CN111307370A - Method for measuring rotational inertia of unmanned aerial vehicle - Google Patents
Method for measuring rotational inertia of unmanned aerial vehicle Download PDFInfo
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- CN111307370A CN111307370A CN202010195220.XA CN202010195220A CN111307370A CN 111307370 A CN111307370 A CN 111307370A CN 202010195220 A CN202010195220 A CN 202010195220A CN 111307370 A CN111307370 A CN 111307370A
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- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/10—Determining the moment of inertia
Abstract
The invention provides a method for measuring rotational inertia of an unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles. The measuring method mainly comprises the following steps: (1) selecting any part and establishing a local coordinate system; (2) determining the coordinates of the gravity center of the part under a local coordinate system through 3 times of hanging; (3) obtaining the coordinates of the gravity center of the part under a full-machine coordinate system through coordinate conversion calculation; (4) after the coordinates of the gravity centers of other parts of the unmanned aerial vehicle are calculated by the method, the rotational inertia of the whole unmanned aerial vehicle is calculated. The measuring method provided by the invention has the characteristics of simplicity and convenience in operation, simplicity in calculation method, high measuring precision and the like, and can be applied to the measurement of the rotational inertia of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a method for measuring rotational inertia of an unmanned aerial vehicle.
Background
The rotational inertia of the unmanned aerial vehicle is a measurement of the inertia of the unmanned aerial vehicle during the rotational motion, is an important parameter for calculating flight performance and mathematical modeling simulation, and along with the development of modern flight control technology, the accuracy requirement of the rotational inertia of the unmanned aerial vehicle is further improved in order to improve the development efficiency and reliability of a flight control system.
Because unmanned aerial vehicle all is symmetrical along every direction of organism axle not, and inside mass distribution is also inhomogeneous, is difficult to calculate the inertia characteristic according to its appearance accuracy. Currently, an estimation method and a compound pendulum method are mostly adopted for measuring the rotational inertia of the unmanned aerial vehicle. The estimation method is established on the basis of an estimation formula and an empirical value, and has the defects of complex estimation process, large estimation error and the like; the compound pendulum law is that the whole unmanned aerial vehicle is hung at a high place through a rope, the rope is loosened after the unmanned aerial vehicle is pulled to be different from the vertical direction by an angle, so that the unmanned aerial vehicle swings, the swing period of the method is difficult to measure, other axial swings are easily coupled when the unmanned aerial vehicle swings around a certain axis, and the calculation error is large. Therefore, it is an urgent problem to be solved in the art to develop a method for measuring the rotational inertia of an unmanned aerial vehicle, which is simple to operate, simple and convenient to calculate, and high in accuracy.
Disclosure of Invention
Aiming at the technical problems of complex estimation process, large calculation error and the like in the prior art, the invention provides the method for measuring the rotational inertia of the unmanned aerial vehicle, which is simple to operate, simple and convenient in calculation method and high in accuracy.
In order to achieve the purpose, the invention adopts the technical scheme that:
a method for measuring the rotational inertia of an unmanned aerial vehicle, the method comprising the steps of:
selecting any part of the unmanned aerial vehicle, establishing a local coordinate system, and defining X, Y, Z axes;
respectively hoisting the component through a first hoisting point, a second hoisting point and a third hoisting point to determine the gravity center of the component of the unmanned aerial vehicle, and calculating the coordinate X of the componentCenter of gravity、YCenter of gravity、ZCenter of gravity；
Converting the coordinates of the gravity center of the unmanned aerial vehicle component into a full-machine coordinate system through coordinate conversion to obtain the coordinate X of the component in the full-machine coordinate system0、Y0、Z0；
In the mapping software, the center of gravity of the part is matched to X by adjusting the weight distribution of the part0、Y0、Z0；
And sequentially calculating coordinates of the gravity centers of other components of the unmanned aerial vehicle under a full-machine coordinate system according to the method, and calculating to obtain the rotational inertia of the whole unmanned aerial vehicle.
Preferably, the center of gravity of the unmanned aerial vehicle component is established by the following method, specifically:
the part is lifted through the first lifting point, and after the part is stabilized, an extension line of a lifting line is made and marked as an extension line I;
hoisting the component again through the second hoisting point, making an extension line of the hoisting line after the component is stabilized, and marking the extension line as an extension line II;
and determining the gravity center of the unmanned aerial vehicle component according to the intersection point of the extension line I and the extension line II.
Preferably, the coordinates of the center of gravity of the unmanned aerial vehicle component are calculated by the following method:
gravity center X of unmanned aerial vehicle partCenter of gravity、YCenter of gravityThe coordinates are obtained by direct measurement;
hoisting the component for the third time through the third hoisting point, and calculating by using a formula to obtain a Z coordinate of the gravity center of the unmanned aerial vehicle component, wherein the formula is as follows:
Zcenter of gravity＝A-B (1)；
In the formula: a is the Z-axis coordinate of the lifting point III, and B is A-ZCenter of gravity。
Preferably, B in the formula (1) is calculated by the following formula:
B＝L×tanα (2)；
in the formula, L is the X-axis coordinate of the gravity center of the component, and α is the included angle between the hanging line of the third-time hanging and the X axis.
Preferably, the drawing software is CATIA three-dimensional drawing software.
Preferably, the rotational inertia of the whole unmanned aerial vehicle is calculated by using an inertia measurement function in CATIA three-dimensional mapping software.
Preferably, the unmanned aerial vehicle part comprises a fuselage, wings and an empennage, wherein the empennage comprises a horizontal empennage and a vertical empennage.
Compared with the prior art, the invention has the advantages and positive effects that:
1. in order to solve the problems of complex estimation of the rotational inertia of the unmanned aerial vehicle and large measurement error in the prior art, the invention provides the method for measuring the rotational inertia of the unmanned aerial vehicle, which is simple to operate and simple and convenient to calculate, is a method for easily measuring the rotational inertia of the unmanned aerial vehicle, and can realize the accurate measurement of the rotational inertia of the unmanned aerial vehicle;
2. the measurement method provided by the invention is very simple to operate, and the barycentric coordinates of the unmanned aerial vehicle component under the local coordinate system can be determined by hanging the unmanned aerial vehicle component for 3 times;
3. the measuring method provided by the invention has simple calculation process, and the coordinates of the gravity center of the part under a full-machine coordinate system can be obtained through simple coordinate transformation;
4. the measuring method provided by the invention has high measuring precision, the gravity centers of all parts of the unmanned aerial vehicle are accurate after being adjusted by CATIA three-dimensional drawing software, and the accurate rotational inertia of the whole unmanned aerial vehicle is obtained through the calculation of the inertia measuring function of the software.
Drawings
Fig. 1 is a schematic diagram of a first hoisting according to an embodiment of the present invention, where 1 — an unmanned aerial vehicle component, 2 — a hanging rope (a hanging line), 3 — a hanging point one, 4 — a local coordinate system of the unmanned aerial vehicle component, and 5 — a first hanging extension line, i.e., an extension line I;
FIG. 2 is a schematic diagram of a second hoisting according to an embodiment of the present invention, wherein 6-two hoisting points, 7-a second hoisting extension line, i.e. extension lines II, 8-an intersection point of the two extension lines;
fig. 3 is a schematic view of a third hoisting according to an embodiment of the present invention, wherein 9-hoisting point three, 10-third hoisting extension line III, 11-center of gravity of the unmanned aerial vehicle component;
FIG. 4 is a schematic diagram of the CATIA three-dimensional mapping software provided by the embodiment of the invention measuring the gravity center of the unmanned aerial vehicle component;
fig. 5 is a schematic diagram of CATIA three-dimensional mapping software measuring inertial parameters of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
The embodiment of the invention provides a method for measuring the rotational inertia of an unmanned aerial vehicle, which comprises the following steps:
selecting any part of the unmanned aerial vehicle, establishing a local coordinate system, and defining X, Y, Z axes;
respectively hoisting the component through a first hoisting point, a second hoisting point and a third hoisting point to determine the gravity center of the component of the unmanned aerial vehicle, and calculating the coordinate X of the componentCenter of gravity、YCenter of gravity、ZCenter of gravity；
Converting the coordinates of the gravity center of the unmanned aerial vehicle component into a full-machine coordinate system through coordinate conversion to obtain the coordinate X of the component in the full-machine coordinate system0、Y0、Z0；
In the mapping software, the center of gravity of the part is matched to X by adjusting the weight distribution of the part0、Y0、Z0；
And sequentially calculating coordinates of the gravity centers of other components of the unmanned aerial vehicle under a full-machine coordinate system according to the method, and calculating to obtain the rotational inertia of the whole unmanned aerial vehicle.
