CN111076865A - Longitudinal gravity center measuring method and device of coaxial helicopter - Google Patents
Longitudinal gravity center measuring method and device of coaxial helicopter Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for measuring the longitudinal gravity center of a coaxial helicopter, wherein the method can directly use a horizontal gravity center measuring tool or more than three platform scales to measure and obtain the horizontal gravity center so as to calculate and obtain the longitudinal gravity center of the coaxial helicopter. And, based on the relatively accurate horizontal center of gravity, the resulting longitudinal center of gravity is relatively accurate. The further determination of the longitudinal centre of gravity of the coaxial helicopter is more accurate. Therefore, on the basis that the horizontal center of gravity is relatively accurate, the accuracy of the measured longitudinal center of gravity is improved, and larger errors possibly introduced by the longitudinal center of gravity compared with the prior art are reduced.
Description
Technical Field
The invention relates to the technical field of longitudinal gravity center measurement, in particular to a longitudinal gravity center measurement method and device of a coaxial helicopter.
Background
In the field of calculation of flight performance of helicopters and design of flight control, data such as the center of gravity of helicopters are often needed, and the data have a very critical effect on the accuracy of calculation of the flight performance of helicopters and the accuracy of the design of the flight control.
Currently, the center of gravity of a coaxial helicopter in helicopters can be measured generally by the following steps:
the coaxial helicopter is placed on a horizontal gravity center measuring tool, the landing gear of the coaxial helicopter is placed on known pressure type sensors at four opposite positions on the horizontal gravity center measuring tool, and the numerical value of each pressure type sensor is read. And calculating to obtain the horizontal gravity center of the coaxial helicopter by utilizing the gravity center distance principle. Then the coaxial helicopter is lifted by an angle by using the four wedge-shaped cushion blocks, the numerical values of the fixed dynamometers are read again, and the longitudinal center of gravity is obtained by using a geometric calculation method in chapter 8 airplane weight, center of gravity and rotational inertia measurement in an airplane design manual.
However, before the center of gravity is to be measured, the coaxial helicopter needs to be lifted off the ground by a crane each time the wedge-shaped cushion block is installed, so that not only does the wedge-shaped cushion block need to be fixed on the landing gear by using a hoop, but also the wedge-shaped cushion block needs to be placed on a dynamometer with fixed size each time the wedge-shaped cushion block is installed; and after the undercarriage is provided with the wedge-shaped cushion block, the angle of the wedge-shaped cushion block needs to be adjusted, so that the bottoms of the wedge-shaped cushion blocks are positioned on the same plane, the undercarriage is placed on known pressure type sensors at four relative positions on a horizontal gravity center measuring tool, and the horizontal gravity center of the coaxial helicopter is obtained through calculation.
Therefore, the requirement on the size of the wedge-shaped cushion block is relatively high, the size and the thickness of the wedge-shaped cushion block can be selected with little margin, the preparation work before the gravity center is measured is complex, and the installation is troublesome and laborious; and moreover, the angles of the wedge-shaped cushion blocks are adjusted, so that if the bottoms of the wedge-shaped cushion blocks are positioned on the same plane, the measurement result of the horizontal center of gravity is influenced, and the measured center of gravity has larger errors.
Disclosure of Invention
The embodiment of the invention aims to provide a longitudinal center of gravity measuring method and device of a coaxial helicopter, which are used for solving the technical problems that the preparation work before the center of gravity is measured is complex, the trouble and the labor are wasted, the measurement result of the horizontal center of gravity is influenced, and the measured center of gravity has larger errors in the prior art. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a method for measuring a longitudinal center of gravity of a coaxial helicopter, including:
acquiring the horizontal center of gravity of the coaxial helicopter;
acquiring an inclination angle of an axial center line of a paddle shaft of the coaxial helicopter relative to a vertical direction of the lifting rope under the condition that the coaxial helicopter is lifted and suspended;
obtaining position coordinates of the suspension point in a coordinate system relative to the coaxial helicopter body;
and determining the longitudinal gravity center of the coaxial helicopter by utilizing the corresponding relation among the position coordinate, the inclination angle and the relative distance between the horizontal gravity center and the shaft center line.
Further, the acquiring an inclination angle of an axis center line of a paddle shaft of the coaxial helicopter relative to a vertical direction of the lifting rope comprises:
and acquiring the inclination angle of the axis center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope by using an angle sensor arranged on the paddle shaft.
