CN111284730A

CN111284730A - Rotor craft comprehensive test experiment simulation platform and test method

Info

Publication number: CN111284730A
Application number: CN202010212089.3A
Authority: CN
Inventors: 张永立; 段海龙; 李洪兴
Original assignee: Tianjin University of Technology and Education China Vocational Training Instructor Training Center; Beijing Institute of Technology Zhuhai
Current assignee: Tianjin University of Technology and Education China Vocational Training Instructor Training Center; Beijing Institute of Technology Zhuhai
Priority date: 2020-03-24
Filing date: 2020-03-24
Publication date: 2020-06-16

Abstract

The invention relates to a comprehensive test experiment simulation platform of a rotorcraft, which comprises a platform bracket, a three-rotational-freedom-degree assembly, a moving slide rod, a space rotating mechanism and a flexible four-cable moving mechanism, wherein the flexible four-cable moving mechanism comprises four groups of tension sensing assemblies and springs; one end of the moving slide rod is connected with the three-rotational-freedom-degree assembly, the other end of the moving slide rod penetrates through the space rotating mechanism to be connected with one end of the spring, and the other end of the spring is fixedly connected with the side wall of the platform support through the tension sensing assembly; the space motion mechanism can provide six-freedom-degree simulated flight of lifting, left-right, front-back, pitching, rolling and yawing within a certain range for the rotor craft; the flexible attitude detection device can detect the angle and position information of the space motion mechanism, and the real-time state of the rotor craft can be obtained by resolving the information. The invention integrates the functions of training, experiment, teaching, scientific research and the like, and can realize the accurate detection of the space position, the space posture and the load vector force of the rotorcraft.

Description

Rotor craft comprehensive test experiment simulation platform and test method

Technical Field

The invention belongs to the technical field of testing of a rotorcraft, and particularly relates to a comprehensive testing experiment simulation platform and a testing method of the rotorcraft.

Background

At present, the development of aircraft control faces unprecedented opportunities and challenges, and the application of the rotor craft is more and more extensive, relating to the fields of military use, civil use, education, scientific research and the like. On one hand, the development of new aircraft technologies is changing day by day, and further theoretical and method researches need to be strengthened, the research of integrating control, calculation and communication facing to an information environment and the research of integrating control, decision and management needs to be strengthened. The method and the system have the advantages that the complex dynamics model of the aircraft, the multidisciplinary cross analysis and design characteristics, the methods of compound control, decoupling control and reconstruction control, the real-time algorithm, the anti-interference accurate control, the unmanned system autonomy, the situation perception and evaluation, the uncertainty adaptability and other contents are researched, and higher requirements are provided for the test and the experiment of the aircraft and the flight effect of the aircraft. On the other hand, with the development of artificial intelligence technology and unmanned autonomous technology, the rotorcraft gradually moves into classrooms of universities, high school schools, middle schools and primary schools as a science-popularization intelligent technology, and meanwhile, the rotorcraft technology is used as a robot extended training project in many areas to develop different levels of competition activities of the large, middle and primary schools. At present, an experimental platform of a rotor craft is generally used for training with single function, has no functions of man-machine interaction and the like, can finish relatively low degree of freedom, cannot realize flight simulation of the three-dimensional six-degree-of-freedom of the craft, and is difficult to achieve the aims of visual, high-precision and multi-information testing effect and experiment and training.

In addition, in the simulated flight of the rotorcraft, the difficulty in detecting the space load vector force and the aircraft position is relatively high due to the limitation of the selection and installation conditions of the sensors.

Therefore, based on the problems, the comprehensive test experiment simulation platform and the test method for the rotorcraft, which integrate functions of training, experiments, teaching, scientific research and the like and can realize accurate detection of the space position, the space attitude and the load vector force of the rotorcraft, have important practical significance.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a comprehensive test experiment simulation platform and a test method for the rotorcraft, which integrate the functions of training, experiments, teaching, scientific research and the like and can realize the accurate detection of the space position, the space posture and the load vector force of the rotorcraft.

The technical problem to be solved by the invention is realized by adopting the following technical scheme:

a rotor craft comprehensive test experiment simulation platform comprises a platform bracket, a space motion mechanism and a flexible attitude detection device, wherein the space motion mechanism comprises a three-rotational-freedom-degree assembly and a motion sliding rod; the flexible attitude detection device comprises a space rotating mechanism and a flexible four-cable movement mechanism, wherein the flexible four-cable movement mechanism comprises four groups of tension sensing assemblies and springs; the space rotating mechanism is fixed on the platform support, one end of the moving sliding rod is connected with the three-rotational-freedom-degree assembly, the other end of the moving sliding rod penetrates through the space rotating mechanism to be connected with one end of the spring, and the other end of the spring is fixedly connected with the side wall of the platform support through the tension sensing assembly;

the rotorcraft can be arranged on the top of the three-rotational-freedom-degree assembly, and the space motion mechanism can provide six-freedom-degree simulated flight of lifting, left-right, front-back, pitching, rolling and yawing within a certain range for the rotorcraft;

the flexible attitude detection device can detect the angle and position information of the space motion mechanism, and the real-time state of the rotor craft can be obtained by resolving the information.

