CN110920928B - Unmanned aerial vehicle flutter suppression device and method for confirming optimal installation site thereof - Google Patents
Unmanned aerial vehicle flutter suppression device and method for confirming optimal installation site thereof Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle flutter suppression device, which comprises a mass adjustment device, wherein the mass adjustment device comprises a cavity shell, the front end of the cavity shell is provided with a front end cover, the rear end of the cavity shell is provided with a rear end cover, one side wall of the front end in the cavity of the shell is provided with a groove sunken towards the outer wall of the shell, the other side wall of the front end in the cavity of the shell opposite to the groove is provided with a spring piece protruding inwards the shell, the surface of the rear end cover in the cavity of the shell is provided with a spring driving device, the spring driving device is loaded with a balancing weight, and the spring driving device drives the balancing weight on the spring driving device to move towards; according to the method, from the flutter mechanism perspective, a method for improving the flutter critical speed is selected as a protection measure of the unmanned aerial vehicle, and the safety coefficient of test flight is greatly improved. In addition, this device adopts the mode realization that online discernment shimmys and change structure mass distribution to unmanned aerial vehicle, and the security performance is higher.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight test safety protection, and particularly relates to an unmanned aerial vehicle flutter suppression device and a method for confirming an optimal installation site of the unmanned aerial vehicle flutter suppression device.
Background
Flutter is a dangerous self-excited vibration, and once the unmanned aerial vehicle flutters, the collapse of the body structure can be caused instantly. And in order to ensure that the flutter phenomenon can not occur in the flight envelope of the unmanned aerial vehicle, the unmanned aerial vehicle tries to fly to reach the flutter critical speed, so that the safety of the unmanned aerial vehicle is guaranteed to be very important when the flutter occurs.
At present, the flutter test in the test flight link is mainly realized by monitoring the response signal of an airplane in real time by ground monitoring personnel, and reducing the flight speed or improving the flutter boundary when the flutter is about to occur. However, in actual operation, the situation that the deceleration is not timely enough to effectively control the structure divergence occurs.
Aiming at the risks existing in the flutter test flight work of the existing unmanned aerial vehicle, the invention adopts a set of system for instantly changing the structural mass distribution to improve the flutter critical speed and ensure the safety of the unmanned aerial vehicle.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an unmanned aerial vehicle flutter suppression device and a method for confirming an optimal installation site thereof.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides an unmanned aerial vehicle suppression device that shimmys, includes quality adjusting device 15, quality adjusting device 15 includes that a front end is provided with front end housing 1, and the rear end is provided with cavity casing 4 of rear end cap 7, be provided with the sunken recess 8 of 4 outer walls of casing on the lateral wall of front end in the cavity of casing 4, be provided with the inside convex spring leaf 13 of casing 4 on the other lateral wall of front end in the cavity of casing 4 relative with recess 8, rear end cap 7 is located and is provided with spring drive device 6 on the face in the cavity of casing 4, bears the balancing weight 5 on the spring drive device 6, balancing weight 5 on the spring drive device 6 drive it moves to 1 direction of front end housing.
Preferably, the spring driving device 6 includes a spring body installed on the inner wall of the rear end cover 7, a fixed support 10 and an electromagnet 11, and a ring 9 connected to one surface of the counterweight 5 facing the rear end cover 7 through a steel wire rope, the fixed support 10 and the electromagnet 11 are located in the ring of the spring body, a fixed pin 12 is inserted into the ring 9 and the fixed support 10, and the electromagnet 11 is located on the periphery of the fixed pin 12.
Preferably, the electromagnet 11 is externally connected with a power supply of the unmanned aerial vehicle.
Preferably, the fixing pin 12 is inserted into the fixing support 10 and the ring 9 in this order.
Preferably, the fixing pin 12 is made of iron.
Preferably, a set of lugs 3 is arranged on the outer wall of the shell 4, and mounting holes 2 are arranged on the lugs 3.
Preferably, the mass adjusting device 15 is mounted on the wing 14 at the pitch line position 16 of the lowest flutter branch by assembling screws in the mounting holes 2 on the lug 3.