Further, the acquiring an inclination angle of an axis center line of a paddle shaft of the coaxial helicopter relative to a vertical direction of the lifting rope comprises:
acquiring a projection projected on a projection surface, the projection comprising: the horizontal plane of the coaxial helicopter, the projections of a first laser line emitted by a first laser line projector and a third laser line emitted by a second laser line projector are respectively perpendicular to the laser plane of the first laser line projector and the laser plane of the second laser line projector, the first laser line is projected on the center of the lifting rope, the third laser line is projected on the axial center line of a paddle shaft of the coaxial helicopter, and the projection of the first laser line and the projection of the third laser line are intersected at the hanging point;
taking the projection of the first laser line as the vertical direction of the lifting rope;
and taking an included angle between the projection of the first laser line and the projection of the third laser line as an inclination angle of an axial center line of a paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
Further, the determining the longitudinal center of gravity of the coaxial helicopter by using the corresponding relationship between the position coordinates, the inclination angle and the relative distance between the horizontal center of gravity and the axis center line includes:
determining the longitudinal center of gravity of the coaxial helicopter by adopting an angle calculation formula;
wherein the angle calculation formula is
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresents the longitudinal barycentric coordinate y of the coaxial helicopter, the OH represents the position height of the suspension point H in a coordinate system relative to the body of the coaxial helicopter, the OGxThe horizontal barycentric coordinate x of the coaxial helicopter is shown, and the theta represents the inclination angle of the axis center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
Further, the determining the longitudinal center of gravity of the coaxial helicopter by using the corresponding relationship between the position coordinates, the inclination angle and the relative distance between the horizontal center of gravity and the axis center line includes:
determining the proportion of the side of the shaft center line of one triangle containing the inclination angle and the side of the lifting rope in the vertical direction to two corresponding sides in another similar triangle by using a first included angle, a second included angle and a shared third included angle, wherein the first included angle is a right angle between the projection of the first laser line and the projection of a second laser line, the second included angle is a right angle between the projection of the third laser line and the projection of a fourth laser line, the second laser line is the laser line which is emitted by the first laser line projector and is vertical to the first laser line, the fourth laser line is the laser line which is emitted by the second laser line projector and is vertical to the third laser line, and the third included angle is the included angle between the projection of the first laser line and the projection of the fourth laser line;
determining a longitudinal center of gravity of the coaxial helicopter based on a longitudinal center of gravity calculation formula;
wherein the longitudinal center of gravity is calculated by the formula
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresents the longitudinal barycentric coordinate y of the coaxial helicopter, the OH represents the position height of the suspension point H in a coordinate system relative to the body of the coaxial helicopter, the OGxRepresents the horizontal barycentric coordinate x of said coaxial helicopter, said
In the above ratio, CH is one side of the other triangle, BH is the other side of the other triangle, C is an intersection of the second laser line and the fourth laser line, and B is an intersection of the first laser line and the third laser line.
Further, the method further comprises:
and returning to continue to execute the step of acquiring the horizontal center of gravity of the coaxial helicopter under the condition of changing the suspension point of the paddle shaft of the coaxial helicopter, and averaging the longitudinal center of gravity of the coaxial helicopter determined by the preset measuring times to be used as the longitudinal center of gravity of the coaxial helicopter.
In a second aspect, an embodiment of the present invention provides a longitudinal center of gravity measuring device for a coaxial helicopter, including:
lifting the suspension tool of the inner shaft of the airplane;
the lifting rope is arranged on the suspension tool and detachably connected to a lifting point of a propeller shaft of the coaxial helicopter, and the suspension tool suspends the coaxial helicopter in the air through the lifting rope;
the horizontal gravity center measuring tool is used for measuring the horizontal gravity center of the coaxial helicopter;
under the condition that the coaxial helicopter is hoisted in the air, an angle measuring tool is used for measuring the inclination angle of the axial center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope;
a height finding tool for measuring position coordinates of the suspension point in a coordinate system relative to the coaxial helicopter body;
and the calculation tool is used for determining the longitudinal gravity center of the coaxial helicopter by utilizing the corresponding relation among the position coordinate, the inclination angle and the relative distance between the horizontal gravity center and the shaft center line.
Further, the angle measurement tool includes: and the angle sensor is arranged on the paddle shaft and is used for measuring the inclination angle of the shaft center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
Further, the angle measurement tool includes: the laser line projector comprises a first laser line projector and a second laser line projector;
the first laser line projector is used for emitting a first laser line and a second laser line perpendicular to the first laser line, and the first laser line is projected on the axis center line of a paddle shaft of the coaxial helicopter;
the second laser line projector is used for emitting a third laser line and a fourth laser line perpendicular to the third laser line, the third laser line is projected on the axial center line of a paddle shaft of the coaxial helicopter, and the first laser line and the third laser line are intersected at the hanging point;
the device further comprises:
a projection plane, which is perpendicular to the laser plane of the first laser line projector and the laser plane of the second laser line projector, respectively, and the horizontal plane of the coaxial helicopter, the first laser line, the second laser line, the third laser line and the fourth laser line are projected on the projection plane respectively to form the projection of the projection plane;
taking the projection of the first laser line as the vertical direction of the lifting rope;
and taking an included angle between the projection of the first laser line and the projection of the third laser line as an inclination angle of an axial center line of a paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
Further, the calculation means is configured to determine a longitudinal center of gravity of the coaxial helicopter by using an angle calculation formula;
wherein the angle calculation formula is
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresents the longitudinal barycentric coordinate y of the coaxial helicopter, the OH represents the position height of the suspension point H in a coordinate system relative to the body of the coaxial helicopter, the OGxThe horizontal barycentric coordinate x of the coaxial helicopter is shown, and the theta represents the inclination angle of the axis center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
Further, the computing means is for
Determining the proportion of the side of the shaft center line of one triangle containing the inclination angle and the side of the lifting rope in the vertical direction to two corresponding sides in another similar triangle by using a first included angle, a second included angle and a shared third included angle, wherein the first included angle is a right angle between the projection of the first laser line and the projection of a second laser line, the second included angle is a right angle between the projection of the third laser line and the projection of a fourth laser line, the second laser line is the laser line which is emitted by the first laser line projector and is vertical to the first laser line, the fourth laser line is the laser line which is emitted by the second laser line projector and is vertical to the third laser line, and the third included angle is the included angle between the projection of the first laser line and the projection of the fourth laser line;
determining a longitudinal center of gravity of the coaxial helicopter based on a longitudinal center of gravity calculation formula;
wherein the longitudinal center of gravity is calculated by the formula
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresenting the longitudinal y barycentric coordinate of said coaxial helicopter, said OH representing the position height of said suspension point H in a coordinate system with respect to the body of said coaxial helicopter, said OGxRepresents the horizontal barycentric coordinate x of said coaxial helicopter, said
In the above ratio, CH is one side of the other triangle, BH is the other side of the other triangle, C is an intersection of the second laser line and the fourth laser line, and B is an intersection of the first laser line and the third laser line.