Furthermore, the three-rotational-freedom-degree assembly comprises an x ' rotating shaft, an x ' right bearing support, an x ' left bearing support, a y ' rotating shaft, a y ' bearing support, a conductive sliding ring, a z ' rotating shaft, a z ' bearing sleeve and an aircraft fixing supporting plate; the y-shaped bearing support is of a doorframe-shaped structure, and one end of the moving slide rod is fixedly connected with one end of the z-shaped rotating shaft; the z-shaped rotating shaft is connected with the z-shaped bearing sleeve through a z-shaped bearing, so that the z-shaped bearing sleeve can rotate around the z-shaped rotating shaft, the upper end of the z-shaped bearing sleeve is fixedly connected with a z-shaped bearing end cover, one end of the conductive slip ring is inserted into the z-shaped bearing end cover, the y bearing support is fixed on the upper end surface of the z bearing end cover and can rotate along with the z bearing sleeve, the y rotating shaft is fixed on two side walls of the y bearing support through a bearing, the y rotating shaft is orthogonally inserted into the middle position of the x rotating shaft, and is fixedly connected with the x 'rotating shaft, two ends of the x' rotating shaft are respectively connected with the x 'left bearing support and the x' right bearing support through bearings, the x ' left bearing support and the x ' right bearing support are fixedly connected with the aircraft fixing support plate, and the x ' left bearing support and the x ' right bearing support are located at two ends of the y ' bearing support.

Further, the space rotating mechanism comprises a first frame structure, a second frame structure, a pair of rotating shafts, a pair of encoder fixing rotating shafts and a linear bearing sleeve, the second frame structure is located in the first frame structure, a through hole is formed in the linear bearing sleeve, and a linear bearing is embedded in the through hole; the first frame structure comprises a pair of x '-axis fixed frame side plates and a pair of x' -axis mounting plates, and two ends of the pair of x '-axis fixed frame side plates are respectively and fixedly connected with two ends of the pair of x' -axis mounting plates, so that a frame structure is formed; the second frame structure comprises a pair of y 'axis fixed frame side plates and a pair of y' rotating shaft mounting plates, and two ends of the pair of y 'axis fixed frame side plates are respectively and fixedly connected with two ends of the pair of y' rotating shaft mounting plates, so that a frame structure is formed;

the rotating shaft and the encoder fixing rotating shaft are respectively fixed on two opposite sides of the linear bearing sleeve, the rotating shaft and the encoder fixing rotating shaft are respectively assembled with a pair of y 'rotating shaft mounting plates through bearings, the encoder fixing rotating shaft penetrates through the y' rotating shaft mounting plates, and the tail end of the encoder fixing rotating shaft is fixedly provided with a hollow shaft rotary encoder;

and the other one of the rotating shaft and the other one of the encoder fixing rotating shafts are respectively fixed on the pair of y ' shaft fixing frame side plates, the rotating shaft and the encoder fixing rotating shaft are respectively assembled with the pair of x ' rotating shaft mounting plates through bearings, the encoder fixing rotating shaft penetrates through the x ' rotating shaft mounting plates, and the tail ends of the encoder fixing rotating shafts are fixedly provided with hollow shaft rotary encoders.

Furthermore, the tension sensing assembly comprises a tension sensor mounting plate, a tension sensor and a universal coupling, the tension sensor mounting plate is mounted on an upright post of the platform support and is connected with the tension sensor through the universal coupling, the tension sensor is fixedly connected with a spring, the other end of the spring is fixedly connected with a flange plate, and one end of the moving sliding rod penetrates through a linear bearing of the space rotating mechanism and is fixedly connected with the middle position of the flange plate.

Further, in the initial state before the simulated flight of the rotorcraft, the elastic forces of the four springs are balanced with the gravity of the rotorcraft and the space motion mechanism, so that the additional load of the rotorcraft during the simulated flight is counteracted.

Furthermore, the platform support is provided with at least four upright columns which are symmetrically distributed, so that four groups of tension sensing assemblies are respectively arranged on the four upright columns.

Further, the mounting height of the universal joint on the tension sensor mounting plate can be adjusted.

A method for testing a rotorcraft by using a rotorcraft comprehensive test experiment simulation platform comprises the following steps:

pitching, rolling and yawing postures of the rotorcraft are detected: the pitching, rolling and yawing postures of the rotorcraft are collected through a gyroscope sensor in a flight control system of the rotorcraft and are transmitted to an upper computer through a communication interface of the flight control system and a transmission line;

detecting the three-dimensional space position of the rotor aircraft: according to the structural geometric relationship between the space rotating mechanism and the space motion mechanism, a rotor craft position motion model is established, so that the real-time space position of the rotor craft is obtained;

detection of three-dimensional space load vector force of a rotorcraft: according to the geometric relationship between the flexible four-cable motion mechanism and the motion slide rod and the elasticity law, a space vector force moment model borne by the lower end of the motion slide rod is established, and the space load vector force of the rotor craft is obtained through analysis according to the multi-rigid-body dynamics principle.

The invention has the advantages and positive effects that:

1. the space motion mechanism is used for bearing the rotor craft and providing space simulation flight with six degrees of freedom including lifting, left-right, front-back, pitching, rolling and yawing within a safety range for the rotor craft; the flexible attitude detection device is characterized in that a space rotating mechanism is combined with a flexible four-cable movement mechanism, angle and position information of the space movement mechanism in space is detected, the information is transmitted to an upper computer, and the real-time state of the rotor craft is calculated through a certain algorithm by combining the geometric structure and the mechanical characteristics of each physical device;

2. the invention utilizes four groups of tension sensing assemblies and springs to detect the position and the stress condition of the lower end of the space flight mechanism, and then establishes a mathematical model of the aircraft position and the space load vector force by rigid motion, a dynamic mechanism and a coordinate transformation method, thereby solving the real-time position of the aircraft and the received space load vector force; the flexible four-cable movement mechanism can detect the position of the aircraft and the received space load vector force on one hand, and on the other hand, the flexible four-cable movement mechanism is used as a position constraint mechanism of the aircraft, so that the flexible four-cable movement mechanism plays a role in protection when the aircraft is out of control in the flight simulation process, and unnecessary faults and injuries are avoided;

3. the invention integrates the functions of training, experiment, teaching, scientific research and the like, has simple and advanced detection method, can realize the accurate detection of the space position, the space attitude and the load vector force of the aircraft, and has great significance for further promoting the development of the theory and technology of the rotor craft, the expansion of the application field, the popularization of intelligent technology education and the training and cultivation of relevant application talents.