Preferably, the mass adjusting device 15 is in threaded connection with ribs inside the wing through the mounting hole 2 on the lug 3.
Preferably, the housing 4 is a cuboid aluminum structure, and the counterweight 5 is a cuboid lead block.
A method for confirming an optimal installation site of a flutter suppression device of an unmanned aerial vehicle comprises the following steps:
s1, establishing a model of the unmanned aerial vehicle through Patran, then obtaining the nodal line position of the lowest flutter branch by using nastran, and arranging a vibration sensor on the wing surface of the unmanned aerial vehicle;
s2, selecting different quality adjusting device installation sites at the nodal line position of the lowest flutter branch, and starting unmanned aerial vehicle test flight simulation;
s3, setting the flight speed of the unmanned aerial vehicle to be the flutter critical speed of the unmanned aerial vehicle +3 m/S;
s4, when the wings of the unmanned aerial vehicle are about to flutter, collecting vibration response signals of the wings in a test flight test, transmitting the collected response signals to a flutter recognition system, performing denoising processing on the response signals by the flutter recognition system, extracting real-time damping of the wings through a signal mode recognition technology, comparing the real-time damping with a preset dangerous damping value, and if the real-time damping is lower than the dangerous value, sending early warning to ground monitoring personnel and sending an instruction for starting a quality adjusting device to an unmanned aerial vehicle control system;
s5, controlling an electromagnet in the quality adjusting device to be electrified by the unmanned aerial vehicle control system, separating the fixing pin from the circular ring and the fixing support, moving the balancing weight into the groove, applying a restraining force to the balancing weight by the spring leaf, and finishing the simulated flight of the mounting site of the quality adjusting device;
and S6, repeating the steps S2-S5 to obtain flight results of different installation sites of the quality adjusting device, and selecting a site which can complete quality adjustment of the quality adjusting device when the flight speed of the unmanned aerial vehicle is the flutter critical speed of the unmanned aerial vehicle plus 3m/S, wherein the site which finally achieves flutter suppression is used as the optimal installation site of the quality adjusting device.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, from the flutter mechanism perspective, a method for improving the flutter critical speed is selected as a protection measure of the unmanned aerial vehicle, and the safety coefficient of test flight is greatly improved. In addition, this device adopts the mode realization that online discernment shimmys and change structure mass distribution to unmanned aerial vehicle, and the security performance is higher.
Drawings
FIG. 1 is a schematic view of the structure of a mass adjusting device according to the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic view of the structure of the housing of the mass adjusting apparatus according to the present invention;
FIG. 4 is a schematic view showing the installation positions of the fixing support and the ring in the present invention;
FIG. 5 is a schematic view showing an installation position of the mass adjusting device according to the present invention;
wherein: 1-front end cover, 2-mounting hole, 3-lug, 4-shell, 5-counterweight, 6-spring driving device, 7-rear end cover, 8-groove, 9-ring, 10-fixed support, 11-electromagnet, 12-fixed pin, 13-spring piece, 14-wing, 15-quality adjusting device, 16-node line position of lowest flutter branch, and 17-counterweight moving direction.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1-4, an unmanned aerial vehicle flutter suppression device comprises a mass adjustment device 15, wherein the mass adjustment device 15 comprises a cavity shell 4 with a front end cover 1 at the front end and a rear end cover 7 at the rear end, a groove 8 recessed toward the outer wall of the shell 4 is arranged on one side wall of the front end in the cavity of the shell 4, a spring leaf 13 protruding toward the inside of the shell 4 is arranged on the other side wall of the front end in the cavity of the shell 4 opposite to the groove 8, a spring driving device 6 is arranged on the surface of the rear end cover 7 in the cavity of the shell 4, a counterweight 5 is loaded on the spring driving device 6, the counterweight 5 on the spring driving device 6 moves toward the front end cover 1, the counterweight 5 falls into the groove 8 and is used for preventing the counterweight 5 from rebounding after reaching the front end of the shell, and the spring leaf 13 exerts a restraining force at the same time, fixing a balancing weight 5 in the groove 8, preferably, the balancing weight 5 is a cuboid lead block.