Further, the calculation means is further configured to average the longitudinal center of gravity of the coaxial helicopter determined by a preset number of measurements as the longitudinal center of gravity of the coaxial helicopter in the case of changing the suspension point at the propeller axis of the coaxial helicopter.
The embodiment of the invention provides a longitudinal gravity center measuring method and a longitudinal gravity center measuring device of a coaxial helicopter, which are used for acquiring the horizontal gravity center of the coaxial helicopter; under the condition that the coaxial helicopter is hoisted in the air, acquiring the inclination angle of the shaft center line of the paddle shaft relative to the vertical direction of the lifting rope; obtaining position coordinates of the suspension point in a coordinate system relative to the coaxial helicopter body; and determining the longitudinal gravity center of the coaxial helicopter by utilizing the corresponding relation among the position coordinate, the inclination angle and the relative distance between the horizontal gravity center and the shaft center line.
Therefore, the horizontal gravity center can be directly measured by using the horizontal gravity center measuring tool or more than three platform scales so as to calculate the longitudinal gravity center of the coaxial helicopter, and compared with the prior art, the vertical gravity center measuring tool does not need a wedge-shaped cushion block, so that the complex work of installing and leveling the wedge-shaped cushion block is omitted, and the preparation workload is reduced. And, based on the relatively accurate horizontal center of gravity, the resulting longitudinal center of gravity is relatively accurate. The further determination of the longitudinal centre of gravity of the coaxial helicopter is more accurate. Therefore, on the basis that the horizontal center of gravity is relatively accurate, the accuracy of the measured longitudinal center of gravity is improved, and larger errors possibly introduced by the longitudinal center of gravity compared with the prior art are reduced.
Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a first schematic flow chart of a method for measuring the longitudinal center of gravity of a coaxial helicopter according to an embodiment of the present invention;
FIG. 2 is a schematic view of an embodiment of the present invention providing a coaxial helicopter suspended from a lifting line in a suspension fixture for lifting an internal shaft of the helicopter at a suspension point of a shaft of the coaxial helicopter;
FIG. 3 is a schematic diagram of a laser line projector projecting a line onto a projection surface according to an embodiment of the present invention;
fig. 4 is a second flow chart of the method for measuring the longitudinal center of gravity of a coaxial helicopter according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Aiming at the problems that the preparation work before the center of gravity measurement in the prior art is complex, the labor and the time are wasted, and the measurement error can be amplified by a plurality of times on the basis of the measurement error of the horizontal center of gravity, so that the longitudinal center of gravity of the measurement has larger error. Therefore, the accuracy of the measured center of gravity is improved on the basis that the longitudinal center of gravity and the horizontal center of gravity are relatively accurate.
First, a method for measuring the longitudinal center of gravity of a coaxial helicopter according to an embodiment of the present invention will be described.
As shown in fig. 1, the method for measuring the longitudinal center of gravity of a coaxial helicopter provided by the embodiment of the present invention may include the following steps:
and 110, acquiring the horizontal gravity center of the coaxial helicopter, wherein the horizontal gravity center is obtained through calculation of a calculation formula of the moment of gravity through a horizontal gravity center measuring tool or more than three platform scales.
For the horizontal gravity center measuring tool or more than three platform scales, the horizontal gravity center is obtained through calculation of a calculation formula of gravity center moment, and the processes all use the principle of gravity center distance, so that the horizontal gravity center of the coaxial helicopter is obtained. Further, the step 110 includes: the coaxial helicopter is directly hoisted by the suspension tool through the hoisting rope, and the horizontal gravity center measurement tool can be directly used for measurement, so that the horizontal gravity center of the coaxial helicopter can be calculated.
The longitudinal center of gravity of the helicopter may be measured, but is not limited to, by lifting a lifting line on an in-plane shaft suspension fixture at a lifting point of the shaft of the coaxial helicopter, lifting the coaxial helicopter.
Referring to fig. 2, a lifting rope 21 in a suspension fixture for lifting an inner shaft of an airplane can be further installed at a lifting point of a propeller shaft 22 of a coaxial helicopter at a fixture pull ring of the lifting fixture, and the coaxial helicopter can be suspended by the lifting rope.
In step 110, the longitudinal center of gravity of the coaxial helicopter may be obtained by any one of the following implementation manners:
in one implementation, the measured horizontal center of gravity of the coaxial helicopter is obtained, so that the longitudinal center of gravity of the coaxial helicopter can be calculated directly on the basis of the obtained horizontal center of gravity. The measured horizontal center of gravity of the coaxial helicopter can be obtained by adopting a tool capable of obtaining the horizontal center of gravity. For example, the tool capable of obtaining the horizontal center of gravity may be, but is not limited to, a tool for measuring the horizontal center of gravity.