Drawings

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus do not limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.

Fig. 1 is a schematic structural diagram of a simulation platform of a comprehensive test experiment of a rotorcraft according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the rotary wing aircraft, with the operating deck, side plate of the gantry, and the operating deck removed from FIG. 1;

fig. 3 is a schematic structural diagram of a spatial motion mechanism provided in an embodiment of the present invention;

FIG. 4 is a sectional view of the spatial movement mechanism provided in the embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a three-DOF assembly of a spatial motion mechanism provided in an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an x "right bearing support and an x" left bearing support of the spatial motion mechanism provided in the embodiment of the present invention;

FIG. 7 is a schematic structural diagram of an x "axis of rotation of a spatial motion mechanism provided in an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of the y "axis of rotation of the spatial movement mechanism provided in the embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a y "bearing support of the spatial movement mechanism provided in an embodiment of the present invention;

fig. 10 is a schematic structural view of a conductive slip ring of the spatial motion mechanism provided in the embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a z "axis of rotation of a spatial motion mechanism provided in an embodiment of the present invention;

FIG. 12 is a schematic structural view of a z "bearing sleeve of a spatial motion mechanism provided in an embodiment of the present invention;

FIG. 13 is a schematic structural view of a z "bearing end cap of a spatial motion mechanism provided in an embodiment of the present invention;

FIG. 14 is a schematic structural view of an x "bearing end cap of a spatial motion mechanism provided in an embodiment of the present invention;

fig. 15 is a schematic structural view of a rotary wing vehicle test experiment space rotating mechanism provided in an embodiment of the present invention;

fig. 16 is a schematic structural view of a fixing frame M provided in an embodiment of the present invention;

fig. 17 is a schematic structural view of a frame Y provided in the embodiment of the present invention;

fig. 18 is a schematic structural view of a rotating body S provided in the embodiment of the present invention;

fig. 19 is a schematic structural diagram of a fixed rotating shaft of an encoder provided in an embodiment of the present invention;

FIG. 20 is a schematic structural diagram of a spindle according to an embodiment of the present invention;

FIG. 21 is a schematic structural view of a tension sensing assembly provided in an embodiment of the present invention;

fig. 22 is a schematic structural diagram of signal transmission provided in the embodiment of the present invention;

FIG. 23 is a simplified structural schematic provided in an embodiment of the present invention;

FIG. 24 is a schematic projection diagram of E-point location coordinates provided in an embodiment of the present invention;

FIG. 25 is a schematic view of a translation of the aircraft spatial position coordinates provided in an embodiment of the present invention;

fig. 26 is a schematic view of an aircraft load vector force analysis provided in an embodiment of the present invention.

Detailed Description

First, it should be noted that the specific structures, features, advantages, etc. of the present invention will be specifically described below by way of example, but all the descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any single feature described or implicit in any embodiment or any single feature shown or implicit in any drawing may still be combined or subtracted between any of the features (or equivalents thereof) to obtain still further embodiments of the invention that may not be directly mentioned herein. In addition, for the sake of simplicity, the same or similar features may be indicated in only one place in the same drawing.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The present invention will be specifically described with reference to fig. 1 to 26.

Example 1

As shown in fig. 1 to 26, the comprehensive test experiment simulation platform for the rotorcraft provided in the embodiment includes a platform support 5, a spatial motion mechanism 2, and a flexible attitude detection device, where the spatial motion mechanism 2 includes a three-rotational-degree-of-freedom assembly and a motion slide bar 7; the flexible attitude detection device comprises a space rotating mechanism 8 and a flexible four-cable movement mechanism, wherein the flexible four-cable movement mechanism comprises four groups of tension sensing assemblies 9 and springs 10; the space rotating mechanism 8 is fixed on the platform support 5, one end of the moving slide rod is connected with the three-rotational-freedom-degree assembly, the other end of the moving slide rod penetrates through the space rotating mechanism 8 to be connected with one end of a spring, and the other end of the spring is fixedly connected with the side wall of the platform support 5 through a tension sensing assembly;

the rotorcraft 3 can be arranged on the top of the three-rotational-freedom-degree assembly, and the space motion mechanism 2 can provide six-freedom-degree simulated flight of lifting, left-right, front-back, pitching, rolling and yawing within a certain range for the rotorcraft 3;

the flexible attitude detection device can detect the angle and position information of the space motion mechanism 2, and the real-time state of the rotor craft 3 can be obtained by resolving the information.

As shown in fig. 1, the top surface of the platform support 5 is covered with an operation table board 1, and a rack side board 4 is fixed around the platform support 5.