The outer wall of the shell 4 is provided with a group of lugs 3, the lugs 3 are provided with mounting holes 2, the quality adjusting device 15 is mounted on the wing 14 at the node line position 16 of the lowest flutter branch through mounting screws in the mounting holes 2 on the lugs 3, and the quality adjusting device 15 is in threaded connection with ribs inside the wing through the mounting holes 2 on the lugs 3, so that the mounting and dismounting convenience and stability of the quality adjusting device 15 are guaranteed.
The casing 4 is cuboid aluminium system structure, balancing weight 5 is cuboid lead block.
As shown in fig. 5, a method for confirming an optimal installation site of a flutter suppression device of an unmanned aerial vehicle includes the following steps:
s1, establishing a model of the unmanned aerial vehicle through Patran, then obtaining the nodal line position of the lowest flutter branch by using nastran, and arranging a vibration sensor on the wing surface of the unmanned aerial vehicle;
s2, selecting different quality adjusting device installation sites at the nodal line position of the lowest flutter branch, and starting unmanned aerial vehicle test flight simulation;
s3, setting the flight speed of the unmanned aerial vehicle to be the flutter critical speed of the unmanned aerial vehicle +3 m/S;
s4, when the wings of the unmanned aerial vehicle are about to flutter, collecting vibration response signals of the wings in a test flight test, transmitting the collected response signals to a flutter recognition system, performing denoising processing on the response signals by the flutter recognition system, extracting real-time damping of the wings through a signal mode recognition technology, comparing the real-time damping with a preset dangerous damping value, and if the real-time damping is lower than the dangerous value, sending early warning to ground monitoring personnel and sending an instruction for starting a quality adjusting device to an unmanned aerial vehicle control system;
s5, controlling an electromagnet in the quality adjusting device to be electrified by the unmanned aerial vehicle control system, separating the fixing pin from the circular ring and the fixing support, moving the balancing weight into the groove, applying a restraining force to the balancing weight by the spring leaf, and finishing the simulated flight of the mounting site of the quality adjusting device; as shown in fig. 5, the clump weight movement direction 17 of clump weight 5.
And S6, repeating the steps S2-S5 to obtain flight results of different installation sites of the quality adjusting device, and selecting a site which can complete quality adjustment of the quality adjusting device when the flight speed of the unmanned aerial vehicle is the flutter critical speed of the unmanned aerial vehicle plus 3m/S, wherein the site which finally achieves flutter suppression is used as the optimal installation site of the quality adjusting device.
In the flutter feature extraction stage, a finite element model is established for the unmanned aerial vehicle, flutter characteristic analysis is carried out, and the lowest flutter divergence branch of the wing and the nodal line position of the branch are obtained.
In order to increase the flutter critical speed by at least three meters per second, the specific installation position on the nodal line position of the lowest flutter branch, the mass of the balancing weight and the moving distance of the balancing weight need to be comprehensively compared, the influence effect of different combinations on the flutter critical speed is analyzed, and the installation position with the most obvious effect is selected.
The main body shell of the quality adjusting device is of an aluminum cuboid structure and is provided with a front end cover and a rear end cover, an upper layer of mounting lug piece and a lower layer of mounting lug piece are arranged on one side of the shell facing to the wing root, two mounting holes are formed in each lug piece, and the device is in threaded connection with ribs inside the wing through the mounting holes in the wing chord direction. The inside front end of casing has a recess, can fall into the recess when the counterweight block moves the front end of casing, and a spring leaf is equipped with to the top surface simultaneously, and the spring leaf can exert a binding power when the counterweight block falls into the recess, prevents the circumstances that the counterweight block kick-backed. A lead cuboid balancing weight is arranged in the quality adjusting device, the rear end of the balancing weight is connected with a circular ring through a steel wire rope, and the circular ring is fixed on a support at the position of a rear end cover through a fixing pin during installation. The rear end cover of the device is provided with a spring driving device, the front end of the spring body is connected with the rear end of the balancing weight, a force is applied firstly during installation, the spring body and the balancing weight are compressed to the rear end of the shell, and then the fixing pin is inserted into the through hole in the middle of the circular ring and the fixing support to keep a compression state. Restraint device installs in rear end cap department, and restraint device includes fixing support, fixed pin and electro-magnet, and fixing support and electro-magnet are all installed in rear end cap department, and the balancing weight is compressed to rear end cap department earlier during the installation, inserts the through-hole of fixing support and balancing weight rear end with the fixed pin again, and spring drive and balancing weight can't remove this moment, and the electro-magnet is in the outage state under the inoperative condition.