In the above measurement method, it should be noted that when selecting the component of the unmanned aerial vehicle, the component is any one component selected according to the actual decomposition condition of the unmanned aerial vehicle, and the local coordinate system is also randomly established according to the actual condition; in addition, the selection of three suspension points is also randomly selected, but it should be noted that the selection of the suspension points is as close as possible to the center of gravity of the unmanned aerial vehicle component, so that the unmanned aerial vehicle component is more stable after being suspended.
In a preferred embodiment, the center of gravity of the drone component is established by:
the part is lifted through the first lifting point, and after the part is stabilized, an extension line of a lifting line is made and marked as an extension line I;
hoisting the component again through the second hoisting point, making an extension line of the hoisting line after the component is stabilized, and marking the extension line as an extension line II;
and determining the gravity center of the unmanned aerial vehicle component according to the intersection point of the extension line I and the extension line II.
In the above preferred embodiment, according to the intersection point generated by the extension line I and the extension line II, it can be determined that the center of gravity of the unmanned aerial vehicle component is located on the perpendicular line of the plane formed by the two hanging lines in lifting, and passes through the intersection point of the two extension lines.
In a preferred embodiment, the coordinates of the center of gravity of the drone component are calculated by the following method:
gravity center X of unmanned aerial vehicle partCenter of gravity、YCenter of gravityThe coordinates are obtained by direct measurement;
hoisting the component for the third time through the third hoisting point, and calculating by using a formula to obtain a Z coordinate of the gravity center of the unmanned aerial vehicle component, wherein the formula is as follows:
Zcenter of gravity＝A-B (1)；
In the formula: a is the Z-axis coordinate of the lifting point III, and B is A-ZCenter of gravity。
In the above preferred embodiment, in formula (1), the coordinate of the third suspension point is a, and B is the coordinate of the center of gravity of the unmanned aerial vehicle component — the coordinate of the third suspension point.
In a preferred embodiment, B in the formula (1) is calculated by the following formula:
B＝L×tanα (2)；
in the formula, L is the X-axis coordinate of the gravity center of the component, and α is the included angle between the hanging line of the third-time hanging and the X axis.
In a preferred embodiment, the drawing software is CATIA three-dimensional drawing software.
In a preferred embodiment, the rotational inertia of the whole unmanned aerial vehicle is calculated by using an inertia measurement function in CATIA three-dimensional mapping software.
In a preferred embodiment, the drone part comprises a fuselage, wings, empennages, wherein the empennages comprise a horizontal empennage and a vertical empennage.
The measuring method provided by the invention comprises the steps of firstly, simply hanging an unmanned aerial vehicle component for 3 times to obtain the barycentric coordinate of the unmanned aerial vehicle component under a local coordinate system, then obtaining the coordinate of the barycentric of the component under a full-machine coordinate system through simple coordinate transformation, then, matching the barycentric of the component into the full-machine coordinate system through adjusting the weight distribution of the component, finally, measuring the coordinates of the barycentric of other components under the full-machine coordinate system according to the method, and obtaining the rotational inertia data of the whole unmanned aerial vehicle by utilizing the rotational inertia calculating function in three-dimensional drawing software.
In order to describe the method for measuring the rotational inertia of the unmanned aerial vehicle provided by the embodiment of the invention in more detail, the following description is given with reference to specific embodiments.