The spatial motion mechanism provided by the embodiment comprises a three-rotational-degree-of-freedom assembly 6 and a motion slide bar 7, wherein the three-rotational-degree-of-freedom assembly 6 comprises an x ' rotating shaft 14, an x ' right bearing support 23, an x ' left bearing support 12, a y ' rotating shaft 15, a y ' bearing support 16, a conductive sliding ring 17, a z ' rotating shaft 19, a z ' bearing sleeve 21 and an aircraft fixing supporting plate 24; the y-shaped bearing support 16 is of a doorframe-shaped structure, and one end of the moving slide rod 7 is fixedly connected with one end of the z-shaped rotating shaft 19; the z "rotating shaft 19 is connected with a z" bearing sleeve 21 through a z "bearing 18, so that the z" bearing sleeve 21 can rotate around the z "rotating shaft 19, the upper end of the z" bearing sleeve 21 is fixedly connected with a z "bearing end cover 22, in this embodiment, the z" bearing sleeve 21 is fixed together through a screw, one end of the conductive slip ring 17 is inserted into the z "bearing end cover 22 and is matched and installed with a groove at the top of the z" rotating shaft 19 through a protrusion at the lower end thereof, the y "bearing support 16 is fixed on the upper end surface of the z" bearing end cover 22 and can rotate along with the z "bearing sleeve 21, the y" rotating shaft 15 is fixed on two side walls of the y "bearing support 16 through bearings, the y" rotating shaft 15 is inserted orthogonally into the middle position of the x "rotating shaft 14 and is fixedly connected with the x" rotating shaft 14, two ends of the x "rotating shaft 14 are respectively connected with the x" left bearing support 12 and the x "right, the x 'left bearing support 12 and the x' right bearing support 23 are respectively provided with an x 'bearing end cover 25, the x' left bearing support 12 and the x 'right bearing support 23 are fixedly connected with the aircraft fixing supporting plate 24 through screws, and the x' left bearing support 12 and the x 'right bearing support 23 are positioned at two ends of the y' bearing support 16.

Specifically, in this embodiment, two mutually orthogonal holes are formed in the x "rotating shaft 14, the y" rotating shaft 15 is orthogonally inserted into one hole of the x "rotating shaft 14, a threaded hole is formed in the y" rotating shaft 15, and after the y "rotating shaft 15 is inserted into one hole of the x" rotating shaft 14, the threaded hole in the y "rotating shaft 15 is aligned with the other hole of the x" rotating shaft 14 and is fixed by a screw, so that a cross structure is formed.

Furthermore, it is further considered that the z ″ rotating shaft 19 and the moving slide bar 7 are hollow shafts, and a lower outlet wire of the conductive slip ring 17 can pass through the z ″ rotating shaft 19 and the moving slide bar 7 to be connected with a communication interface of an upper computer; the center of the y-shaped bearing support 16 is provided with a central hole, two sides of the y-shaped bearing support are respectively provided with a side hole, and an outlet wire at the upper end of the conductive slip ring 17 can penetrate out of the central hole of the y-shaped bearing support 16 and penetrate out through the side holes.

In this embodiment, the inner hole of the moving slide bar 7 is provided with an internal thread, the lower end of the z "rotating shaft 19 is provided with an external thread, and the moving slide bar 7 is fixedly connected with the z" rotating shaft 19 through a thread.

Furthermore, in the present embodiment, a supporting plate 20 is radially disposed around the cylindrical conductive slip ring 17, the z "bearing cap 22 has a through hole, one end of the conductive slip ring 17 is inserted into the through hole of the z" bearing cap 22 and is clamped on the z "bearing cap 22 by the supporting plate 20, such that the z" rotating shaft 19 is limited from moving axially by the supporting plate 20 after assembly, and the protrusion 1701 at one end of the conductive slip ring 17 is installed to match with the groove 1901 at the top of the z "rotating shaft 19.

The spatial rotating mechanism of the embodiment comprises a first frame structure, a second frame structure, a pair of rotating shafts, a pair of encoder fixing rotating shafts and a linear bearing sleeve 34, wherein the second frame structure is positioned in the first frame structure, a through hole is formed in the linear bearing sleeve 34, and a linear bearing 33 is embedded in the through hole; the first frame structure comprises a pair of x 'axis fixed frame side plates and a pair of x' axis mounting plates, wherein two ends of the pair of x 'axis fixed frame side plates are respectively and fixedly connected with two ends of the pair of x' axis mounting plates so as to form a frame structure; specifically, the method comprises the following steps: threaded holes are formed in the universal rotating mechanism mounting side plate 36 and the universal rotating mechanism mounting side plate 36, and the universal rotating mechanism mounting side plate is fixed with the x 'shaft fixing frame side plate 29 and the x' shaft fixing frame side plate 29 through bolts; the end surfaces of the x 'rotating shaft mounting plate 30 and the x' rotating shaft mounting plate 30 are provided with threaded holes, and the threaded holes are fixed with the two x 'shaft fixing frame side plates 29 and the x' shaft fixing frame side plates 29 through screws to form a fixing frame M, as shown in FIG. 16;

the second frame structure comprises a pair of y 'axis fixed frame side plates and a pair of y' rotating shaft mounting plates, and two ends of the pair of y 'axis fixed frame side plates are respectively and fixedly connected with two ends of the pair of y' rotating shaft mounting plates, so that a frame structure is formed; one the pivot and an encoder fixed rotating shaft are fixed respectively on a pair of y ' axle fixed frame curb plate, just pivot and encoder fixed rotating shaft pass through the bearing respectively with a pair of x ' pivot mounting panel assembly, and the encoder fixed rotating shaft passes x ' pivot mounting panel, and its end is fixed and is equipped with quill shaft rotary encoder. Specifically, the method comprises the following steps: the flange surface of the encoder fixing rotating shaft 37 is mounted on the Y ' shaft fixing frame side plate 31 through mutually matched screws, the flange surface of the rotating shaft 32 is mounted on the Y ' shaft fixing frame side plate 31 through mutually matched screws, threaded holes are formed in the end surfaces of the Y ' shaft fixing