The flutter speed identification mainly plays a role in online flutter boundary prediction, when flutter is about to occur on a wing, the wing structure can vibrate violently, the damping of the structure is reduced to a degree that the damping cannot play a role in suppressing vibration, and the amplitude convergence speed of the vibration response signal of the unmanned aerial vehicle begins to slow. Through the principle, a vibration sensor is arranged on the surface of the wing of the unmanned aerial vehicle, and vibration response signals of the wing in a test flight test are collected. The collected response signals can be transmitted to a flutter recognition system, the system can firstly remove noise of the signals in consideration of the fact that a large amount of noise interference exists in the response signals obtained by the wings under turbulent excitation, then real-time damping of the wings is extracted through a signal mode recognition technology and compared with a preset dangerous damping value, if the real-time damping is lower than the dangerous value, early warning is sent to ground monitoring personnel, and meanwhile, an instruction for starting a flutter suppression device is sent to an unmanned aerial vehicle control system. On the other hand, the system can also monitor the acquired signal waveform, and when the convergence speed of the vibration amplitude of the response signal is reduced for more than two seconds, the system can also be used as the basis for the impending flutter, and the system can also send out an early warning signal. Through the combination of the two judgment bases, the accuracy of the online identification system can be improved.
The trigger device is a key device for starting the whole set of system, and can send an instruction for starting the quality adjusting device to the unmanned aerial vehicle control system after the online flutter recognition system sends out an early warning signal. After the mass adjusting device is started, the restraining device is triggered firstly, namely the electromagnet is electrified to obtain magnetism, the iron fixing pin is pulled out under the action of the electromagnet, the balancing weight rapidly moves towards the front end of the shell under the pushing of the spring, the mass distribution of the wing structure is changed, and the flutter critical speed is increased by at least three meters per second. When the balancing weight reaches the front end of the shell, the balancing weight can fall into the groove under the action of gravity, and meanwhile, the spring piece at the top is compressed by the balancing weight to exert a restraining force, so that the rebound phenomenon of the balancing weight is prevented. On the other hand, the unmanned aerial vehicle also decelerates gradually until the wing vibration dispersion phenomenon stops completely. And under the dangerous condition, when quality adjusting device can not in time work, ground monitoring personnel also can take the mode of human intervention, send starting drive's instruction to unmanned aerial vehicle control system, reduce the risk of whole system.
The principle of the invention is as follows: the invention adopts a method of changing structural mass distribution to improve the flutter critical speed, and the invention mainly comprises four parts: flutter feature extraction, a quality adjusting device (comprising a trigger device electromagnet) and flutter speed identification. Flutter feature extraction is to analyze the overall flutter characteristics of the unmanned aerial vehicle to obtain the lowest flutter branch, and lays a foundation for the whole system to better exert performance; the quality adjusting device is an important device for realizing structural quality distribution change and is a core device of the whole set of system; the flutter speed identification can judge whether the flutter occurs according to the modal characteristics of the signal when the flutter is about to occur, so that the automatic triggering function of the whole set of system is realized; the trigger device is a starting device of the system, and after a starting instruction issued by the control system is obtained, the normal operation of the system is ensured.
Flutter characteristic extraction mainly researches the flutter characteristic of the unmanned aerial vehicle, and the lowest flutter divergence branch of the unmanned aerial vehicle and the nodal line position of the branch can be obtained by modeling and flutter characteristic analysis of the unmanned aerial vehicle.
And selecting different mounting points near the nodal line position of the lowest flutter branch, repeatedly trying counter weights with different masses and moving distances with different lengths, and selecting a group of schemes with the best suppression effect (the flutter critical speed is increased by at least three meters per second) for the subsequent mass adjusting device.