In step 110, the horizontal center of gravity of the coaxial helicopter may be obtained by any one of the following implementation manners:
in one implementation, the horizontal center of gravity of the coaxial helicopter is measured using a horizontal center of gravity measurement tool. In this way the horizontal centre of gravity of the coaxial helicopter can be measured directly. The horizontal gravity center measuring tool is provided with a plurality of sensors, the number of the sensors can be but is not limited to 4 pressure type sensors, the 4 pressure type sensors are located at 4 relative positions, the landing gear of the coaxial helicopter is placed on the known pressure type sensors at the 4 relative positions on the horizontal gravity center measuring tool, and the numerical value of each pressure type sensor is read. And calculating to obtain the horizontal gravity center of the coaxial helicopter by utilizing the gravity center distance principle.
And step 120, acquiring the inclination angle of the axis center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope under the condition that the coaxial helicopter is lifted and suspended. By the angle of inclination, the longitudinal center of gravity of the coaxial helicopter can be determined.
In step 120, any one of the following implementation manners may be adopted to obtain the inclination angle of the shaft center line of the paddle shaft with respect to the vertical direction of the lifting rope:
in one implementation, an inclination angle of an axis center line of the paddle shaft with respect to a vertical direction in which the lifting rope is located is acquired by an angle sensor provided on the paddle shaft. The angle sensor is used for measuring the inclination angle of the shaft center line of the shaft relative to the vertical direction of the lifting rope. The inclination angle of the shaft center line of the paddle shaft relative to the vertical direction of the lifting rope is conveniently and directly measured, and the problem that when the height angle adjusted by the wedge-shaped cushion block is large, the measurement error of the horizontal gravity center can be amplified due to the correlation coefficient, so that the measured gravity center is large in error, wherein the correlation coefficient is the tangent value of the gravity center relative to the height angle of the sensor.
In another implementation, referring to fig. 3, in a first step, a projection projected on a projection surface is obtained, the projection including: the horizontal plane AO OF coaxial helicopter, the respective projection OF the first laser line that first laser line projector jetted out and the third laser line that the second laser line projector jetted out, the plane OF projection is perpendicular to the laser plane OF first laser line projector and the laser plane OF second laser line projector respectively, and first laser line is beaten on the center OF lifting rope, and the third laser line is beaten on the axial centerline OF oar axle, and the projection OH OF first laser line intersects in hoisting point H department with third laser line OF.
The projection surface may be a surface for projection, and the projection surface may be, but is not limited to, a projection wall, and the projection surface may be a projection wall, which is capable of displaying a projection on the projection surface accurately without deviation, and all of which belong to the protection scope of the embodiment of the present invention.
And secondly, taking the projection OH of the first laser line as the vertical direction of the lifting rope.
And thirdly, taking an included angle OHA between the projection AH of the first laser line and the projection OH of the third laser line as an inclination angle of the axis center line of the paddle shaft relative to the vertical direction of the lifting rope. Thus, the inclination angle of the axis center line of the paddle shaft relative to the vertical direction of the lifting rope can be determined by adopting the first laser line projector and the second laser line projector. The first laser line, the second laser line, the third laser line and the fourth laser line are arranged in the same plane, wherein the first laser line, the second laser line, the third laser line and the fourth laser line are arranged in the same plane, and the plane is perpendicular to the plane. The first laser line may be, but is not limited to, a vertical laser line, the third laser line may be, but is not limited to, a laser line coincident with the centerline of the paddle axis, and is also a vertical laser line for the second laser line projector.
The origin of the coordinate system of the coaxial helicopter body is the intersection point of the horizontal plane of the coaxial helicopter and the propeller axis, one axis in the coordinate system of the coaxial helicopter body is a line coincident with the extension line of the propeller axis, and the other axis in the coordinate system of the coaxial helicopter body is the horizontal plane of the coaxial helicopter.
Wherein the longitudinal center of gravity is measured by lifting a lifting rope on an in-plane shaft suspension fixture at a lifting point of a propeller shaft of the coaxial helicopter to lift the coaxial helicopter. The method in the embodiment of the present invention, after step 140, may include, but is not limited to, further including: and synthesizing the longitudinal gravity center and the horizontal gravity center by using a gravity center synthesis formula, and calculating the gravity center of the coaxial helicopter. And the height of the coaxial helicopter can also be calculated.
In the case of a first laser line projector and a second laser line projector, this step 140 determines the longitudinal center of gravity of the coaxial helicopter using either:
referring to fig. 3, in an implementation manner, in a first step, a ratio between a side of an axis center line of a triangle including an inclination angle and a side of a vertical direction in which a lifting rope is located and two corresponding sides of another similar triangle is determined by using a first included angle, a second included angle, and a common third included angle, where the first included angle is a right angle between a projection AH of a first laser line and a projection CH of a second laser line, the second included angle is a right angle between a projection OH of the third laser line and a projection CB of a fourth laser line, the second laser line is a laser line emitted by a first laser line projector and perpendicular to the first laser line, the fourth laser line is a laser line emitted by a second laser line projector and perpendicular to the third laser line, and the third included angle is an included angle between the projection AH of the first laser line and the projection CB of the fourth laser line.