frame side plates

31 and 31, the two Y ' shaft fixing

frame side plates

31 and 31 are assembled between the two Y ' rotating

shaft mounting plates

35 and 35 through bolts, and due to the symmetrical structure, a frame Y capable of rotating around the encoder fixing rotating shaft 37 and the rotating shaft 32 is formed, as shown in fig. 17; the encoder fixing rotating shaft 37 penetrates through the x 'rotating shaft mounting plate 30 through a bearing, the rotating shaft 32 is mounted on the x' rotating shaft mounting plate 30 through a bearing, the frame Y can rotate around the x 'shaft, and the hollow shaft rotating encoder 28 is mounted on the encoder fixing rotating shaft 37 and can detect the rotating angle of the frame Y around the x' shaft;

the rotating shaft and the encoder fixing rotating shaft are respectively fixed on two opposite sides of the linear bearing sleeve, the rotating shaft and the encoder fixing rotating shaft are respectively assembled with a pair of y 'rotating shaft mounting plates through bearings, the encoder fixing rotating shaft penetrates through the y' rotating shaft mounting plates, and the tail end of the encoder fixing rotating shaft is fixedly provided with a hollow shaft rotary encoder; specifically, the method comprises the following steps: the flange surface of the encoder fixed rotating shaft 37 is assembled on the left side surface of the linear bearing sleeve 34 through screws, and the flange surface of the rotating shaft 32 is assembled on the right side surface of the linear bearing sleeve 34 through screws to form a rotating body S, as shown in fig. 18; the linear bearing sleeve 34 is provided with an inner hole, and the linear bearing 33 is embedded in the inner hole of the linear bearing sleeve 34; the encoder fixed rotating shaft 37 is assembled on the y ' rotating shaft mounting plate 35 through a bearing, the rotating shaft 32 is assembled on the y ' rotating shaft mounting plate 35 through a bearing, and the hollow shaft rotary encoder 28 is installed on the encoder fixed rotating shaft 37 and can detect the rotating angle of the rotating body S around the y ' axis;

the upper parts of the left and right universal rotating mechanism mounting

side plates

36 and 36 of the space rotating mechanism 8 are respectively provided with two screw holes, the two screw holes are respectively mounted between the left universal rotating mechanism mounting bracket 26 and the right universal rotating mechanism mounting bracket 27 through screws, and the left universal rotating mechanism mounting bracket 26 and the right universal rotating mechanism mounting bracket 27 are mounted on the platform bracket 5.

It should be noted that, as shown in fig. 20, the diameter of the spindle is changed to adapt to the bearing holes of the x 'spindle mounting plate 30 and the y' spindle mounting plate 35; similarly, the encoder fixes the rotating shaft, as shown in fig. 5, and also can be made into a diameter-variable structure for the purpose of convenient installation; in addition, the hollow shaft rotary encoder 28 and the hollow shaft rotary encoder 28 may be any conventional ones.

The frame M, the frame Y, the rotator S, the hollow shaft rotary encoder 28 and the hollow shaft rotary encoder 28 form a rotary mechanism, the rotorcraft can be connected with one end of a sliding rod, the sliding rod can slide up and down along the linear bearing 33 by penetrating the sliding rod through the linear bearing 33 in the middle, and can rotate in space around the center of the rotary mechanism together with the rotator S, and due to structural limitation, the flying requirements of the aircraft on three degrees of freedom of lifting, front and back, left and right in a safety range can be met.

The tension sensing assembly 9 comprises a tension sensor mounting plate 38, a tension sensor 39 and a universal coupling 40, wherein the tension sensor mounting plate 38 is mounted on an upright post of the platform support 5, the tension sensor mounting plate 38 is connected with the tension sensor 39 through the universal coupling 40, the tension sensor 39 is fixedly connected with a spring, the other end of the spring is fixedly connected with the flange plate 11, and one end of the moving sliding rod penetrates through a linear bearing of the space rotating mechanism 8 and is fixedly connected with the middle position of the flange plate 11.

In the initial state before the simulated flight of the rotorcraft 3, the elastic forces of the four springs are balanced with the gravity of the rotorcraft 3 and the spatial movement mechanism 2, so that the additional load of the rotorcraft during the simulated flight is offset.

Specifically, the method comprises the following steps: the middle of the flange plate 11 is provided with a threaded hole and is connected with the moving slide rod 7 through threaded fit; four holes on the flange plate 11 are respectively connected with 4 springs 10 in a hanging mode, the other end of each spring 10 is connected with a tension sensor 39 in a hanging mode, each tension sensor is installed on a tension sensor installation plate 38 through a universal coupling 40, three holes a, b and c are formed in each tension sensor installation plate 38 and used for fine adjustment of installation height of each tension sensor, and each tension sensor installation plate 38 is fixed on an upright post of the platform support 5 through screws; and the platform support 5 has at least four upright posts which are symmetrically distributed, so that four groups of tension sensing assemblies 9 are respectively arranged on the four upright posts.

It should be noted that the mounting plate 38 of the tension sensor is provided with mounting holes g, h and 3 mounting holes a, b, c, and the mounting plate 38 of the tension sensor is mounted on the platform bracket 5 through screws at the positions of the mounting holes g, h; the two ends of the universal coupling 40 are provided with threaded holes, the universal coupling 40 is fixed on the tension sensor mounting plate 38 through screws at the position of the mounting hole b, mounting screws are arranged at the two ends of the tension sensor 39, the screw at one end is provided with a small hole, the hole-free end is connected with the universal coupling through matching threaded fit, one end of the tension sensor 39, provided with the small hole, is used for hanging the spring 10, and the other end of the spring is hung on the flange plate 11;

it should be noted that the moving sliding rod 7 has a certain rigidity or slightly bendable elasticity, and the material can be light aluminum alloy pipe, carbon fiber pipe, etc., but is not limited to other light materials.

