CN111605718B - Vibration damper of hybrid power unit of unmanned aerial vehicle - Google Patents
Vibration damper of hybrid power unit of unmanned aerial vehicle Download PDFInfo
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- CN111605718B CN111605718B CN202010492439.6A CN202010492439A CN111605718B CN 111605718 B CN111605718 B CN 111605718B CN 202010492439 A CN202010492439 A CN 202010492439A CN 111605718 B CN111605718 B CN 111605718B
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- B64D27/40—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
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- B64D27/026—
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- B64D27/404—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The invention discloses a vibration damper of an unmanned aerial vehicle hybrid power unit, and belongs to the technical field of unmanned aerial vehicle equipment. The device comprises a load-bearing platform, wherein a hybrid power unit of the unmanned aerial vehicle is arranged on the load-bearing platform, a first vibration damping mechanism is arranged between the hybrid power unit and the load-bearing platform, and a second vibration damping mechanism is arranged between the load-bearing platform and a machine body; the second vibration reduction mechanism comprises a passive vibration reduction assembly and a magnetic vibration reduction assembly; the first vibration reduction mechanism comprises a voice coil motor, a motor shaft of the voice coil motor is connected with a first bearing seat through a coupler, a first self-aligning bearing is arranged in the first bearing seat, a second bearing seat is arranged at the bottom of the hybrid power unit, a second self-aligning bearing is arranged in the second bearing seat, and a support rod which is transversely arranged is arranged between the first self-aligning bearing and the second self-aligning bearing; the supporting part that supports it is equipped with to the branch lower extreme, and the supporting part is close to first self-aligning bearing and sets up. The invention has the advantages of compact structural design and obvious vibration damping effect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to a vibration damper of an unmanned aerial vehicle hybrid power unit.
Background
The small-sized multi-rotor unmanned aerial vehicle is an unmanned aerial vehicle with the mass of an aerial vehicle less than or equal to 15kg and more than or equal to 4kg, the maximum takeoff mass less than or equal to 25kg and more than or equal to 7kg, is driven by electric power, and has the advantages of vertical take-off and landing, hovering in the air, low power coupling degree, high response speed and the like. Can be used in the fields of aviation forests, fire scene investigation and the like. The endurance of the small-sized multi-rotor unmanned aerial vehicle on sale is basically twenty minutes, and the unmanned aerial vehicle is far from enough for the abundant functions. For example, in northeast forest areas, the traffic is inconvenient, the patrol radius is 100-. The main factors influencing endurance are flight weight and battery parameters, increasing battery capacity can increase electric energy supply, but flight weight can also be obviously increased, so that the mode of improving endurance by carrying a large number of batteries is not feasible. The energy density of the engine power source is far higher than that of a battery, and the unmanned aerial vehicle is stable and reliable, so that the hybrid power unit is additionally arranged on the unmanned aerial vehicle as a feasible scheme, core components of the hybrid power unit are a small-displacement single-cylinder two-stroke engine and a generator, and electric energy can be stored in the battery or directly supplied to a motor. The hybrid power unit enables the unmanned aerial vehicle to have stronger power, larger load and longer endurance time on the basis of the original system. Related studies have been performed in tandem by the company airstein, germany, and by the company deep aviation, rayls, china.
The small-size many rotor unmanned aerial vehicle's of hybrid work has following several characteristics: 1. compared with a multi-cylinder engine, the single-cylinder engine is light in weight, large in power and torque and low in oil consumption, but the reciprocating inertia is large, the working mode is rough, the vibration of the hybrid power unit is large, the unmanned aerial vehicle is stable depending on various precise sensors, and an inertia measurement unit which is very important for attitude control is sensitive to the vibration, so that the design of a vibration damping device on a connecting part of the hybrid power unit is very important. 2. The vibration source during the operation of the single-cylinder engine comprises: overturning moment caused by air pressure and reciprocating inertia force, reciprocating inertia force and rotating inertia force. 3. The loading space of the unmanned aerial vehicle is limited, the endurance is influenced by the flight weight, and the size and the weight of the vibration damper are as small as possible. In view of the above, the design of the vibration damping device is required to satisfy the requirements of effectively reducing vibration and minimizing the volume and weight.