Example 1
Selecting a body component of the unmanned aerial vehicle, and measuring according to the method for measuring the rotational inertia of the unmanned aerial vehicle, which comprises the following specific steps:
(1) establishing a local coordinate system 4 on the unmanned aerial vehicle component, and defining X, Y, Z axes;
(2) the part is hoisted for the first time through the first hoisting point 3, and after the part is stabilized, an extension line 5 for the first time hoisting of the hoisting line 2 is made and marked as an extension line I;
(3) the part is hoisted for the second time through the second hoisting point 6, an extension line 7 for hanging the second time by the hanging line 2 is made after the part is stabilized and marked as an extension line II, and an intersection point 8 is generated by the two extension lines, so that the gravity center of the unmanned aerial vehicle part can be determined to be positioned on a perpendicular line of a plane formed by the two hanging lines and pass through the intersection point of the two extension lines, and the gravity center of the unmanned aerial vehicle part is determined;
(4) the component is lifted for the third time through the third lifting point 9 again, the gravity center of the component is positioned on the extension line 10 of the third hanging of the hanging line 2, and the geometric relationship among the gravity center 11 of the component, the hanging line 2, the extension line 16 of the hanging line 2 and the local coordinate system 4 is as follows:
Zcenter of gravity＝A-B (1)；；
B＝L×tanα (2)；
In the formula: zCenter of gravityIs the Z coordinate of the gravity center of the component, A is the Z-axis coordinate of the suspension point III, and B is ZCenter of gravityAnd A and L are X-axis coordinates of the gravity center of the part, and α is the included angle formed by the suspension point III and the X axis.
(5) X of the unmanned aerial vehicle partCenter of gravity，YCenter of gravityThe coordinates can be obtained by direct measurement, the Z coordinates can be obtained by calculation in the step (4), after the coordinates of the gravity center of the part in a local coordinate system are obtained by calculation, the coordinates are converted into a full-machine coordinate system through a coordinate conversion function, and the coordinates X of the part in the full-machine coordinate system are obtained0、Y0、Z0；
(6) In the CATIA three-dimensional mapping software, the gravity center of the part is matched to X by adjusting the weight distribution of the part0、Y0、Z0；
(7) And measuring and calculating coordinates of the gravity centers of other parts (wings, empennages and the like) of the unmanned aerial vehicle under a full-machine coordinate system by using a sequential method. And measuring and calculating the inertia parameters of the whole unmanned aerial vehicle through an inertia measurement function in the CATIA.
Comparative example 1-method for measuring rotational inertia of unmanned aerial vehicle by compound pendulum method
S1 device for measuring moment of inertia
The method comprises the following steps: a flat plate horizontally suspended in the air, wherein the geometric shape of the flat plate is a circle or a regular polygon with the variable number of 3N, and N is an integer greater than or equal to 1 and is used for containing an object to be placed; 3 slings which are positioned at the outer edge of the flat plate, distributed at equal intervals, have equal length and are vertical to the flat plate; the horizontal bracket is connected with the other end of the sling; a tension sensor located on each sling; a tiny gap at the edge of the flat plate; the photoelectric sensor is arranged at the opening in a static state, wherein the photoelectric sensor and the bracket keep a fixed position relation, and when the flat plate slightly rotates along the circle center, the signal of the photoelectric sensor changes; and the photoelectric signal reading device is connected with the photoelectric signal sensor.