The method for testing the rotor craft by utilizing the rotor craft comprehensive test experiment simulation platform mainly comprises the following three aspects:

detecting the three-dimensional space position of the rotor aircraft: according to the structural geometric relationship between the space rotating mechanism 8 and the space motion mechanism 2, a rotor aircraft position motion model is established, so that the real-time space position of the rotor aircraft is obtained;

detection of three-dimensional space load vector force of a rotorcraft: according to the geometric relationship between the flexible four-cable motion mechanism and the motion slide rod and the elasticity law, a space vector force moment model borne by the lower end of the motion slide rod 7 is established, and the space load vector force of the rotor craft is obtained through analysis according to the multi-rigid-body dynamics principle.

The test principle of the three aspects related to the test method is as follows: three attitude information of the space pitching, the rolling and the yawing of the rotorcraft 3 is detected by a gyroscope in a flight control system and is sent to an upper computer through a communication line; the hollow shaft rotary encoder 28 is used to detect the angle of rotation of the frame Y about the x' axis, namely: the angle of rotation of the moving slide 7 of the spatial movement mechanism 2 about the x 'axis, the hollow shaft rotary encoder 28 to detect the angle of rotation of the rotating body S about the y' axis, i.e.: the motion slide bar 7 of the space motion mechanism 2 rotates around the y' axis by an angle, and the output line of the encoder is directly transmitted to an upper computer; the tension sensor 39 is used for detecting the tension of the corresponding four springs 11, and the elongation of each spring can be detected by applying the law of elasticity;

the platform support 5 is a table type rack formed by aluminum alloy sections, the top surface is covered with an operation table board 1, the periphery of the platform support 5 is fixed with a table board side board 4, the operation table board 1 and the table board side board 4 are not limited to metal plates, as shown in figure 2, a coordinate system o-xyz is established by taking the center of a plane where four ABCD points of the platform support 5 are positioned as an original point, as shown in figure 23, coordinates of four points A, B, C, D are determined, and the lengths of four springs are respectively l₁、l₂、l₃、l₄Then, the coordinate of the E point in the coordinate system o-xyz can be solved by using the related mathematical theory knowledge; knowing that the length of the motion slide bar 7 is L, the angle of rotation of the motion slide bar 7 around the x 'axis and the y' axis passing through the coordinate system o '-x' y 'z' can be measured, and then the position of the spatial position of the rotorcraft, which is the N 'point, relative to the E point can be solved by using relevant mathematical theory knowledge, so that the coordinate of the spatial position of the rotorcraft, which is the N' point, in the coordinate system o-xyz can be solved, and the spatial position of the rotorcraft can be determined;

as shown in fig. 23, the forces on the four springs can be measured by the tension sensors, the directions of the forces can be determined according to the spatial position of the point E to obtain the vector relationship of the four spatial forces, and then the resultant force of the tension of the four springs at the point E can be calculated by using the correlation theory of the spatial force system, so that the vector force generated by the rotary-wing aircraft in space flight can be obtained by calculation, and then the component forces of the aircraft in the three axial directions of x, y, and z in the spatial coordinate system o-xyz are obtained by calculation, that is: lifting, left-right, front-back loading force.

Specifically, the method comprises the following steps of establishing an aircraft space attitude, position and load vector force detection model:

(1) aircraft space attitude detection method

The pitching, rolling and yawing gestures of the aircraft are detected by a gyroscope sensor arranged in a flight control system of the aircraft, and then are transmitted to an upper computer through a communication interface of the flight control system and a transmission line.

(2) Position model of lower end E of slide bar

As shown in fig. 23, the aircraft three-dimensional spatial position detection device is a spatial three-dimensional motion system composed of a spatial rotation mechanism 8 and a spatial motion mechanism 2, and establishes an aircraft position motion model according to a geometric relationship of the structure thereof, so as to obtain a real-time spatial position of the aircraft; the detection of the three-dimensional space load vector force of the aircraft is realized by that four springs 11 connected with the bottom end of a moving slide bar 7 and a flexible cable force measuring mechanism formed by a tension sensor establish a space vector force moment model borne by the lower end of the moving slide bar 7 according to the elasticity law and the geometric relation of the structure, and then the space load vector force model of the aircraft is obtained by analysis according to the multi-rigid-body dynamics principle;

as shown in FIG. 1 and FIG. 24, assuming that the length of the motion slide bar 7 is L, the length and width of the platform support 5 are equal, and are all 2a, on the plane o-xy in the A, B, C, D four-point coordinate system o-xyz, the A, B, C, D four-point coordinates are A (-a, a), B (-a, -a), C (a, -a), D (a, a), 4 springs are light springs, the performance is completely consistent, and the springs are selected according to the structure size of the motion slide bar and the motion limitation range, so as to ensure that the springs are all in the tension state and not in the completely relaxed state in the simulated flight process, and the original length is L₀The elastic coefficient is K; when the aircraft is at a standstill,4 springs are in a completely symmetrical state, under the action of gravity of the aircraft and the space motion mechanism, the point E is positioned below a plane o-xy, the aircraft is not allowed to fly too high for flight safety, the z-axis coordinate of the point E is required to BE negative, and the real-time lengths of the springs AE, BE, CE and DE are respectively l₁、l₂、l₃、l₄The extension and retraction lengths of the corresponding springs AE, BE, CE and DE are respectively △ l₁、△l₂、△l₃、△l₄The real-time tension is measured by corresponding tension sensors, respectively f₁、f₂、f₃、f₄Under the above convention, the coordinate to be obtained is E (ξ, ζ).

According to Hooke's law

f₁＝K·△l₁(formula 1)

Then it is determined that,

the same can be obtained

In the formula (f)₁、f₂、f₃、f₄Are respectively a spring l₁、l₂、l₃、l₄The tension of (b) can be detected by a corresponding tension sensor; therefore, all are given as l in the following description₁、l₂、l₃、l₄Are known parameters.