The common third angle comprises: the third angle of one triangle is the third angle of the other triangle. The intersection point of the projection OH of the third laser line and the horizontal plane AO of the coaxial helicopter is O, the gravity center of the coaxial helicopter is G, and the projection of the gravity center of the coaxial helicopter on the horizontal plane AO is GxThe projection on the projection OH of the third laser line is Gy. Wherein the length of BH in the projection CH of the second laser line and the projection AH of the first laser line is measured on the projection wall. The hoisting height OH of the hoisting point H can be measured on the propeller shaft, OGxHas been calculated in the coordinates of the horizontal center of gravity.
The first step further comprises: determining that one triangle BFH is similar to the other triangle BHC by using the first included angle and the second included angle as well as the common third included angle; and determining the proportion of a side FH of the shaft center line containing the inclination angle of one triangle FHB and a side HB of the vertical direction of the lifting rope to two corresponding sides in the other similar triangle.
Referring to FIG. 3, due to the angle HGyG is a right angle and angle HFB is a right angle, thus, angle HGyG is equal to angle HFB, and angle GyHG and FHB share an angle, angle GyHG is equal to angle FHB, triangle BHF and triangle GHGySimilarly, it follows that triangle GGyH, another triangle BHC, one triangle BFH is similar. Using a triangle GGyH is similar to the triangular BHC, so
Longitudinal barycentric coordinate
Secondly, determining the longitudinal gravity center of the coaxial helicopter based on a longitudinal gravity center calculation formula;
wherein the longitudinal center of gravity is calculated by the formula
O denotes the intersection of the horizontal plane of the coaxial helicopter with the axis of the propeller, OGyRepresenting the longitudinal barycentric coordinate y of the coaxial helicopter, OH the position height of the suspension point H in a coordinate system with respect to the body of said coaxial helicopter, OGxRepresenting the horizontal barycentric coordinate x of the coaxial helicopter,
in proportion, CH is one side of another triangle, BH is another side of another triangle, C is the intersection point of the second laser line and the fourth laser line, and B is the intersection point of the first laser line and the third laser line. Therefore, under the condition of relatively accurate horizontal center of gravity, the measurement value is amplified by the first laser demarcation device and the second laser demarcation device, so that errors introduced in the measurement process are reduced, an accurate angle value is obtained, the projection on the projection surface is used, the inclination angle of the shaft center line of the propeller shaft relative to the vertical direction of the lifting rope is determined, the determined longitudinal center of gravity of the coaxial helicopter is more accurate, the accuracy of the measured center of gravity is improved, and the larger error of the center of gravity is reduced.
In the case of using the angle sensor disposed on the paddle shaft, the angle sensor disposed on the paddle shaft can be directly used to obtain the inclination angle of the shaft center line of the paddle shaft relative to the vertical direction of the lifting rope, and based on the inclination angle, the step 140 determines the longitudinal center of gravity of the coaxial helicopter by using any one of the following implementation manners:
determining the longitudinal gravity center of the coaxial helicopter by adopting an angle calculation formula;
wherein the angleIs calculated by the formula
O denotes the intersection of the horizontal plane of the coaxial helicopter with the axis of the propeller, OGyRepresenting the longitudinal barycentric coordinate y of the coaxial helicopter, OH the position height of the suspension point H in a coordinate system with respect to the body of said coaxial helicopter, OGxThe horizontal barycentric coordinate x of the coaxial helicopter is shown, and theta represents the inclination angle of the axis central line of the paddle shaft relative to the vertical direction of the lifting rope.
In the embodiment of the invention, the horizontal gravity center can be directly measured by using the horizontal gravity center measuring tool or more than three platform scales so as to calculate the longitudinal gravity center of the coaxial helicopter, and compared with the prior art, the longitudinal gravity center of the coaxial helicopter does not need a wedge-shaped cushion block, thereby omitting the complex work of installation and leveling of the wedge-shaped cushion block and reducing the preparation workload. And, based on the relatively accurate horizontal center of gravity, the resulting longitudinal center of gravity is relatively accurate. The further determination of the longitudinal centre of gravity of the coaxial helicopter is more accurate. Therefore, on the basis that the horizontal center of gravity is relatively accurate, the accuracy of the measured longitudinal center of gravity is improved, and larger errors possibly introduced by the longitudinal center of gravity compared with the prior art are reduced.
In order to improve the accuracy of the measurement with reference to fig. 1, 2 and 3, referring to fig. 4, an embodiment of the present invention further provides a method for measuring the longitudinal center of gravity of a coaxial helicopter, where after step 140, the method further includes:
and 150, determining whether the preset measuring times are reached, if not, executing the step 160, and returning to the step of continuously executing the step 110 under the condition of changing the suspension point of the propeller shaft of the coaxial helicopter. If so, i.e. the preset number of measurements is reached, step 170 is executed, this step 150, the purpose of changing the suspension point at the axis of the coaxial helicopter is to adjust the tilt angle of the coaxial helicopter using the suspension point adjusted at the axis of the coaxial helicopter.
And 170, averaging the longitudinal gravity centers of the coaxial helicopters determined by the preset measuring times to obtain the longitudinal gravity centers of the coaxial helicopters.
The preset number of measurements in this step 170 may be set according to the user's requirement. In order to reduce the number of times of measurement, the preset number of times of measurement can be obtained according to experience, and the range can be 3 times to 5 times, and the number of times of measurement can be more than 5 times.
In the embodiment of the invention, under the condition of changing the lifting point of the paddle shaft of the coaxial helicopter, the inclination angle of the coaxial helicopter can be changed by presetting the measurement times, the inclination angle of the shaft center line of the paddle shaft relative to the vertical direction of the lifting rope is obtained by presetting the measurement times, and finally the longitudinal gravity center of the coaxial helicopter determined by the preset measurement times is averaged to be used as the longitudinal gravity center of the coaxial helicopter, so that a plurality of groups of longitudinal gravity center measurement values are obtained. The measurement accuracy of the center of gravity can be improved by the averaging method, and therefore the measurement error is reduced.
The following continues to describe the longitudinal gravity center measuring device of the coaxial helicopter provided by the embodiment of the invention.
The embodiment of the invention also provides a longitudinal gravity center measuring device of the coaxial helicopter, which comprises:
and lifting the suspension tool of the inner shaft of the airplane.
The lifting rope mounted on the suspension tool is detachably connected to a lifting point of a propeller shaft of the coaxial helicopter, and the suspension tool suspends the coaxial helicopter in the air through the lifting rope. The safety factor of the hoisting rope here needs to be more than 2.
And the horizontal gravity center measuring tool is used for measuring the horizontal gravity center of the coaxial helicopter. In order to subsequently average the longitudinal center of gravity of the coaxial helicopter determined a preset number of measurements as the longitudinal center of gravity of the coaxial helicopter with a change of the lifting point at the propeller axis of the coaxial helicopter, it is possible here to adjust the coaxial helicopter to measure at least 5 sets of horizontal centers of gravity such that the horizontal x-direction and the longitudinal y-direction uncertainty of the center of gravity does not exceed 10 mm. Therefore, the existing horizontal gravity center measuring tool can be utilized to the maximum extent, and the measuring economy is higher.
And under the condition that the coaxial helicopter is hoisted in the air, an angle measuring tool is utilized for measuring the inclination angle of the axial center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
A height finding tool for measuring position coordinates of the suspension point in a coordinate system relative to the coaxial helicopter body.
And the calculation tool is used for determining the longitudinal gravity center of the coaxial helicopter by utilizing the corresponding relation among the position coordinate, the inclination angle and the relative distance between the horizontal gravity center and the shaft center line.
In one possible implementation, the angle measurement tool includes: and the angle sensor is arranged on the paddle shaft and is used for measuring the inclination angle of the shaft center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
In one possible implementation, the angle measurement tool includes: the laser line projector comprises a first laser line projector and a second laser line projector;
the first laser line projector is used for emitting a first laser line and a second laser line perpendicular to the first laser line, and the first laser line is projected on the axis center line of a paddle shaft of the coaxial helicopter;
the second laser line projector is used for emitting a third laser line and a fourth laser line perpendicular to the third laser line, the third laser line is projected on the axial center line of a paddle shaft of the coaxial helicopter, and the first laser line and the third laser line are intersected at the hanging point;
the device further comprises:
and the projection plane is respectively perpendicular to the laser plane of the first laser line projector and the laser plane of the second laser line projector, and the horizontal plane of the coaxial helicopter, the first laser line, the second laser line, the third laser line and the fourth laser line are respectively projected on the projection plane to form the projection of the projection plane. The projection surface can be but not limited to a projection wall, two points which are the same as the projection wall can be drawn on the ground, and the distance between the two points is at least more than 10 meters. The first laser line projector and the second laser line projector are aligned at two points, and a vertical laser line (a first laser line) passes through the head and the tail of the coaxial helicopter by rotating the coaxial helicopter.
Taking the projection of the first laser line as the vertical direction of the lifting rope; and taking an included angle between the projection of the first laser line and the projection of the third laser line as an inclination angle of an axial center line of a paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
The first laser line projector is adjusted to be in an inclined state to be aligned with the axis center line of the propeller shaft of the coaxial helicopter by using the first laser line projector and the second laser line projector, and the second laser line projector passes through the center of a lifting rope suspending the coaxial helicopter. In order to ensure that the laser surface of the first laser line projector and the laser surface of the second laser line projector are respectively vertical to the projection wall, a plurality of lines vertical to the projection wall are measured on the ground, and the vertical lines can be realized by a ruler drawing method, so that the lines of the laser surfaces projected on the ground at the same time are equidistant to the lines.
To be able to display the required projection on the projection surface, the coaxial helicopter is dropped, pushed elsewhere, the first and second laser line projectors are left in place and all the lines are projected onto the projection wall.
In the embodiment of the invention, the horizontal gravity center can be directly measured by using the horizontal gravity center measuring tool or more than three platform scales so as to calculate the longitudinal gravity center of the coaxial helicopter, and compared with the prior art, the longitudinal gravity center of the coaxial helicopter does not need a wedge-shaped cushion block, thereby omitting the complex work of installation and leveling of the wedge-shaped cushion block and reducing the preparation workload. And, based on the relatively accurate horizontal center of gravity, the resulting longitudinal center of gravity is relatively accurate. The further determination of the longitudinal centre of gravity of the coaxial helicopter is more accurate. Therefore, on the basis that the horizontal center of gravity is relatively accurate, the accuracy of the measured longitudinal center of gravity is improved, and larger errors possibly introduced by the longitudinal center of gravity compared with the prior art are reduced.