The vibration reduction mode can be divided into active vibration reduction and passive vibration reduction, the passive vibration reduction is to separate the vibration by means of installing vibration isolation materials or filling vibration isolation media and the like, and the vibration reduction device has the advantages of good stability, convenience in arrangement, high space utilization rate and low cost but poor low-frequency vibration suppression capability. The active vibration reduction is characterized in that a special energy device is installed in a vibration reduction system, the magnitude and the direction of active force required by vibration reduction are calculated in real time through a control algorithm, and the active vibration reduction has the advantages of high stability, strong adaptability, high response speed, obvious vibration reduction effect and the like. At present, the related design of the vibration damper special for the hybrid power unit of the small multi-rotor unmanned aerial vehicle is few, and the following defects exist in the existing design:
1. the vibration damping device is not designed aiming at the characteristic that the unmanned aerial vehicle is extremely sensitive to vibration, the vibration damping mode is single, and the vibration damping effect is to be examined.
2. The engine has large amplitude and high vibration speed, and the motor is directly and fixedly connected with a vibration source as an executing element for active vibration reduction, so that the response speed of the motor needs to be high, the requirement on the motor is higher, the cost is increased, and the complexity of a control system is increased.
3. Structural design is not compact, and space utilization is not high, and the damping device quality is big, has increased unmanned aerial vehicle's dead weight, has weakened unmanned aerial vehicle's the ability of bearing a burden.
Disclosure of Invention
The invention aims to provide a vibration damping device of an unmanned aerial vehicle hybrid power unit, which is compact in structural design and remarkable in vibration damping effect.
In order to achieve the purpose, the vibration damping device of the hybrid power unit of the unmanned aerial vehicle adopts the following technical scheme:
a vibration damping device of an unmanned aerial vehicle hybrid power unit comprises a load platform arranged below a body of the unmanned aerial vehicle, wherein the hybrid power unit of the unmanned aerial vehicle is arranged on the load platform; the second vibration reduction mechanism comprises a passive vibration reduction assembly and a magnetic vibration reduction assembly; the first vibration reduction mechanism comprises a voice coil motor vertically arranged on the load-bearing platform, a motor shaft of the voice coil motor is connected with a first bearing seat through a coupler, a first self-aligning bearing is arranged in the first bearing seat, a second bearing seat is arranged at the bottom of the hybrid power unit, a second self-aligning bearing is arranged in the second bearing seat, and a support rod transversely arranged is arranged between the first self-aligning bearing and the second self-aligning bearing; the supporting part that supports is equipped with to it to the branch lower extreme, and the supporting part is close to first self-aligning bearing and sets up, the supporting part includes the third bearing frame with branch interference fit, be equipped with cylindrical roller bearing in the third bearing frame, the load platform is equipped with the support of installing in cylindrical roller bearing.
Preferably, the vertical connecting rod that sets up on the load platform, passive damping subassembly set up in the connecting rod upper end, magnetic force damping subassembly is equipped with the electrician's pure iron of installing in the fuselage bottom including setting up the permanent magnet in passive damping subassembly upper end directly over the permanent magnet, electrician's pure iron just to passive damping subassembly arrange and leave the interval between the permanent magnet, electrician's pure iron's periphery winding enameled wire. When the power is on, the electrician pure iron generates magnetic force to attract or repel the permanent magnet, so that the vibration transmitted to the machine body when the hybrid power unit works is counteracted or weakened, and the magnitude of the attraction and the repulsion is related to the distance between the attraction and the repulsion.
Preferably, the passive vibration damping assembly comprises a spring set, a lower rubber block arranged at the upper end of the connecting rod is arranged at the lower end of the spring set, an upper rubber block embedded with the permanent magnet is arranged at the upper end of the spring set, and the connecting rod, the lower rubber block, the spring set and the upper rubber block are positioned on the same axis.
Preferably, the spring set comprises an outer spring and an inner spring, the inner spring is sleeved in the outer spring, the outer spring and the inner spring are both helical springs, and the helical directions of the outer spring and the inner spring are opposite.
Preferably, the support is L-shaped, one end of the support is installed on the loading platform, and the other end of the support is installed on the cylindrical roller bearing.