As shown in fig. 24, the center of the plane where A, B, C, D four points are located is the origin of the coordinate system o-xyz, the coordinate of the point E is located below the plane o-xy, that is, located on the negative semi-axis side of the z-axis of the coordinate system o-xyz, and in order to solve the coordinate of the point E, the projection of the point E on the plane o-xy is set as the point E ', then the projections of AE, BE, CE, and DE on the plane o-xy are AE', BE ', CE', and DE ', and the perpendicular line E' F, E 'G, E' H is made to AD, AB, and BC through the point E ', and the connection between EF, EG, and EH is made, and as can BE seen from the three-perpendicular-line theorem, the projection of E' F, E 'G, E' H is respectively EF, EG, and EH on the plane o-xy.

Analysis of a triangle △ EAD consisting of AE, DE, AD, with three side lengths l₁、l₄2a, obtained by the cosine law

Thus, get

Similarly, analysis of triangle △ EAB can yield

Analysis of triangle △ EBC resulted in

Because of AD// BC, H, E' and F are collinear, and FH equals 2a, the triangle △ EFH is analyzed and the cosine theorem can obtain

Thus obtaining

In a right triangle R_t△ EE' G, wherein the material is,

therefore, there are

Thus, each coordinate component of the coordinate E (ξ, ζ) can be obtained as

ξ＝l_E′G-a, (formula 15)

η＝a-l_E′F(formula 16)

ζ＝-l_EE′. (formula 17)

From the above analysis, it can be seen that the coordinate E (ξ, ζ) can be fully solved by the lengths of the four springs, that is, the coordinate components of E (ξ, ζ) are all functions of the spring length, and are recorded as

Therefore, according to (equation 18) - (equation 20), if the spring length (l) at each time is detected₁,l₂,l₃,l₄) The coordinate E (ξ, ζ) is obtained.

(3) Aircraft spatial position

The position of the upper end N ' (ξ ', η ', ζ ') of the motion slide 7 determines the aircraft spatial position, as shown in figures 2 and 23, and o ' is the centre facing the rotation mechanism, as shown in figure 25, the motion slide 7 being able to rotate in space about point oAnd can axially translate along the axis of the moving slide 7, the length of the slide being L, the coordinate system o '-x' y 'z' being obtained by translating the coordinate system o-xyz in the z-axis direction h, the coordinate of E in the coordinate system o-xyz being E (ξ, ζ), and the projection of the point o on a plane Γ passing through the point E and parallel to o-xy being o_EThe projection of point E on plane o ' -x ' y ' is E^*And the coordinates thereof in the coordinate system o '-x' y 'z' are denoted as E^*(ξ^*,η^*0); the projection of the N 'plane o' -x 'y' at the upper end of the moving slide bar 7 is N^*(ξ ', η', 0); therefore, there are

As shown in FIG. 25, the angle between the slide bar and the z' -axis is shown by the geometric relationship

The projected coordinate of N ' on the z ' axis of the coordinate system o ' -x ' y ' z ' is ζ ', then

ζ′＝l_o′N′cos α (formula 27)

As shown in FIG. 25, l of the slide bar (20)_o′N′The segment is projected as o ' N in the plane o ' -x ' y^*Then, there are

As shown in FIG. 25, from the geometrical relationship, it can be seen that

Wherein E is_y′Is E^*Projection on the y' axis, N_y′Is N^*Projection on the x' axis.

Thus, it is possible to obtain

Obviously, N_y′Projected coordinate values on the y' axis of

Obtained in the same way, N_x′The projected coordinate value on the x' axis is

The spatial position N '(ξ', η ', ζ') of the aircraft in the coordinate system o '-x' y 'z' can be obtained as a function of the spring length by integrating (equation 27), (equation 31) and (equation 32), and is recorded as a function of the spring length

Therefore, according to (equation 33) - (equation 35), if the spring at each moment is detectedLength (l)₁,l₂,l₃,l₄) The spatial position N '(ξ', η ', ζ') of the aircraft in the coordinate system o '-x' y 'z' is obtained.

(3) Space load vector force of aircraft

As shown in FIG. 24, the pulling forces of the four springs are respectively represented by f₁、f₂、f₃、f₄Showing, as shown in FIG. 26, a pulling force f₄Projecting f on plane F_4x、f_4yAnd projection f on the z-axis_4z(ii) a As shown in FIG. 25, the horizontal resultant force at the point E at the lower end of the moving slide bar 7 is

Resultant force in the vertical z-axis direction of

The N' point at the upper end of the moving slide bar 7 is subjected to the aircraft lift force

Resultant force of lateral horizontal direction is

The gravity of the aircraft and the space motion mechanism is G.