S2 measuring method for measuring rotational inertia
Define: the three ropes are respectively a first rope and a second ropeThe length of the third rope is defined as L, and the corresponding tension sensors are respectively a first tension sensor, a second tension sensor and a third tension sensor; on the flat plate, the joints of the three ropes and the flat plate are respectively defined as a first joint, a second joint and a third joint, and the moment of inertia of the flat plate along the vertical center line is defined as I0The distances between the first node, the second node and the third node and the center of the flat plate are defined as R, and the gravity acceleration of a measurement place is g;
the measurement method comprises the following steps:
(1) adjusting the horizontal bracket to ensure that the horizontal bracket and the joint of the rope are in the same horizontal plane;
(2) adjusting the flat plate to keep the flat plate horizontal;
(3) placing the measured object on the flat plate, and ensuring that the center of mass of the measured object and the center of the flat plate are in the same vertical direction;
(4) giving a small force to the flat plate to enable the flat plate to be twisted at a small angle, wherein the angle is larger than 0 and less than or equal to 5 degrees, and reading a torsional vibration period T through a photoelectric sensor; at this time, the readings of the first, second and third tension sensors are respectively F1, F2 and F3, and the calculation formula of the moment of inertia is as follows:
the comparison between the embodiment 1 and the comparative example 1 shows that the whole unmanned aerial vehicle is hung at a high position by using the measuring method provided by the comparative example 1, the rope is loosened after the unmanned aerial vehicle is pulled to be different from the vertical direction by an angle, so that the unmanned aerial vehicle swings, the swinging period of the method is difficult to measure, other axial swinging is easy to couple when the unmanned aerial vehicle swings around a certain axis, the calculation error is large, and the operation steps are complex; the measuring method provided by the application is very simple to operate, firstly, the gravity center coordinate of the unmanned aerial vehicle component under a local coordinate system can be determined by hanging the unmanned aerial vehicle component for 3 times, then, the coordinate of the gravity center of the component under a full-machine coordinate system can be obtained through simple coordinate transformation, and finally, the accurate rotational inertia of the whole unmanned aerial vehicle is obtained through calculation by utilizing the inertia measuring function of CATIA three-dimensional drawing software.
Claims (7)
1. The method for measuring the rotational inertia of the unmanned aerial vehicle is characterized by comprising the following steps:
selecting any part of the unmanned aerial vehicle, establishing a local coordinate system, and defining X, Y, Z axes;
respectively hoisting the component through a first hoisting point, a second hoisting point and a third hoisting point to determine the gravity center of the component of the unmanned aerial vehicle, and calculating the coordinate X of the componentCenter of gravity、YCenter of gravity、ZCenter of gravity；
Converting the coordinates of the gravity center of the unmanned aerial vehicle component into a full-machine coordinate system through coordinate conversion to obtain the coordinate X of the component in the full-machine coordinate system0、Y0、Z0；
In the mapping software, the center of gravity of the part is matched to X by adjusting the weight distribution of the part0、Y0、Z0；
And sequentially calculating coordinates of the gravity centers of other components of the unmanned aerial vehicle under a full-machine coordinate system according to the method, and calculating to obtain the rotational inertia of the whole unmanned aerial vehicle.
2. Method according to claim 1, characterized in that the drone part centre of gravity is established by:
the part is lifted through the first lifting point, and after the part is stabilized, an extension line of a lifting line is made and marked as an extension line I;
hoisting the component again through the second hoisting point, making an extension line of the hoisting line after the component is stabilized, and marking the extension line as an extension line II;
and determining the gravity center of the unmanned aerial vehicle component according to the intersection point of the extension line I and the extension line II.
3. The method according to claim 1, characterized in that the coordinates of the center of gravity of the drone component are calculated by:
gravity center X of unmanned aerial vehicle partCenter of gravity、YCenter of gravityThe coordinates being obtained by direct measurementTo;
hoisting the component for the third time through the third hoisting point, and calculating by using a formula to obtain a Z coordinate of the gravity center of the unmanned aerial vehicle component, wherein the formula is as follows:
Zcenter of gravity＝A-B (1)；
In the formula: a is the Z-axis coordinate of the lifting point III, and B is A-ZCenter of gravity。
4. The method according to claim 3, wherein B in the formula (1) is calculated by the following formula:
B＝L×tanα (2)；
in the formula, L is the X-axis coordinate of the gravity center of the component, and α is the included angle between the hanging line of the third-time hanging and the X axis.
5. The method of claim 1, wherein the mapping software is CATIA three-dimensional mapping software.
6. The method according to any one of claims 1-5, wherein the moment of inertia of the whole unmanned aerial vehicle is calculated by using an inertia measurement function in CATIA three-dimensional mapping software.
7. The method of claim 1, wherein the drone component comprises a fuselage, wings, empennages, wherein empennages include horizontal empennages and vertical empennages.
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