Preferably, the first damping mechanism is arranged at four angular positions along the hybrid power unit, and the second damping mechanism is arranged at four angular positions along the load-carrying platform.
Preferably, the second vibration reduction mechanism further comprises a protective shell, the passive vibration reduction assembly and the magnetic vibration reduction assembly are both arranged in the protective shell, and a rubber pad is arranged on the inner wall of the protective shell.
Preferably, a first acceleration sensor is arranged on the surface of a shell of the hybrid power unit, a second acceleration sensor is arranged on the surface of the machine body, and a grating ruler displacement sensor is arranged on the second vibration reduction mechanism. The vibration acceleration of the hybrid power unit is transmitted to the STM32F103 controller through the first acceleration sensor, the controller calculates a control quantity according to the signal, the voice coil motor is controlled to act through the driving circuit, and the force and displacement provided by the voice coil motor are transmitted to the hybrid power unit through the first bearing seat, the first self-aligning bearing, the supporting rod, the second self-aligning bearing and the second bearing seat; meanwhile, a grating ruler displacement sensor transmits a position signal of a motor shaft of the voice coil motor to the controller, and a second acceleration sensor transmits vibration acceleration of the unmanned aerial vehicle body to the controller to serve as a reference signal for the voice coil motor to apply axial force; according to the invention, through the arrangement of the two acceleration sensors and the displacement sensor, the stability of a control mode is good, the control precision is high, and the size of the magnetic force, the axial force of the voice coil motor and the displacement of the motor shaft can be accurately controlled.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is designed aiming at the characteristic that the unmanned aerial vehicle is extremely sensitive to vibration, and adopts a vibration damping mode that active vibration damping is used as main vibration damping and passive vibration damping is used as auxiliary vibration damping, so that the defect of the passive vibration damping on the low-frequency vibration suppression capability can be overcome, the work load of an active vibration damping part is lightened to a certain extent, and the stability and the vibration damping effect of the vibration damping device are improved;
2. according to the invention, the amplifying mechanism is adopted in the first vibration reduction mechanism, the supporting rod is arranged between the first self-aligning bearing and the second self-aligning bearing, the supporting rod plays a role of a lever, the position of the supporting rod, which is provided with the third bearing seat, is used as a fulcrum of the lever, and the third bearing seat is arranged close to the first self-aligning bearing;
3 the first vibration reduction mechanism is arranged between the hybrid power unit and the loading platform, so that the vibration of the hybrid power unit to the loading platform is reduced, meanwhile, the second vibration reduction mechanism is arranged between the loading platform and the unmanned aerial vehicle body, so that the vibration of the loading platform to the unmanned aerial vehicle body is further reduced, the vibration reduction effect is improved, and the first vibration reduction mechanism and the second vibration reduction mechanism are compact in structural design and high in space utilization rate.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a first damping mechanism;
FIG. 3 is a schematic structural diagram of a second damping mechanism;
fig. 4 is a schematic structural view of the protective shell;
fig. 5 is a schematic structural diagram of a spring assembly.
The device comprises a machine body 1, a hybrid power unit 2, a second vibration damping mechanism 3, a first vibration damping mechanism 4, a voice coil motor 5, a load-carrying platform 6, a support rod 7, a first bearing seat 8, a first self-aligning bearing 9, a second bearing seat 10, a second self-aligning bearing 11, a third bearing seat 12, a cylindrical roller bearing 13, a support 14, a connecting rod 15, a lower rubber block 16, a spring set 17, an upper rubber block 18, a permanent magnet 19, an enameled copper wire 20, electrician pure iron 21, a protective shell 22, a rubber pad 23, an inner spring 24 and an outer spring 25.
Detailed Description
The present invention is further illustrated by the following detailed description, which is to be construed as merely illustrative and not limitative of the remainder of the disclosure, and modifications and variations such as those ordinarily skilled in the art are intended to be included within the scope of the present invention as defined in the appended claims.