The aircraft simulation flight simulator has the advantages that friction between the sliding rod and a linear bearing in the space rotating mechanism 8 is neglected, and the aircraft lift force is smaller because the flight safety range is smaller and the flight speed is smaller when the aircraft simulation flight is carried out, so the angle α is smaller

The resultant force of the gravity G and the spring in the vertical z-axis direction is

Approximately equal; lateral horizontal resultant force of aircraft

Horizontal resultant force with spring

A pair of counterbalancing moments. For this purpose, the tension f is measured by a tension sensor₁、f₂、f₃、f₄And then resolved to obtain a resultant longitudinal force

And resultant force of horizontal

The lift force of the aircraft can be calculated

And lateral force

As shown in fig. 26, the pulling force f₄Can be decomposed into f_4x、f_4y、f_4zThree components, according to the spatial geometry, can be obtained

Wherein l_EE′Can be obtained from (formula 12); then, there are

f_4z＝f₄sin ∠ EDE' (formula 37)

f_4xy＝f₄cos ∠ EDE' (formula 38)

And also

Wherein l_E′FObtained from (formula 11), then, there are

f_4x＝f₄cos ∠ EDE ' sin ∠ D ' EF ', (formula 40)

f_4y＝f₄cos ∠ EDE ' cos ∠ D ' EF '; (formula 41)

From (formula 37),The tensile force f can be obtained from (formula 40) and (formula 41)₄Space vector of

In the same way, can obtain

Not repeated herein; then, it is easily obtained

f_x＝f_1x+f_2x+f_3x+f_4x(formula 43)

f_y＝f_1y+f_2y+f_3y+f_4y(formula 44)

Thereby obtaining

The lift force of the aircraft can be easily obtained by resolving according to the force and moment balance principle

And lateral force

In the calculation process of the force, attention needs to be paid to the positive and negative directions of the force.

The present invention has been described in detail with reference to the above examples, but the description is only for the preferred examples of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The utility model provides a rotor craft integrated test experiment simulation platform which characterized in that: the flexible attitude detection device comprises a platform support, a spatial motion mechanism and a flexible attitude detection device, wherein the spatial motion mechanism comprises a three-rotational-freedom-degree assembly and a motion sliding rod; the flexible attitude detection device comprises a space rotating mechanism and a flexible four-cable movement mechanism, wherein the flexible four-cable movement mechanism comprises four groups of tension sensing assemblies and springs; the space rotating mechanism is fixed on the platform support, one end of the moving sliding rod is connected with the three-rotational-freedom-degree assembly, the other end of the moving sliding rod penetrates through the space rotating mechanism to be connected with one end of the spring, and the other end of the spring is fixedly connected with the side wall of the platform support through the tension sensing assembly;

2. The rotorcraft comprehensive test experiment simulation platform of claim 1, characterized in that: the three-rotational-freedom-degree assembly comprises an x ' rotating shaft, an x ' right bearing support, an x ' left bearing support, a y ' rotating shaft, a y ' bearing support, a conductive sliding ring, a z ' rotating shaft, a z ' bearing sleeve and an aircraft fixing supporting plate; the y-shaped bearing support is of a doorframe-shaped structure, and one end of the moving slide rod is fixedly connected with one end of the z-shaped rotating shaft; the z-shaped rotating shaft is connected with the z-shaped bearing sleeve through a z-shaped bearing, so that the z-shaped bearing sleeve can rotate around the z-shaped rotating shaft, the upper end of the z-shaped bearing sleeve is fixedly connected with a z-shaped bearing end cover, one end of the conductive slip ring is inserted into the z-shaped bearing end cover, the y bearing support is fixed on the upper end surface of the z bearing end cover and can rotate along with the z bearing sleeve, the y rotating shaft is fixed on two side walls of the y bearing support through a bearing, the y rotating shaft is orthogonally inserted into the middle position of the x rotating shaft, and is fixedly connected with the x 'rotating shaft, two ends of the x' rotating shaft are respectively connected with the x 'left bearing support and the x' right bearing support through bearings, the x ' left bearing support and the x ' right bearing support are fixedly connected with the aircraft fixing support plate, and the x ' left bearing support and the x ' right bearing support are located at two ends of the y ' bearing support.

3. A rotorcraft comprehensive test experimental simulation platform according to claim 1 or 2, characterized in that: the space rotating mechanism comprises a first frame structure, a second frame structure, a pair of rotating shafts, a pair of encoder fixing rotating shafts and a linear bearing sleeve, wherein the second frame structure is positioned in the first frame structure, a through hole is formed in the linear bearing sleeve, and a linear bearing is embedded in the through hole; the first frame structure comprises a pair of x '-axis fixed frame side plates and a pair of x' -axis mounting plates, and two ends of the pair of x '-axis fixed frame side plates are respectively and fixedly connected with two ends of the pair of x' -axis mounting plates, so that a frame structure is formed; the second frame structure comprises a pair of y 'axis fixed frame side plates and a pair of y' rotating shaft mounting plates, and two ends of the pair of y 'axis fixed frame side plates are respectively and fixedly connected with two ends of the pair of y' rotating shaft mounting plates, so that a frame structure is formed;

4. A rotorcraft comprehensive test experiment simulation platform according to claim 3, wherein: the tension sensing assembly comprises a tension sensor mounting plate, a tension sensor and a universal coupling, the tension sensor mounting plate is mounted on an upright post of the platform support and is connected with the tension sensor through the universal coupling, the tension sensor is fixedly connected with a spring, the other end of the spring is fixedly connected with a flange plate, and one end of the moving sliding rod penetrates through a linear bearing of the space rotating mechanism and is fixedly connected with the middle position of the flange plate.

5. A rotorcraft comprehensive test experiment simulation platform according to claim 4, wherein: in the initial state before the simulated flight of the rotorcraft, the elastic forces of the four springs are balanced with the gravity of the rotorcraft and the space motion mechanism, so that the additional load of the rotorcraft during the simulated flight is counteracted.

6. A rotorcraft comprehensive test experiment simulation platform according to claim 4 or 5, characterized in that: the platform support is characterized in that at least four upright posts are symmetrically distributed, so that four groups of tension sensing assemblies are respectively arranged on the four upright posts.

7. The rotorcraft comprehensive test experiment simulation platform of claim 6, wherein: the mounting height of the universal coupling on the tension sensor mounting plate is adjustable.

8. A method of conducting rotorcraft testing using a rotorcraft integrated test simulation platform according to any one of claims 1 to 7, the method comprising: