicle under the condition of blowing, judge the relative position at lift center and gravity center to constantly carry out position adjustment to mobilizable counter weight thing in the unmanned aerial vehicle cabin, realize the adjustment at unmanned aerial vehicle gravity center, finally reach the purpose of looking for the lift center. The invention determines the lift center of the unmanned aerial vehicle by using the ground wind tunnel and the rope suspension mode, has simple and easy test method and convenient operation, can be applied to the test of the unmanned aerial vehicle in civil and industrial fields, and ensures the flight safety of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to a method for searching a lift center of an unmanned aerial vehicle, in particular to a simple method for searching the lift center of a fixed-wing unmanned aerial vehicle.
Background
In the use of fixed wing unmanned aerial vehicle, often need reequip the unmanned aerial vehicle that the original dress left the factory to can adapt to required use occasion more, with the actual problem of solving better. In the flight process of the fixed-wing unmanned aerial vehicle, the lift center of the unmanned aerial vehicle is generally required to coincide with the gravity center, so that the unmanned aerial vehicle can be ensured to fly stably. In the flight process, when the center of the lift force and the center of gravity have small deviation, the self flight attitude can be adjusted to a certain degree through flight control, so that the problem of front and back inclination in the flight ascending process is solved. However, when the structure change of the fixed-wing unmanned aerial vehicle after being modified is large, the lift center of the fixed-wing unmanned aerial vehicle is larger than the original lift center, and the lift center exceeds the self-adjusting range, so that the unmanned aerial vehicle can be crashed. Therefore, the method is very important for determining a new lift center for the modified fixed-wing unmanned aerial vehicle, and can ensure the flight safety of the fixed-wing unmanned aerial vehicle.
According to the method for determining the lift center of the fixed-wing unmanned aerial vehicle, the fixed-wing unmanned aerial vehicle with the changed lift center generally carries out outdoor test flight in the prior art, and the gravity center is adjusted after the unmanned aerial vehicle stops flying and landing according to the rising attitude of the unmanned aerial vehicle during flight, so that the gravity center of the unmanned aerial vehicle is coincided with the lift center. However, when the unmanned aerial vehicle is subjected to test flight, because the lift center of the modified unmanned aerial vehicle is still undetermined, when the deviation between the lift center and the gravity center is large, the crash situation can easily occur, and the unmanned aerial vehicle is seriously damaged; and when outdoor test flight, unmanned aerial vehicle's flight gesture receives external environment factor to influence, and the precision of confirming at the lift center is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a simple method for searching the lift center of a fixed-wing unmanned aerial vehicle.
The purpose of the invention is realized by the following technical scheme:
a simple method for searching a lift center of a fixed-wing unmanned aerial vehicle is characterized by comprising the following steps:
(1) the unmanned aerial vehicle to be tested is tied and hung in the test space of the wind tunnel through the rope, wherein the gravity center position of the unmanned aerial vehicle is determined by using a common gravity center judgment method of the fixed-wing unmanned aerial vehicle, the tying point of the rope is connected at a position which is superposed with the gravity center of the unmanned aerial vehicle, and the unmanned aerial vehicle is ensured to be horizontally hung in the test space of the wind tunnel in a static state;
(2) blowing air to the unmanned aerial vehicle in the test space of the wind tunnel through the air blowing device to form airflow blowing to the unmanned aerial vehicle from front to back, wherein the airflow generates upward lift force and horizontal backward thrust to the unmanned aerial vehicle, and the unmanned aerial vehicle gradually rises upwards under the action of the lift force;
(3) observing the integral attitude of the unmanned aerial vehicle in the ascending process; if the unmanned aerial vehicle does pitching motion, the blowing equipment stops blowing, the position of a movable counterweight in the unmanned aerial vehicle cabin is moved according to the pitching condition of the unmanned aerial vehicle so as to adjust the gravity center of the unmanned aerial vehicle, the gravity center of the unmanned aerial vehicle is made to move towards the direction capable of inhibiting the pitching trend of the unmanned aerial vehicle, and the step (1) is returned; if at the in-process of blowing, unmanned aerial vehicle upwards rises with the horizontally gesture, the every single move condition does not appear, then lift center, gravity center and rope tie point three-point coincidence, and the tie point of rope this moment is unmanned aerial vehicle's lift center promptly.
According to a preferable scheme of the invention, an adjuster is arranged on the unmanned aerial vehicle to be adjusted, the adjuster is fixed on the unmanned aerial vehicle, a plurality of connecting holes for connecting with a rope are arranged on the adjuster, the connecting holes are arranged along the length direction of the center line of the unmanned aerial vehicle body, and a connecting line formed by the arrangement of the connecting holes is superposed with a horizontal line where a gravity center of the unmanned aerial vehicle is adjusted and moved. Through the setting of regulator, be convenient for rope and unmanned aerial vehicle's connection, the connecting hole of the rope of being convenient for simultaneously and different positions is fixed to change rope and unmanned aerial vehicle's tie point, realize position adjustment, convenient test.
Preferably, the adjuster is composed of a horizontal transverse plate which is fixedly arranged in the unmanned aerial vehicle cabin, and the plurality of connecting holes are arranged on the transverse plate in an arrayed manner. The transverse plate arranged horizontally is connected with the rope, so that the transverse plate is more attached to the unmanned aerial vehicle body, and the transverse plate and the unmanned aerial vehicle form a whole, and the testing precision is improved.
Preferably, the regulator includes connecting rod and a plurality of latch closure, the connecting rod level sets up in unmanned aerial vehicle under-deck, a plurality of latch closures arrange and set up on the connecting rod, the latch closure constitutes the connecting hole. By arranging such an adjuster, the installation of the adjuster is facilitated, and the occupied space is small.
Preferably, the regulator includes horizontal plate and vertical board, vertical board sets up on the horizontal plate, horizontal plate and vertical board form "T" type structure, a plurality of connecting holes set up on the vertical board, the horizontal plate is fixed to be set up in unmanned aerial vehicle under-deck. Through setting up such regulator, make things convenient for the connection of rope and reduce the windage, be favorable to improving the measuring accuracy.
Preferably, the regulator is composed of a tripod including a base plate, two triangular plates respectively disposed at both end portions of the base plate, and a connecting plate disposed between the two triangular plates, the connecting plate being vertically disposed, and the plurality of connecting holes being disposed on the connecting plate. By arranging such a regulator, the stability and the durability of the regulator are improved.
According to a preferable scheme of the invention, in the step (3), when the pitching condition of the unmanned aerial vehicle in the ascending process is 'head up', the movable counterweight in the unmanned aerial vehicle cabin moves forwards, so that the gravity center of the unmanned aerial vehicle moves forwards; when the pitching condition of the unmanned aerial vehicle in the ascending process is 'head lowering', the movable counterweight in the unmanned aerial vehicle cabin moves backwards, so that the gravity center of the unmanned aerial vehicle moves backwards.
Preferably, in step (3), the movable counterweight is a battery module of the drone.
According to a preferable scheme of the invention, balance ropes are arranged between two wings of the unmanned aerial vehicle and a test space of the wind tunnel, one end of each balance rope is connected with the end part of the wing of the unmanned aerial vehicle, and the other end of each balance rope can be vertically connected in the test space of the wind tunnel in a sliding manner. The wings on the two sides of the unmanned aerial vehicle are tied through the balance ropes, so that the unmanned aerial vehicle is prevented from shaking greatly on the left side and the right side in the lifting process, and the testing precision is improved.
According to a preferable scheme of the invention, in the step (2), by setting the blowing equipment, the unmanned aerial vehicle in the wind tunnel is blown at a constant speed, so that a stable airflow blowing to the unmanned aerial vehicle from front to back is formed; simultaneously starting the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly forwards; through the power size of control unmanned aerial vehicle flight, let the air current that the equipment of blowing provided produce backward thrust and unmanned aerial vehicle self operation forward power to unmanned aerial vehicle and offset each other, produce ascending lift to unmanned aerial vehicle under the air current effect that the equipment of blowing provided simultaneously, this lift overcomes unmanned aerial vehicle's gravity back drive unmanned aerial vehicle and rises gradually. Observe unmanned aerial vehicle's rising gesture with the mode of developments, improved the measuring accuracy of unmanned aerial vehicle in the test procedure to the aerodynamic conditions of testable whole unmanned aerial vehicle improves reliability and the authenticity of lift center and gravity center coincidence.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts a ground wind tunnel test mode, realizes the purpose of searching the lift force center under the condition of not starting the fixed wing unmanned aerial vehicle, and has simple operation, safety and reliability.
2. According to the simple method for searching the lift center of the fixed-wing unmanned aerial vehicle, static test is carried out on the ground in a rope hanging mode, the fixed-wing unmanned aerial vehicle is enabled to generate lift force through wind tunnel test, the position relation between the gravity center and the lift center of the unmanned aerial vehicle in the current state is judged by judging the pitching motion posture of the unmanned aerial vehicle, the gravity center is adjusted in a mode of adjusting a movable counterweight in the unmanned aerial vehicle, the three points of the lift center, the gravity center and a rope tie point are finally overlapped, and the position of the lift center is determined; the lift center position of the unmanned aerial vehicle is found, and the balance of the lift center and the gravity center of the modified fixed-wing unmanned aerial vehicle is realized through effective adjustment of the gravity center; the unmanned aerial vehicle is greatly assisted in further modification, control and the like, and the safety performance of the modified fixed-wing unmanned aerial vehicle is fundamentally guaranteed.
3. The simple method for searching the lift center of the fixed-wing unmanned aerial vehicle can be realized in an indoor fixed place, the characteristic that the unmanned aerial vehicle can only show when normally flying outdoors can be shown indoors, and the method is simple to operate, safe and reliable; in contrast, the modified fixed-wing unmanned aerial vehicle is subjected to actual flying outdoors and risks of falling, and if the deviation between the lift force center and the gravity center is too large after modification, the fixed-wing unmanned aerial vehicle cannot fly at all or cannot be controlled to fall after taking off; in addition, the test in the air can not carry out quantitative measurement, can not measure the center of lift force, and has no operability and safety.
4. According to the simple method for searching the lift center of the fixed-wing unmanned aerial vehicle, the rope is used as a key device, a complex precise instrument is not needed, and the test cost is low.
5. In the simple method for searching the lift center of the fixed-wing unmanned aerial vehicle, the gravity center of the unmanned aerial vehicle in the initial state is confirmed under the action of the rope, meanwhile, the thrust of the airflow provided by the blowing equipment to the unmanned aerial vehicle can be offset through the component force of the tensile force of the rope in the test process, the unmanned aerial vehicle can be prevented from falling in the test process, the structure is simple, the test effect is good, and the operation is convenient.
Drawings
Fig. 1 is a schematic top view of the regulator set in the initial state according to the simple method for finding the lift center of the fixed-wing drone of the present invention.
Fig. 2-3 are schematic diagrams of a first embodiment of the simple method for finding the lift center of the fixed-wing drone, wherein fig. 2 is a schematic diagram of the state of the drone during testing, and fig. 3 is a schematic diagram of the stress of the drone during testing.
Fig. 4-5 are schematic diagrams of a second embodiment of the simple method for finding the lift center of the fixed-wing drone, in which fig. 4 is a schematic diagram of the state of the drone during testing, and fig. 5 is a schematic diagram of the stress of the drone during testing.
FIG. 6 is a top view of the cross plate.
Fig. 7 is a schematic perspective view of the connecting rod.
Fig. 8 to 9 are schematic views showing the structure of the adjuster constituted by the horizontal plate and the vertical plate, fig. 8 is a front view, and fig. 9 is a side view.