In a possible implementation, the calculation means are configured to determine the longitudinal center of gravity of the coaxial helicopter using an angle calculation formula;
wherein,the angle calculation formula is
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresents the longitudinal barycentric coordinate y of the coaxial helicopter, the OH represents the position height of the suspension point H in a coordinate system relative to the body of the coaxial helicopter, the OGxThe horizontal barycentric coordinate x of the coaxial helicopter is shown, and the theta represents the inclination angle of the axis center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
In one possible implementation, the computing tool is configured to
Determining the proportion of the side of the shaft center line of one triangle containing the inclination angle and the side of the lifting rope in the vertical direction to two corresponding sides in another similar triangle by using a first included angle, a second included angle and a shared third included angle, wherein the first included angle is a right angle between the projection of the first laser line and the projection of a second laser line, the second included angle is a right angle between the projection of the third laser line and the projection of a fourth laser line, the second laser line is the laser line which is emitted by the first laser line projector and is vertical to the first laser line, the fourth laser line is the laser line which is emitted by the second laser line projector and is vertical to the third laser line, and the third included angle is the included angle between the projection of the first laser line and the projection of the fourth laser line;
determining a longitudinal center of gravity of the coaxial helicopter based on a longitudinal center of gravity calculation formula;
wherein the longitudinal center of gravity is calculated by the formula
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresents the longitudinal barycentric coordinate y of the coaxial helicopter, the OH represents the position height of the suspension point H in a coordinate system relative to the body of the coaxial helicopter, the OGxRepresents the sum ofHorizontal x barycentric coordinates of an axial helicopter, said
In the above ratio, CH is one side of the other triangle, BH is the other side of the other triangle, C is an intersection of the second laser line and the fourth laser line, and B is an intersection of the first laser line and the third laser line.
In a possible implementation, the calculation means are also configured to average the longitudinal center of gravity of the coaxial helicopter determined by a preset number of measurements as the longitudinal center of gravity of the coaxial helicopter, with a change in the suspension point at the axis of the propeller of the coaxial helicopter. Wherein, the gravity center and the height of the coaxial helicopter are calculated from the overall gravity center of the suspension tool and the coaxial helicopter by utilizing a gravity center synthetic formula each time.
The embodiment of the invention has wide application, can measure the longitudinal gravity center of the airplane by using a plurality of platform scales, one lifting device and a demarcation device, and has wide application range.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (12)
1. A method of measuring the longitudinal center of gravity of a coaxial helicopter, comprising:
acquiring the horizontal center of gravity of the coaxial helicopter;
acquiring an inclination angle of an axial center line of a paddle shaft of the coaxial helicopter relative to a vertical direction of the lifting rope under the condition that the coaxial helicopter is lifted and suspended;
obtaining position coordinates of the suspension point in a coordinate system relative to the coaxial helicopter body;
and determining the longitudinal gravity center of the coaxial helicopter by utilizing the corresponding relation among the position coordinate, the inclination angle and the relative distance between the horizontal gravity center and the shaft center line.
2. The method of claim 1, wherein said obtaining an angle of inclination of an axial centerline of a paddle shaft of the coaxial helicopter with respect to a direction plumbed with the hoist line comprises:
and acquiring the inclination angle of the axis center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope by using an angle sensor arranged on the paddle shaft.
3. The method of claim 1, wherein said obtaining an angle of inclination of an axial centerline of a paddle shaft of the coaxial helicopter with respect to a direction plumbed with the hoist line comprises:
acquiring a projection projected on a projection surface, the projection comprising: the horizontal plane of the coaxial helicopter, the projections of a first laser line emitted by a first laser line projector and a third laser line emitted by a second laser line projector are respectively perpendicular to the laser plane of the first laser line projector and the laser plane of the second laser line projector, the first laser line is projected on the center of the lifting rope, the third laser line is projected on the axial center line of a paddle shaft of the coaxial helicopter, and the projection of the first laser line and the projection of the third laser line are intersected at the hanging point;
taking the projection of the first laser line as the vertical direction of the lifting rope;
and taking an included angle between the projection of the first laser line and the projection of the third laser line as an inclination angle of an axial center line of a paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
4. The method of claim 1, wherein said determining a longitudinal center of gravity of said coaxial helicopter using a correspondence between said position coordinates, said tilt angle, and a relative distance of said horizontal center of gravity from said axial centerline comprises:
determining the longitudinal center of gravity of the coaxial helicopter by adopting an angle calculation formula;
wherein the angle calculation formula is
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresents the longitudinal barycentric coordinate y of the coaxial helicopter, the OH represents the position height of the suspension point H in a coordinate system relative to the body of the coaxial helicopter, the OGxThe horizontal barycentric coordinate x of the coaxial helicopter is shown, and the theta represents the inclination angle of the axis center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
5. The method of claim 3, wherein said determining a longitudinal center of gravity of said coaxial helicopter using a correspondence between said position coordinates, said tilt angle, and a relative distance of said horizontal center of gravity from said axial centerline comprises:
determining the proportion of the side of the shaft center line of one triangle containing the inclination angle and the side of the lifting rope in the vertical direction to two corresponding sides in another similar triangle by using a first included angle, a second included angle and a shared third included angle, wherein the first included angle is a right angle between the projection of the first laser line and the projection of a second laser line, the second included angle is a right angle between the projection of the third laser line and the projection of a fourth laser line, the second laser line is the laser line which is emitted by the first laser line projector and is vertical to the first laser line, the fourth laser line is the laser line which is emitted by the second laser line projector and is vertical to the third laser line, and the third included angle is the included angle between the projection of the first laser line and the projection of the fourth laser line;
determining a longitudinal center of gravity of the coaxial helicopter based on a longitudinal center of gravity calculation formula;
wherein the longitudinal center of gravity is calculated by the formula
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresents the longitudinal barycentric coordinate y of the coaxial helicopter, the OH represents the position height of the suspension point H in a coordinate system relative to the body of the coaxial helicopter, the OGxRepresents the horizontal barycentric coordinate x of said coaxial helicopter, said
In the ratio, CH is an edge of the other triangle, BH is an edge of the other triangle, C is an intersection of the second laser line and the fourth laser line, and B is an intersection of the first laser line and the third laser lineAnd (4) point.
