CN110667886B - Control system for measuring control surface of fixed wing unmanned aerial vehicle - Google Patents
Control system for measuring control surface of fixed wing unmanned aerial vehicle Download PDFInfo
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- CN110667886B CN110667886B CN201910940377.8A CN201910940377A CN110667886B CN 110667886 B CN110667886 B CN 110667886B CN 201910940377 A CN201910940377 A CN 201910940377A CN 110667886 B CN110667886 B CN 110667886B
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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
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Abstract
The invention discloses a control surface measurement control system of a fixed wing unmanned aerial vehicle, which consists of a control surface clamping mechanism, an angle acquisition and processing module, a control surface measurement device and a control surface, wherein an upper clamping sheet and a lower clamping sheet of the control surface clamping mechanism are connected through stud threads, the inner side surface of the upper clamping sheet is in parallel fit connection with the control surface, and a wedge block is arranged on the lower clamping sheet. The angle acquisition and processing module is positioned on the control surface clamping mechanism and outputs the inclination angle of the control surface in real time; the angle acquisition and processing module comprises a tilt angle sensor, a wireless Bluetooth transmission module and a data processing module, the wireless Bluetooth transmission module and the tilt angle sensor are integrated together, and the tilt angle sensor is connected with the upper clamping sheet; the data processing module is a PC with a Bluetooth function, and is high in processing speed and high in calculation precision. The data among the modules are transmitted through a communication network unit to control the position of the measuring device; adopt wireless bluetooth transmission tilt sensor, can realize the measurement of horizontal, vertical direction.
Description
Technical Field
The invention belongs to the technical field of angle measurement of control surfaces of fixed-wing unmanned aerial vehicles, and particularly relates to a control surface measurement control system of a fixed-wing unmanned aerial vehicle.
Background
When the unmanned aerial vehicle is prepared before flying, the avionics equipment on the unmanned aerial vehicle needs to be checked, and the steering engine is an important component in the avionics equipment and is also final execution equipment for controlling the flying attitude of the aircraft, and occupies an important position in the flying of the unmanned aerial vehicle. In the steering engine control system of the unmanned aerial vehicle, a steering engine of the unmanned aerial vehicle is connected with a control surface through a connecting rod mechanism, the rotating angle of the steering engine is transmitted to the control surface through the connecting rod mechanism, the steering engine is a power source, the control surface is a final actuating mechanism, and the rotating angle of the steering engine corresponds to the rotating angle of the control surface. Unmanned aerial vehicle is owing to in the transportation, need pull down parts such as wing, vertical fin, horizontal tail, treat the during operation, need reassemble these parts and fuselage, because the influence of reasons such as the flight resistance when having installation error, transportation influence and flight, can have position error between the actual position of rudder face and the control position, for guaranteeing unmanned aerial vehicle not to appear unexpected at the during operation, all must carry out the position inspection of rudder face before flying at every turn. Therefore, the unmanned aerial vehicle control surface measuring device requires quick measurement, convenient assembly and disassembly and accurate and reliable measured data.
The invention patent 201510866728.7 provides a device for measuring the deflection angle of an airplane control surface, which has the following defects in the research of the device for measuring the deflection angle of the airplane control surface: adopt the mode transmission aircraft control surface pivot of gear combination's corner signal, the device installation is complicated, and requires highly to operating space, must install the driving gear and just can measure in the control surface pivot, and the space that the driving gear occupied is great, is not convenient for install on the unmanned aerial vehicle who has adorned the control surface, and the dismouting is more troublesome, can't satisfy the requirement of quick check control surface before the unmanned aerial vehicle flight. The invention patent 201610271407.7 proposes an "airplane control surface angle measuring device convenient to install", which has the following disadvantages in the research of airplane control surface measurement: because the connection mode of the device and the airplane control surface is adhesive tape pasting, the connection reliability and the measurement accuracy can not be ensured when the vertical tail control surface is measured.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a control surface measurement control system of a fixed wing unmanned aerial vehicle.