Fig. 10 is a perspective view of the tripod.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1-3, the simple method for finding the lift center of the fixed-wing drone of the present embodiment includes the following steps:
(1) the fixed-wing unmanned aerial vehicle to be tested is tied and hung in the test space of the wind tunnel through the rope 3, wherein the rope 3 is connected with a regulator of the unmanned aerial vehicle, the gravity center position of the unmanned aerial vehicle is roughly determined by using a common fixed-wing unmanned aerial vehicle gravity center judging method, the tying point of the rope 3 is always coincided with the gravity center, and the unmanned aerial vehicle is horizontally hung in the test space of the wind tunnel in a static state;
(2) blowing air to the unmanned aerial vehicle in the wind tunnel through the air blowing device to form air flow blowing to the unmanned aerial vehicle from front to back, wherein the rope 3 is inclined backwards through the air flow, and the unmanned aerial vehicle moves backwards; in this state, the airflow generated by the blowing equipment always generates a backward thrust 12 to the unmanned aerial vehicle, the rope 3 always generates a forward-inclined and upward pulling force 10 to the unmanned aerial vehicle, and the horizontal component in the pulling force 10 of the rope 3 and the thrust 12 of the airflow counteract each other, so that the unmanned aerial vehicle keeps balance in the horizontal direction; meanwhile, the airflow generates an upward lift force 11 on the unmanned aerial vehicle, and after the resultant force of the lift force 11 and the vertical component force of the pulling force 10 overcomes the gravity 13 of the unmanned aerial vehicle, the unmanned aerial vehicle gradually rises upwards. (it should be noted that, during the ascent of the unmanned aerial vehicle, the ascent track of the unmanned aerial vehicle should move in a backward-inclined and upward direction because the rope 3 is kept tight under the action of the airflow generated by the blowing device during the ascent, and the horizontal component of the rope tension 10 is needed to counteract the thrust 12 of the airflow; however, as long as the gravity 13 of the unmanned aerial vehicle and the lift force 11 and the vertical component of the rope 3 are on the same vertical line, the unmanned aerial vehicle can ascend in an overall horizontal posture; meanwhile, during the test, the pitching motion posture of the unmanned aerial vehicle during the ascent is observed, which is unrelated to the ascent track.)
(3) Observing the integral attitude of the unmanned aerial vehicle in the ascending process; if unmanned aerial vehicle takes place pitching motion, then equipment of blowing stops blowing, and this shows that unmanned aerial vehicle's focus center is not coincident with the lift center. According to the every single move condition that unmanned aerial vehicle produced, the position of the mobilizable counter weight thing in the removal unmanned aerial vehicle cabin is with the gravity center of adjustment unmanned aerial vehicle, makes unmanned aerial vehicle's gravity center remove to the direction that can restrain unmanned aerial vehicle every single move trend. Or judging the possible position of the lift force center, and enabling the gravity center to be close to the lift force center. After the position of the movable counterweight in the unmanned aerial vehicle cabin is adjusted, returning to the step (1); if in the blowing process, the fixed-wing unmanned aerial vehicle rises upwards in a horizontal posture, and the pitching condition does not occur, the three points of the lift force center, the gravity center and the rope tie point are coincided. After the air blowing is stopped, the tying point of the rope or the position of the gravity center is the position of the lift center, and therefore the lift center of the unmanned aerial vehicle is found. Specifically, the method comprises the following steps: in the embodiment, in the process of adjusting the gravity center of the unmanned aerial vehicle, only the battery module of the unmanned aerial vehicle is moved, so that a plurality of small articles in the unmanned aerial vehicle are prevented from being frequently changed; when the pitching condition of the unmanned aerial vehicle in the ascending process is 'head up', moving a movable counterweight in the unmanned aerial vehicle cabin forward to enable a gravity center of the unmanned aerial vehicle to move forward; when the pitching condition of the unmanned aerial vehicle in the ascending process is 'head lowering', the movable counterweight in the unmanned aerial vehicle cabin moves backwards, so that the gravity center of the unmanned aerial vehicle moves backwards. The pitching condition of the unmanned aerial vehicle is 'head up', namely the unmanned aerial vehicle is in a high front end posture and a low rear end posture; the every single move condition of unmanned aerial vehicle is "low head", and unmanned aerial vehicle's gesture is that the front end is low promptly, and the rear end is high. Furthermore, the position of other components in the drone, such as the work module, the mounting module, etc., that can be changed in position without affecting the basic performance of the drone, can also be changed.