6. The method of any of claims 1 to 3, further comprising:
and returning to continue to execute the step of acquiring the horizontal center of gravity of the coaxial helicopter under the condition of changing the suspension point of the paddle shaft of the coaxial helicopter, and averaging the longitudinal center of gravity of the coaxial helicopter determined by the preset measuring times to be used as the longitudinal center of gravity of the coaxial helicopter.
7. A longitudinal center of gravity measurement device for a coaxial helicopter, comprising:
lifting the suspension tool of the inner shaft of the airplane;
the lifting rope is arranged on the suspension tool and detachably connected to a lifting point of a propeller shaft of the coaxial helicopter, and the suspension tool suspends the coaxial helicopter in the air through the lifting rope;
the horizontal gravity center measuring tool is used for measuring the horizontal gravity center of the coaxial helicopter;
under the condition that the coaxial helicopter is hoisted in the air, an angle measuring tool is used for measuring the inclination angle of the axial center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope;
a height finding tool for measuring position coordinates of the suspension point in a coordinate system relative to the coaxial helicopter body;
and the calculation tool is used for determining the longitudinal gravity center of the coaxial helicopter by utilizing the corresponding relation among the position coordinate, the inclination angle and the relative distance between the horizontal gravity center and the shaft center line.
8. The apparatus of claim 7, wherein the angle measurement tool comprises: and the angle sensor is arranged on the paddle shaft and is used for measuring the inclination angle of the shaft center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
9. The apparatus of claim 7, wherein the angle measurement tool comprises: the laser line projector comprises a first laser line projector and a second laser line projector;
the first laser line projector is used for emitting a first laser line and a second laser line perpendicular to the first laser line, and the first laser line is projected on the axis center line of a paddle shaft of the coaxial helicopter;
the second laser line projector is used for emitting a third laser line and a fourth laser line perpendicular to the third laser line, the third laser line is projected on the axial center line of a paddle shaft of the coaxial helicopter, and the first laser line and the third laser line are intersected at the hanging point;
the device further comprises:
a projection plane, which is perpendicular to the laser plane of the first laser line projector and the laser plane of the second laser line projector, respectively, and the horizontal plane of the coaxial helicopter, the first laser line, the second laser line, the third laser line and the fourth laser line are projected on the projection plane respectively to form the projection of the projection plane;
taking the projection of the first laser line as the vertical direction of the lifting rope;
and taking an included angle between the projection of the first laser line and the projection of the third laser line as an inclination angle of an axial center line of a paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
10. The apparatus of claim 7, wherein said calculation means is adapted to determine a longitudinal center of gravity of said coaxial helicopter using an angle calculation formula;
wherein the angle calculation formula is
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresents the longitudinal barycentric coordinate y of said coaxial helicopter, said OH represents said lifting point H with respect to said coaxial helicopterHeight of position in the coordinate system of the machine body, said OGxThe horizontal barycentric coordinate x of the coaxial helicopter is shown, and the theta represents the inclination angle of the axis center line of the paddle shaft of the coaxial helicopter relative to the vertical direction of the lifting rope.
11. The apparatus of claim 9, wherein the computing means is for
Determining the proportion of the side of the shaft center line of one triangle containing the inclination angle and the side of the lifting rope in the vertical direction to two corresponding sides in another similar triangle by using a first included angle, a second included angle and a shared third included angle, wherein the first included angle is a right angle between the projection of the first laser line and the projection of a second laser line, the second included angle is a right angle between the projection of the third laser line and the projection of a fourth laser line, the second laser line is the laser line which is emitted by the first laser line projector and is vertical to the first laser line, the fourth laser line is the laser line which is emitted by the second laser line projector and is vertical to the third laser line, and the third included angle is the included angle between the projection of the first laser line and the projection of the fourth laser line;
determining a longitudinal center of gravity of the coaxial helicopter based on a longitudinal center of gravity calculation formula;
wherein the longitudinal center of gravity is calculated by the formula
The O represents the intersection of the horizontal plane of the coaxial helicopter and the axis of the propeller, the OGyRepresenting the longitudinal y barycentric coordinate of said coaxial helicopter, said OH representing the position height of said suspension point H in a coordinate system with respect to the body of said coaxial helicopter, said OGxRepresents the horizontal barycentric coordinate x of said coaxial helicopter, said
For the ratio, the CH is an edge of the other triangle, and the BH is theAnd C is the intersection point of the second laser line and the fourth laser line, and B is the intersection point of the first laser line and the third laser line.
12. The apparatus of claim 7, wherein said computing means is further adapted to average the longitudinal center of gravity of said coaxial helicopter determined a predetermined number of measurements as the longitudinal center of gravity of said coaxial helicopter with a change in the suspension point at the axis of the propeller of said coaxial helicopter.
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