Quality adjusting device includes front and back end cover, casing, balancing weight, spring leaf, restraint device (electro-magnet), spring drive and auricle: the shell is of a cuboid aluminum structure, light weight is guaranteed, and meanwhile installation is convenient, a groove is formed in the bottom surface inside the shell and used for preventing the balancing weight from rebounding after reaching the front end of the shell, and meanwhile, a spring piece is arranged on the top surface inside the shell and used for applying a restraining force to the balancing weight reaching the front end of the shell and fixing the balancing weight in the groove; the balancing weight is a cuboid lead block, the rear end of the balancing weight is connected with a circular ring, and the circular ring is fixed on the fixed support through a fixed pin during installation; the spring driving device is arranged at the rear end cover, the front end of the driving device is connected with the rear end of the balancing weight, a force is applied to compress the balancing weight and the spring driving device to the rear end of the shell during installation, and then the fixing pin is inserted into the fixing support and the circular ring at the rear end of the balancing weight, so that the balancing weight cannot move, and the compression state of the spring is kept; the restraint device mainly comprises a fixed support, a fixed pin and an electromagnet, wherein the fixed support and the electromagnet are both arranged at the rear end cover of the shell, the iron fixed pin is inserted between the fixed support and the circular ring during installation, and the electromagnet is in a power-off state under the condition of non-work. The lug plates on the side surface of the shell are in threaded connection with the ribs inside the wings, so that the convenience and the stability of assembly and disassembly of the device are guaranteed.
The flutter speed identification is a component established on a flutter boundary on-line identification system, the flutter boundary on-line identification system monitors and modal identifies signals acquired by a sensor in real time mainly according to the characteristic that a damping value of wing vibration frequency approaches zero when flutter is about to occur and combines the phenomenon that the convergence speed of a response signal amplitude of a wing is reduced when the speed approaches a critical value, when the acquired response signal amplitude continuously appears, or the identified damping value is lower than a given damping safety value, as long as one condition appears, the two can be used as the basis of the impending flutter, the identification system can send a danger signal to ground monitoring personnel, and simultaneously send an instruction for starting a quality adjustment device to an unmanned aerial vehicle control program. Flutter velocity identification was applied, and in journal 2013 of "computer simulation", an article "improved HHT and its application in flutter test data processing" of those in shogao, zhenghua, corner sorrow, tan bo, etc., was disclosed.
The protection device is triggered, and the online identification system is carried in the invention, so that the protection device is triggered in a mode of combining self-triggering and human intervention of the unmanned aerial vehicle. Once the on-line system sends out a danger signal, the quality adjusting device receives a starting instruction, firstly, the electromagnet is electrified, and the iron fixing pin is pulled out; spring drive device can promote rapidly soon that the counter weight removes to the casing front end, and the counter weight can fall into the inside recess of casing because of the action of gravity after arriving the front end, and the spring leaf of top surface is compressed by the counter weight simultaneously, exerts a binding power to the counter weight, fixes it in the recess, prevents to kick-back. And under the dangerous condition, when the protector can not effectively work, ground monitoring personnel can also intervene manually, and send out the instruction from the console and start the protector.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle suppression device that flutters which characterized in that: the device comprises a mass adjusting device (15), wherein the mass adjusting device (15) comprises a cavity shell (4) of which the front end is provided with a front end cover (1) and the rear end is provided with a rear end cover (7), a groove (8) which is sunken towards the outer wall of the shell (4) is arranged on one side wall of the front end in the cavity of the shell (4), a spring piece (13) which is protruded towards the inside of the shell (4) is arranged on the other side wall of the front end in the cavity of the shell (4) opposite to the groove (8), a spring driving device (6) is arranged on the surface, positioned in the cavity of the shell (4), of the rear end cover (7), a balancing weight (5) is loaded on the spring driving device (6), and the spring driving device (6) drives the balancing weight (5) on the spring driving device to;
the method for confirming the optimal installation site of the flutter suppression device of the unmanned aerial vehicle comprises the following steps:
s1, establishing a model of the unmanned aerial vehicle through Patran, then obtaining the nodal line position of the lowest flutter branch by using nastran, and arranging a vibration sensor on the wing surface of the unmanned aerial vehicle;
s2, selecting different quality adjusting device installation sites at the nodal line position of the lowest flutter branch, and starting unmanned aerial vehicle test flight simulation;
s3, setting the flight speed of the unmanned aerial vehicle to be the flutter critical speed of the unmanned aerial vehicle +3 m/S;
s4, when the wings of the unmanned aerial vehicle are about to flutter, collecting vibration response signals of the wings in a test flight test, transmitting the collected response signals to a flutter recognition system, performing denoising processing on the response signals by the flutter recognition system, extracting real-time damping of the wings through a signal mode recognition technology, comparing the real-time damping with a preset dangerous damping value, and if the real-time damping is lower than the dangerous value, sending early warning to ground monitoring personnel and sending an instruction for starting a quality adjusting device to an unmanned aerial vehicle control system;
s5, controlling an electromagnet in the quality adjusting device to be electrified by the unmanned aerial vehicle control system, separating the fixing pin from the circular ring and the fixing support, moving the balancing weight into the groove, applying a restraining force to the balancing weight by the spring leaf, and finishing the simulated flight of the mounting site of the quality adjusting device;
and S6, repeating the steps S2-S5 to obtain flight results of different installation sites of the quality adjusting device, and selecting a site which can complete quality adjustment of the quality adjusting device when the flight speed of the unmanned aerial vehicle is the flutter critical speed of the unmanned aerial vehicle plus 3m/S, wherein the site which finally achieves flutter suppression is used as the optimal installation site of the quality adjusting device.
2. The flutter suppression device of an unmanned aerial vehicle according to claim 1, wherein: spring drive arrangement (6) are including installing spring body, fixing support (10) and electro-magnet (11) on rear end cap (7) inner wall to and connect ring (9) of balancing weight (5) face on to the one side of rear end cap (7) through wire rope, fixing support (10) and electro-magnet (11) are located the intra-annular of spring body, insert fixed pin (12) in ring (9) and fixing support (10), electro-magnet (11) are located the periphery of fixed pin (12).
3. The flutter suppression device of an unmanned aerial vehicle according to claim 2, wherein: the electromagnet (11) is externally connected with a power supply of the unmanned aerial vehicle.
4. The flutter suppression device of an unmanned aerial vehicle according to claim 2, wherein: the fixing pin (12) is inserted into the fixing support (10) and the circular ring (9) in sequence.
5. The flutter suppression device of an unmanned aerial vehicle according to claim 2, wherein: the fixing pin (12) is made of iron.
6. The flutter suppression device of an unmanned aerial vehicle according to claim 1, wherein: a group of lugs (3) are arranged on the outer wall of the shell (4), and mounting holes (2) are formed in the lugs (3).
7. The flutter suppression device of an unmanned aerial vehicle according to claim 1, wherein: the quality adjusting device (15) is arranged at the pitch line position (16) of the lowest flutter branch on the wing (14) through assembling screws in the mounting holes (2) on the lugs (3).
8. The flutter suppression device of an unmanned aerial vehicle according to claim 1, wherein: the quality adjusting device (15) is in threaded connection with ribs inside the wing through the mounting hole (2) in the lug plate (3).
9. The flutter suppression device of an unmanned aerial vehicle according to claim 1, wherein: the shell (4) is of a cuboid aluminum structure, and the balancing weight (5) is a cuboid lead block.
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| CN102235937A (en) * | 2010-05-06 | 2011-11-09 | 中国商用飞机有限责任公司 | Flutter suppression device for airplane model |
| CN105354348A (en) * | 2015-08-14 | 2016-02-24 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Manufacturing method for low-speed wing flutter wind tunnel model |
| CN205209731U (en) * | 2015-12-09 | 2016-05-04 | 中国航空工业集团公司沈阳飞机设计研究所 | Prevent device that shimmys |
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| CN209459859U (en) * | 2019-04-11 | 2019-10-01 | 中国空气动力研究与发展中心高速空气动力研究所 | T-type horizontal tail flutter model protective device |
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