The invention solves the technical problem by adopting the technical scheme that the device comprises a control surface clamping mechanism, an angle acquisition and processing module, a wedge-shaped block, a control surface measuring device and a control surface; the control surface clamping mechanism comprises an upper clamping sheet, a lower clamping sheet, a stud and a butterfly nut; the upper clamping sheet and the lower clamping sheet are in threaded connection through a stud and a butterfly nut, the inner side surface of the upper clamping sheet is in parallel fit connection with the control surface, a wedge block is mounted on the lower clamping sheet, and the included angle between the inclined surface of the wedge block and the included angle of the control surface are consistent; the angle acquisition and processing module is positioned above the control surface clamping mechanism and outputs the inclination angle of the control surface in real time; the angle acquisition and processing module comprises a tilt angle sensor, a wireless Bluetooth transmission module and a data processing module, the wireless Bluetooth transmission module and the tilt angle sensor are integrated together, and the tilt angle sensor is connected with the upper clamping sheet; the data processing module is a PC with a Bluetooth function; the data among all modules are transmitted through a communication network unit to control the position of the measuring device; the method comprises the following specific steps:
Advantageous effects
The invention provides a control surface measurement control system of a fixed wing unmanned aerial vehicle, which consists of a control surface clamping mechanism, an angle acquisition and processing module, a control surface measurement device and a control surface, wherein an upper clamping sheet and a lower clamping sheet of the control surface clamping mechanism are in threaded connection through a stud, the inner side surface of the upper clamping sheet is in parallel fit connection with the control surface, and a wedge block is arranged on the lower clamping sheet; the angle acquisition and processing module is positioned on the control surface clamping mechanism and outputs the inclination angle of the control surface in real time; the angle acquisition and processing module comprises a tilt angle sensor, a wireless Bluetooth transmission module and a data processing module, the wireless Bluetooth transmission module and the tilt angle sensor are integrated together, and the tilt angle sensor is connected with the upper clamping sheet; the data between the modules are transmitted through the communication network unit to control the position of the measuring device.
The control plane measuring and controlling system of the fixed-wing unmanned aerial vehicle has the advantages that the control plane clamping mechanism is small in size, convenient to disassemble and assemble, simple and flexible to operate, the system can be suitable for different control planes of the unmanned aerial vehicle by adjusting the inclined plane angle of the wedge-shaped block, and the adaptability and the universality are high. Adopt the wireless bluetooth transmission inclination sensor of high accuracy, angle acquisition and processing module's collection precision is high, does not receive the restriction of installation direction, can realize the measurement of horizontal direction, vertical direction. Data transmission adopts wireless bluetooth transmission, does not receive the influence of connecing on-the-spot wiring, and transmission distance is long, and data transmission is stable. The data processing unit is processing software installed at the PC end, is convenient to operate and rich in functions, and can adopt different processing methods according to requirements. The data processing occupies the hardware resources of the computer, and has high processing speed and high calculation precision.
Drawings
The control plane measurement control system of the fixed wing drone is further described in detail with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic structural view of a control surface measuring device of a fixed wing unmanned aerial vehicle.
FIG. 2 is a structural diagram of a control surface clamping mechanism of the control surface measuring device of the fixed wing unmanned aerial vehicle.
Fig. 3 is a schematic view of the installation position of the control surface measuring device of the fixed-wing unmanned aerial vehicle on the control surface.
Fig. 4 is a measurement control flow chart of the control surface measuring device of the fixed-wing drone of the present invention.
In the drawings
1. Control plane clamping mechanism 2, angle acquisition and processing module 3, wedge block 4, stud 5, upper clamping sheet 6, lower clamping sheet 7, butterfly nut 8, unmanned aerial vehicle wing 9, control plane measuring device 10 and control plane
Detailed Description
The embodiment is a control plane measurement control system of a fixed wing unmanned aerial vehicle.
Referring to fig. 1, 2, 3 and 4, the control surface measurement control system of the fixed-wing unmanned aerial vehicle of the embodiment is composed of a control surface clamping mechanism 1, an angle acquisition and processing module 2, a wedge 3, a control surface measurement device 9 and a control surface 10, wherein the control surface clamping mechanism 1 is an installation mechanism of the control surface measurement device of the fixed-wing unmanned aerial vehicle, and comprises an upper clamping sheet, a lower clamping sheet, a stud and a butterfly nut; the wedge block 3 is an adjusting part for realizing clamping by matching with the control surface clamping mechanism 1 and the control surface, and the inclined angle of the wedge block 3 is consistent with the included angle of the control surface. The angle acquisition and processing module is positioned on the plane of the front end part of the upper clamping sheet, the inner side surface of the upper clamping sheet is in parallel fit connection with the control surface, the lower clamping sheet is provided with a wedge-shaped