As shown in fig. 1-5, a vibration damping device for a hybrid power unit of an unmanned aerial vehicle comprises a load platform 6 arranged below a fuselage 1 of the unmanned aerial vehicle, wherein a hybrid power unit 2 of the unmanned aerial vehicle is arranged on the load platform 6, a first vibration damping mechanism 4 is arranged between the hybrid power unit 2 and the load platform 6, and a second vibration damping mechanism 3 is arranged between the load platform 6 and the fuselage 1; the first damping mechanisms 4 are arranged in four angular positions along the hybrid power unit 2, and the second damping mechanisms 3 are arranged in four angular positions along the loading platform 6; the second vibration reduction mechanism 3 comprises a passive vibration reduction assembly and a magnetic vibration reduction assembly, the second vibration reduction mechanism 3 further comprises a protective shell 22, the passive vibration reduction assembly and the magnetic vibration reduction assembly are both arranged in the protective shell 22, and a rubber pad 23 is arranged on the inner wall of the protective shell 22; a connecting rod 15 is vertically arranged on the load platform 6, a passive vibration damping component is arranged at the upper end of the connecting rod 15, the magnetic vibration damping component comprises a permanent magnet 19 arranged at the upper end of the passive vibration damping component, an electrician pure iron 21 arranged at the bottom of the machine body 1 is arranged right above the permanent magnet 19, the electrician pure iron 21 is arranged right opposite to the passive vibration damping component and is spaced from the permanent magnet 19, and an enameled copper wire 20 is wound on the periphery of the electrician pure iron 21; the passive vibration damping assembly comprises a spring group 17, a lower rubber block 16 arranged at the upper end of a connecting rod 15 is arranged at the lower end of the spring group 17, an upper rubber block 18 embedded with a permanent magnet is arranged at the upper end of the spring group 17, the connecting rod 15, the lower rubber block 16, the spring group 17 and the upper rubber block 18 are positioned on the same axis, the lower rubber block 16 is connected with the spring group 17 through a fastening piece, and the upper rubber block 18 is connected with the spring group 17 through a fastening piece; the spring set 17 comprises an outer spring 25 and an inner spring 24, the inner spring 24 is sleeved in the outer spring 25, both the outer spring 25 and the inner spring 24 are helical springs, and the helical directions of the outer spring 25 and the inner spring 24 are opposite; the first vibration reduction mechanism 4 comprises a voice coil motor 5 vertically arranged on the load-bearing platform 6, a motor shaft of the voice coil motor 5 is connected with a first bearing seat 8 through a coupler, a first self-aligning bearing 9 is arranged in the first bearing seat 8, a second bearing seat 10 is arranged at the bottom of the hybrid power unit 2, a second self-aligning bearing 11 is arranged in the second bearing seat 10, and a support rod 7 transversely arranged is arranged between the first self-aligning bearing 9 and the second self-aligning bearing 11; the lower end of the supporting rod 7 is provided with a supporting part for supporting the supporting rod, the supporting part is arranged close to the first self-aligning bearing 9 and comprises a third bearing seat 12 in interference fit with the supporting rod 7, a cylindrical roller bearing 13 is arranged in the third bearing seat 12, the loading platform 6 is provided with a support 14 installed in the cylindrical roller bearing 13, the support 14 is L-shaped, one end of the support 14 is installed on the loading platform 6, and the other end of the support 14 is installed on the cylindrical roller bearing 13; a first acceleration sensor is arranged on the surface of a shell of the hybrid power unit 2, a second acceleration sensor is arranged on the surface of the machine body 1, a grating ruler displacement sensor is arranged on the second vibration reduction mechanism 3, a grating main ruler of the grating ruler sensor is vertically arranged on the load-bearing platform 6, and a reading head is arranged on a coupler; protective housing 22, connecting rod 15, first bearing frame 8, second bearing frame 10 and branch 7 all adopt the carbon fiber of high strength low density, and light in weight has ensured unmanned aerial vehicle load capacity when realizing the damping.