Referring to fig. 6-10, be equipped with regulator 19 on waiting the unmanned aerial vehicle of adjustment, this regulator 19 is fixed on unmanned aerial vehicle, be equipped with a plurality of connecting holes 6 that are used for being connected with rope 3 on the regulator 19, a plurality of connecting holes 6 are arranged along the length direction of unmanned aerial vehicle organism central line and are set up, and the line that a plurality of connecting holes 6 were arranged and are formed coincides with the water flat line that the gravity center adjustment of unmanned aerial vehicle was located when removing. Through the setting of regulator 19, be convenient for rope 3 and unmanned aerial vehicle's being connected, the connecting hole 6 of the rope 3 and the different positions of being convenient for simultaneously is fixed to change rope 3 and unmanned aerial vehicle's tie point, realize position adjustment and the coincidence of tie point and gravity center, convenient test simultaneously. The horizontal line 1 where the gravity center of the unmanned aerial vehicle is located when the gravity center of the unmanned aerial vehicle is adjusted and moved is a horizontal straight line extending along the length direction of the cabin of the unmanned aerial vehicle.
Referring to fig. 6, the adjuster 19 is composed of a horizontal cross plate 4, the cross plate 4 is fixedly arranged on the unmanned aerial vehicle, and the plurality of connecting holes 6 are arranged at the central line position of the cross plate 4 in the length direction. Diaphragm 4 through setting up the level setting is connected with rope 3, is favorable to letting diaphragm 4 and unmanned aerial vehicle's fuselage more laminate, forms a whole with unmanned aerial vehicle to be favorable to improving the measuring accuracy.
Referring to fig. 7, the adjuster 19 includes a connecting rod 20 and a plurality of buckles 21, the connecting rod 20 is horizontally disposed in the unmanned aerial vehicle cabin, the buckles 21 are arranged on the connecting rod 20, and the buckles 21 form the connecting hole 6. By providing such an adjuster 19, the installation of the adjuster 19 is facilitated and the occupied space is small.
Referring to fig. 8-9, the regulator 19 includes a horizontal plate 9 and a vertical plate 7, the vertical plate 7 is disposed on the horizontal plate 9, the vertical plate 7 and the horizontal plate 9 form an inverted "T" structure, the plurality of connection holes 6 are disposed on the vertical plate 7, and the horizontal plate 9 is fixedly disposed in the unmanned aerial vehicle cabin. Through setting up such regulator 19, can make things convenient for the connection of rope 3 and reduce the windage, be favorable to improving the measuring accuracy.
Referring to fig. 10, the adjuster 19 is formed of a tripod including a base plate 5, two triangular plates 18 respectively provided at both end portions of the base plate 5, and a connecting plate 8 provided between the two triangular plates 18, the connecting plate 8 being vertically provided, and the plurality of connecting holes 6 being provided on the connecting plate 8. By providing such an adjuster 19, it is advantageous to improve the stability and durability of the adjuster 19.
In the test process, a balance rope can be arranged between the two wings of the unmanned aerial vehicle and the test space of the wind tunnel, one end of the balance rope is connected with the end part of the wings of the unmanned aerial vehicle, and the other end of the balance rope can be vertically connected in the test space of the wind tunnel in a sliding manner. The wings on the two sides of the unmanned aerial vehicle are tied through the balance ropes, so that the unmanned aerial vehicle is prevented from shaking greatly on the left side and the right side in the lifting process, and the testing precision is improved.
Referring to fig. 1, in step (1), the gravity center position of the unmanned aerial vehicle is determined, and then the regulator 19 is installed according to the gravity center position of the unmanned aerial vehicle, so that the contact ratio of the connecting hole 6 in the regulator 19 and the horizontal line 1 where the unmanned aerial vehicle is located during the gravity center adjustment movement is ensured.
In the test procedure of blowing, rope 3 also can take place the slope under the effect of air current, thereby lead to rope 3 can form the ascending pulling force 10 of slope to unmanned aerial vehicle, if unmanned aerial vehicle's gravity 13 and the pulling force 10's of rope 3 the action point does not coincide, then can produce the ascending factor of multiple influence unmanned aerial vehicle, because under the condition of rope 3 slope, the moment that the pulling force 10 of rope 3 and unmanned aerial vehicle's gravity 13 produced can make unmanned aerial vehicle slope equally, thereby the observation and the battery module adjustment in later stage of the gesture of the ascending in-process of influence to unmanned aerial vehicle, influence the trim result. Because carry out position adjustment to unmanned aerial vehicle's battery module thereby when changing unmanned aerial vehicle's gravity center position, generally all can let battery module along unmanned aerial vehicle's cabin length direction back-and-forth movement, therefore, set up connecting hole 6 on regulator 19 when initial setting on the water flat line 1 that the gravity center adjustment of unmanned aerial vehicle was in when removing, can make when changing rope 3 and unmanned aerial vehicle's tie point at every turn, reduce the position difference with unmanned aerial vehicle's gravity center, and be convenient for adjust, can reduce the gesture influence that rises to unmanned aerial vehicle when testing, thereby obtain more accurate test result.
Look for unmanned aerial vehicle's gravity center before the test, concrete operation is as follows: the two fingers support the unmanned aerial vehicle near the one-third position 2 at the front end of the wing, and after a balance state is found, the middle point of a connecting line of two points of the two fingers supported on the wing is used as the gravity center of the unmanned aerial vehicle.
Example 2
Referring to fig. 4 and 5, the simple method for finding the lift center of the fixed-wing drone of the present embodiment includes the following steps:
(1) the fixed-wing unmanned aerial vehicle to be tested is tied and hung in the test space of the wind tunnel through the rope 3, wherein the rope 3 is connected with a regulator 19 of the unmanned aerial vehicle, the gravity center position of the unmanned aerial vehicle is roughly determined by using a common fixed-wing unmanned aerial vehicle gravity center judging method, the tying point of the rope 3 is always coincided with the gravity center, and the unmanned aerial vehicle is horizontally hung in the test space of the wind tunnel in a static state;
(2) by setting the blowing equipment, blowing air to the unmanned aerial vehicle in the wind tunnel at a constant speed (more than 20 m/s) to form stable airflow blowing to the unmanned aerial vehicle from front to back; meanwhile, the unmanned aerial vehicle is started, so that the power propeller of the unmanned aerial vehicle works to simulate real forward flight; by controlling the power of the unmanned aerial vehicle, the backward thrust 17 generated by the airflow provided by the blowing equipment on the unmanned aerial vehicle and the forward power 15 generated by the unmanned aerial vehicle when the unmanned aerial vehicle runs are offset with each other, and an upward lift 14 is generated on the unmanned aerial vehicle under the action of the airflow provided by the blowing equipment and the power of the unmanned aerial vehicle, the lift 14 overcomes the gravity 16 of the unmanned aerial vehicle and drives the unmanned aerial vehicle to gradually rise, and at the moment, the rope 3 is in a slack state;
(3) observing the integral attitude of the unmanned aerial vehicle in the ascending process; if unmanned aerial vehicle takes place pitching motion, then equipment of blowing stops blowing, and this shows that unmanned aerial vehicle's focus center is not coincident with the lift center. According to the every single move condition that unmanned aerial vehicle produced, the position of the mobilizable counter weight thing in the removal unmanned aerial vehicle cabin is with the gravity center of adjustment unmanned aerial vehicle, makes unmanned aerial vehicle's gravity center remove to the direction that can restrain unmanned aerial vehicle every single move trend. Or judging the possible position of the lift force center, and enabling the gravity center to be close to the lift force center. After the position of the movable counterweight in the unmanned aerial vehicle cabin is adjusted, returning to the step (1); if in the blowing process, the fixed-wing unmanned aerial vehicle rises upwards in a horizontal posture, and the pitching condition does not occur, the three points of the lift force center, the gravity center and the rope tie point are coincided. After the air blowing is stopped, the tying point of the rope or the position of the gravity center is the position of the lift center, and therefore the lift center of the unmanned aerial vehicle is found. Specifically, the method comprises the following steps: in the embodiment, in the process of adjusting the gravity center of the unmanned aerial vehicle, only the battery module of the unmanned aerial vehicle is moved, so that a plurality of small articles in the unmanned aerial vehicle are prevented from being frequently changed; when the pitching condition of the unmanned aerial vehicle in the ascending process is 'head up', moving a movable counterweight in the unmanned aerial vehicle cabin forward to enable a gravity center of the unmanned aerial vehicle to move forward; when the pitching condition of the unmanned aerial vehicle in the ascending process is 'head lowering', the movable counterweight in the unmanned aerial vehicle cabin moves backwards, so that the gravity center of the unmanned aerial vehicle moves backwards.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A simple method for searching a lift center of a fixed-wing unmanned aerial vehicle is characterized by comprising the following steps:
(1) the unmanned aerial vehicle to be tested is tied and hung in the test space of the wind tunnel through the rope, wherein the gravity center position of the unmanned aerial vehicle is determined by using a common gravity center judgment method of the fixed-wing unmanned aerial vehicle, the tying point of the rope is connected at a position which is superposed with the gravity center of the unmanned aerial vehicle, and the unmanned aerial vehicle is ensured to be horizontally hung in the test space of the wind tunnel in a static state;
(2) blowing air to the unmanned aerial vehicle in the test space of the wind tunnel through the air blowing device to form airflow blowing to the unmanned aerial vehicle from front to back, wherein the airflow generates upward lift force and horizontal backward thrust to the unmanned aerial vehicle, and the unmanned aerial vehicle gradually rises upwards under the action of the lift force;
(3) observing the integral attitude of the unmanned aerial vehicle in the ascending process; if the unmanned aerial vehicle does pitching motion, the blowing equipment stops blowing, the position of a movable counterweight in the unmanned aerial vehicle cabin is moved according to the pitching condition of the unmanned aerial vehicle so as to adjust the gravity center of the unmanned aerial vehicle, the gravity center of the unmanned aerial vehicle is made to move towards the direction capable of inhibiting the pitching trend of the unmanned aerial vehicle, and the step (1) is returned; if at the in-process of blowing, unmanned aerial vehicle upwards rises with the horizontally gesture, the every single move condition does not appear, then lift center, gravity center and rope tie point three-point coincidence, and the tie point of rope this moment is unmanned aerial vehicle's lift center promptly.
2. The simple method for finding the lift center of a fixed-wing drone of claim 1, wherein the drone to be adjusted is provided with a regulator, the regulator is fixed on the drone, the regulator is provided with a plurality of connecting holes for connecting with a rope, the plurality of connecting holes are arranged along the length direction of the centerline of the drone body, and the connecting line formed by the arrangement of the plurality of connecting holes is coincident with the horizontal line where the center of gravity of the drone is adjusted and moved.
3. The easy method for finding the lift center of a fixed wing drone of claim 2, wherein the regulator is formed by a horizontally disposed cross plate fixedly disposed on the drone, and the plurality of connection holes are arranged on the cross plate.
4. The easy method for finding the lift center of a fixed-wing drone of claim 2, wherein the regulator includes a connecting rod horizontally disposed within the drone capsule and a plurality of clasps arranged on the connecting rod, the clasps forming the attachment holes.
5. The easy method of finding the center of lift of a fixed wing drone of claim 2, wherein the regulator includes a horizontal plate and a vertical plate, the vertical plate is disposed on the horizontal plate, the horizontal plate and the vertical plate form an inverted "T" configuration, the plurality of connection holes are disposed on the vertical plate, and the horizontal plate is fixedly disposed within the drone cabin.
6. The easy method for finding the center of lift of a fixed-wing drone of claim 2, wherein the regulator is constituted by a tripod including a base plate, two triangular plates respectively disposed at both ends of the base plate, and a connecting plate disposed between the two triangular plates, the connecting plate being vertically disposed, the plurality of connecting holes being disposed on the connecting plate.
7. The easy method for finding the lift center of a fixed-wing drone according to claim 1, wherein in step (3), when the pitching condition of the drone during ascent is "head up", the movable counterweight in the drone cabin is moved forward, so that the gravity center of the drone moves forward; when the pitching condition of the unmanned aerial vehicle in the ascending process is 'head lowering', the movable counterweight in the unmanned aerial vehicle cabin moves backwards, so that the gravity center of the unmanned aerial vehicle moves backwards.
8. The easy method of finding the center of lift of a fixed wing drone of claim 1, wherein the movable counterweight is a battery module of the drone.
9. The simple method for finding the lift center of the fixed-wing unmanned aerial vehicle as claimed in claim 1, wherein a balance rope is arranged between each of the two wings of the unmanned aerial vehicle and the test space of the wind tunnel, one end of the balance rope is connected with the end of the wing of the unmanned aerial vehicle, and the other end of the balance rope can be vertically slidably connected in the test space of the wind tunnel.
10. The simple method for finding the lift center of the fixed-wing unmanned aerial vehicle as claimed in claim 1, wherein in the step (2), by setting the blowing device, the unmanned aerial vehicle in the wind tunnel is blown at a constant speed to form a stable airflow blowing from front to back to the unmanned aerial vehicle; meanwhile, the power of the unmanned aerial vehicle is started, so that the unmanned aerial vehicle flies forwards; through the power size of control unmanned aerial vehicle flight, let the air current that the equipment of blowing provided produce backward thrust and unmanned aerial vehicle self operation forward power to unmanned aerial vehicle and offset each other, the air current that the equipment of blowing provided simultaneously produces ascending lift to unmanned aerial vehicle, and unmanned aerial vehicle's gravity back drive unmanned aerial vehicle is overcome to this lift rises gradually.
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| CN201910799384.0A CN110667883B (en) | 2019-08-27 | 2019-08-27 | Simple method for searching lift center of fixed-wing unmanned aerial vehicle |
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| CN110667883B CN110667883B (en) | 2022-08-30 |
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| CN201910799384.0A Active CN110667883B (en) | 2019-08-27 | 2019-08-27 | Simple method for searching lift center of fixed-wing unmanned aerial vehicle |
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| JP2017037005A (en) * | 2015-08-11 | 2017-02-16 | 学校法人幾徳学園 | Lift and drag measurement device |
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| CN108298069A (en) * | 2018-02-21 | 2018-07-20 | 江富余 | Variable-lift center helicopter |
| CN108557113A (en) * | 2018-05-18 | 2018-09-21 | 农业部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle simulation spray test device |
| US20180354610A1 (en) * | 2017-06-07 | 2018-12-13 | The Boeing Company | Automatic adjustment of center of mass of a vehicle |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2017037005A (en) * | 2015-08-11 | 2017-02-16 | 学校法人幾徳学園 | Lift and drag measurement device |
| US20180354610A1 (en) * | 2017-06-07 | 2018-12-13 | The Boeing Company | Automatic adjustment of center of mass of a vehicle |
| CN108045596A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | The flying quality inspection and detection system and method for a kind of fixed-wing unmanned plane |
| CN108298069A (en) * | 2018-02-21 | 2018-07-20 | 江富余 | Variable-lift center helicopter |
| CN108557113A (en) * | 2018-05-18 | 2018-09-21 | 农业部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle simulation spray test device |
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