block, the upper clamping sheet and the lower clamping sheet are in threaded connection through a stud and a butterfly nut, and the included angle of the inclined surface of the wedge-shaped block is consistent with the included angle of the control surface; the angle acquisition and processing module is positioned above the control surface clamping mechanism and outputs the inclination angle of the control surface in real time; the angle acquisition and processing module comprises a tilt angle sensor, a wireless Bluetooth transmission module and a data processing module, the wireless Bluetooth transmission module and the tilt angle sensor are integrated together, and the tilt angle sensor is connected with the upper clamping sheet; the data processing module is a PC with a Bluetooth function; the data among the modules are transmitted through a communication network unit to control the position of the measuring device; the method comprises the following specific steps:
firstly, integrating an inclination angle sensor and a wireless Bluetooth transmission module in an angle acquisition and processing module, and sharing a set of built-in power supply for power supply; the tilt angle sensor is a two-axis sensor, the measurement range in the horizontal direction is +/-90 degrees, the measurement range in the vertical direction is +/-180 degrees, the measurement precision is 0.01 degrees, wireless Bluetooth transmission is adopted for data communication, and the maximum transmission distance can reach 800 meters; after the tilt angle sensor and the wireless Bluetooth transmission module are powered on, the current wireless Bluetooth transmission module is in a configuration state by default, and the wireless Bluetooth transmission module provides SPP connection service. After a Bluetooth module of a PC end is started, a sensor wireless Bluetooth transmission module providing SPP service is searched, and SPP connection is selected to be established;
secondly, after the wireless Bluetooth transmission module on the sensor is connected with the Bluetooth module at the PC end, the control surface is adjusted to be at a zero position, when the zero position of the control surface meets the requirement of +/-0.5 degrees, the Bluetooth module at the PC end sends a sensor zero setting instruction, after the wireless Bluetooth transmission module on the sensor receives the control instruction, parameters in the sensor are modified and set, the current inclination angle is set to be absolute 0 degrees, and the inclination angle sensor is switched to a measurement mode;
thirdly, adjusting the control surface to rotate by 0 degrees, plus or minus 10 degrees, plus or minus 20 degrees and plus or minus 25 degrees in sequence, setting the upward rotation angle of the control surface to be a positive value, setting the downward rotation angle of the control surface to be a negative value, respectively calibrating the angle of the sensor at each angle, and analyzing whether the error between the actually measured angle value of the inclination angle sensor and the angle value of the control instruction driving the control surface to rotate meets the standard or not by comparing the actually measured angle value of the inclination angle sensor with the angle value of the control instruction driving the control surface to rotate;
and fourthly, starting to measure the control surface after the sensor calibration meets the requirement, sequentially rotating the control surface to 0 degree, +/-5 degrees, +/-10 degrees, +/-15 degrees, +/-20 degrees and +/-25 degrees, sending the angle information under the corresponding angle to a Bluetooth module at the PC end through a wireless Bluetooth transmission module by the sensor, and processing the angle data after the Bluetooth module at the PC end receives the angle data, wherein the angle data processing comprises data decoding, data comparison and error calculation to generate a test report. The test report displays the control value and the measured value corresponding to each angle, the angle value acquired by the tilt sensor, the error between the angle value and the angle value, the qualified criterion and the result; and completing the test operation.
Procedure of operation
The control surface measuring device 9 is arranged on the control surface 10, the control surface measuring device 9 keeps synchronous motion with the control surface 10 after being arranged in place, the rotating angle of the control surface 10 is consistent with that of the control surface measuring device 9, and the theoretical angle difference is eliminated. When the control surface 10 and the wings 8 of the unmanned aerial vehicle are positioned on the same straight line, the control surface measuring device 9 is positioned at a zero position, the output angle value is 0 degree, when the control surface 10 rotates to an angle higher than the wings 8 of the unmanned aerial vehicle, the output angle value of the control surface measuring device is a positive value, and when the control surface 10 rotates to an angle lower than the wings 8 of the unmanned aerial vehicle, the output angle value of the control surface measuring device is a negative value.
When the unmanned aerial vehicle carries out static inspection before flying, need carry out the circulation inspection to unmanned aerial vehicle's steering wheel control instruction, the actual angle that the control plane deflected need be recorded to the checklist in, and control plane measuring device begins work when static inspection begins. After the Bluetooth module and the tilt angle sensor at the PC terminal are successfully connected, the tilt angle sensor is set to zero in a configuration mode, temperature compensation calibration is started after the measurement mode is switched to the measurement mode, the tilt angle sensor can measure the rotating angle of the control surface in real time after calibration is successful, and angle information is transmitted to the PC terminal through the Bluetooth transmission unit for data processing, so that the actual rotating angle value of the control surface is obtained.
Claims (1)
1. A control plane measurement control system of a fixed wing unmanned aerial vehicle is characterized by comprising a control plane clamping mechanism, an angle acquisition and processing module, a wedge-shaped block, a control plane measurement device and a control plane; the control surface clamping mechanism comprises an upper clamping sheet, a lower clamping sheet, a stud and a butterfly nut; the upper clamping sheet and the lower clamping sheet are in threaded connection through a stud and a butterfly nut, the inner side surface of the upper clamping sheet is in parallel fit connection with the control surface, a wedge-shaped block is mounted on the lower clamping sheet, and the included angle of the inclined surface of the wedge-shaped block is consistent with the included angle of the control surface; the angle acquisition and processing module is positioned above the control surface clamping mechanism and outputs the inclination angle of the control surface in real time; the angle acquisition and processing module comprises a tilt angle sensor, a wireless Bluetooth transmission module and a data processing module, the wireless Bluetooth transmission module and the tilt angle sensor are integrated together, and the tilt angle sensor is connected with the upper clamping sheet; the data processing module is a PC with a Bluetooth function; the data among the modules are transmitted through a communication network unit to control the position of the measuring device; the method comprises the following specific steps:
step 1, an inclination angle sensor and a wireless Bluetooth transmission module in an angle acquisition and processing module are integrated and share a set of built-in power supply for power supply; the tilt angle sensor is a two-axis sensor, the measurement range in the horizontal direction is +/-90 degrees, the measurement range in the vertical direction is +/-180 degrees, the measurement precision is 0.01 degrees, and data communication is carried out by adopting wireless Bluetooth transmission; after the tilt angle sensor and the wireless Bluetooth transmission module are powered on, the current wireless Bluetooth transmission module is in a configuration state by default, and the wireless Bluetooth transmission module provides SPP connection service; after a Bluetooth module of a PC terminal is started, searching a sensor and a wireless Bluetooth transmission module which provide SPP service, and selecting to establish SPP connection;
step 2, after the wireless Bluetooth transmission module on the sensor is connected with the Bluetooth module of the PC end, the control surface is adjusted to be in a zero position, when the zero position of the control surface meets the requirement of +/-0.5 degrees, the Bluetooth module of the PC end sends a sensor zero setting instruction, after the wireless Bluetooth transmission module on the sensor receives the control instruction, parameters in the sensor are modified and set, the current inclination angle is set to be absolute 0 degrees, and the inclination angle sensor is switched to a measurement mode;
step 3, adjusting the control surface to rotate by 0 degree, 10 degrees, 20 degrees and 25 degrees in sequence, and setting the upward rotation angle of the control surface to be a positive value, the downward rotation angle of the control surface to be a negative value, respectively calibrating the angle of the sensor at each angle, and analyzing whether the error of the actual measurement angle value of the inclination angle sensor and the angle value of the control instruction driving the control surface to rotate meets the standard or not by comparing the actual measurement angle value of the inclination angle sensor with the angle value of the control instruction driving the control surface to rotate;
step 4, after the sensor calibration meets the requirement, the control plane measurement is started, the control plane is rotated to 0 degree, 5 degrees, 10 degrees, 15 degrees, 20 degrees and 25 degrees in sequence, the sensor sends the angle information under the corresponding angle to a Bluetooth module at the PC end through a wireless Bluetooth transmission module, the Bluetooth module at the PC end receives the angle data and processes the angle data, and the angle data processing comprises data decoding, data comparison and error calculation to generate a test report; the test report displays the control value and the measured value corresponding to each angle, the angle value acquired by the tilt sensor, the error between the angle value and the angle value, the qualified criterion and the result; and (6) completing the test.
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| US12012220B2 (en) * | 2021-02-11 | 2024-06-18 | The Boeing Company | Calibration system and method for aircraft control surface actuation |
| CN114261525B (en) * | 2021-12-30 | 2023-11-03 | 中国航天空气动力技术研究院 | Control surface deflection control and measurement system and method |
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| EP2027899A1 (en) * | 2007-08-21 | 2009-02-25 | MARK STAR Servo-tech Co., Ltd. | Absolute angle correction apparatus for a model aircraft |
| JP6326237B2 (en) * | 2014-01-31 | 2018-05-16 | 株式会社トプコン | Measuring system |
| CN104554706B (en) * | 2014-11-24 | 2017-02-08 | 北京航空航天大学 | Novel control method for high aspect-ratio flying wing solar-powered airplane |
| US10747236B2 (en) * | 2015-02-19 | 2020-08-18 | Flir Unmanned Aerial Systems Ulc | Systems and processes for calibrating unmanned aerial vehicles |
| US9933396B2 (en) * | 2015-08-26 | 2018-04-03 | The Boeing Company | Automated ultrasonic inspection of elongated composite members using single-pass robotic system |
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| CN107490354A (en) * | 2017-09-15 | 2017-12-19 | 钦州学院 | Fixed-wing model plane rudder face electronics bevel protractor |
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