The specific working process and principle of the invention are as follows: the first vibration damping mechanism 4 damps vibration: by setting a first acceleration
The vibration acceleration of the hybrid power unit 2 is transmitted to the STM32F103 controller through the amplifying circuit, the filter circuit, the interface circuit and the digital-to-analog conversion circuit in the form of voltage signals by the degree sensor, the controller calculates a control quantity according to the signals, the voice coil motor 5 is controlled to act through the driving circuit, the force and the displacement provided by the voice coil motor 5 are transmitted to the hybrid power unit 2 through the first bearing seat 8, the first self-aligning bearing 9, the supporting rod 7, the second self-aligning bearing 11 and the second bearing seat 10, and the speed and the displacement provided by the voice coil motor 5 are amplified in the transmission process; for example, when the vibration of the hybrid power unit 2 is downward, the motor shaft of the voice coil motor 5 moves upward, providing an upward force to offset the impact force of the vibration; when the vibration of the hybrid power unit 2 moves upwards, the motor shaft of the voice coil motor 5 moves downwards to provide a downward force to counteract the impact force of the vibration; when the hybrid power unit 2 generates an overturning moment, the motor shafts of two voice coil motors 5 move upwards to provide an upward force, the motor shafts of the other two voice coil motors 5 move downwards to provide a downward force, and the two groups of upward forces and downward forces form a moment with the same magnitude and opposite direction to the calculated overturning moment; meanwhile, a grating ruler displacement sensor transmits a position signal of a motor shaft of the voice coil motor 5 to the controller, and a second acceleration sensor transmits vibration acceleration of the unmanned aerial vehicle body 1 to the controller through a voltage signal to serve as a reference signal for applying axial force to the voice coil motor 5.
The second vibration damping mechanism 3 damps vibration: after the vibration is damped by the first vibration damping mechanism 4, part of vibration is transmitted to the second vibration damping mechanism 3 through the load-bearing platform 6, when the vibration is upward, the vibration is transmitted to the spring group 17 through the connecting rod 15, the spring group 17 is compressed, then the upper rubber block 18 is compressed, the vibration acceleration of the unmanned aerial vehicle body 1 is transmitted to the controller through the second acceleration sensor as a voltage signal, the controller firstly passes through the driving circuit and then energizes the enameled copper wire 20 through the reversing circuit, so that repulsive force is generated between the electrician pure iron 21 and the permanent magnet 19, and the repulsive force is counteracted with the upward vibration; when the vibration is downward, the lower rubber block 16 is compressed, the controller changes the current direction of the enameled copper wire 20, an attractive force is generated between the electrician pure iron 21 and the permanent magnet 19, and the upper rubber block 18 and the spring set 17 are extended, so that the downward vibration is absorbed; the non-axial vibrations are mainly absorbed by the rubber pads 23 on the inner wall of the protective shell 22 and the rubber sleeve embedded in the bottom of the shell.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides an unmanned aerial vehicle hybrid power unit's damping device which characterized in that: the unmanned aerial vehicle comprises a load platform arranged below a body of the unmanned aerial vehicle, wherein a hybrid power unit of the unmanned aerial vehicle is arranged on the load platform, a first vibration damping mechanism is arranged between the hybrid power unit and the load platform, and a second vibration damping mechanism is arranged between the load platform and the body; the second vibration reduction mechanism comprises a passive vibration reduction assembly and a magnetic vibration reduction assembly; the first vibration reduction mechanism comprises a voice coil motor vertically arranged on the load-bearing platform, a motor shaft of the voice coil motor is connected with a first bearing seat through a coupler, a first self-aligning bearing is arranged in the first bearing seat, a second bearing seat is arranged at the bottom of the hybrid power unit, a second self-aligning bearing is arranged in the second bearing seat, and a support rod transversely arranged is arranged between the first self-aligning bearing and the second self-aligning bearing; the lower end of the supporting rod is provided with a supporting part for supporting the supporting rod, the supporting part is arranged close to the first self-aligning bearing, the supporting part comprises a third bearing seat in interference fit with the supporting rod, a cylindrical roller bearing is arranged in the third bearing seat, and the loading platform is provided with a bracket arranged in the cylindrical roller bearing;
the vertical connecting rod that sets up on the load platform, passive damping subassembly set up in the connecting rod upper end, magnetic force damping subassembly is equipped with the electrician's pure iron of installing in the fuselage bottom directly over the permanent magnet including setting up the permanent magnet in passive damping subassembly upper end, electrician's pure iron just to passive damping subassembly arrange and leave the interval between the permanent magnet, the periphery winding enameled wire of electrician's pure iron.
2. The vibration damping device of unmanned aerial vehicle hybrid power unit of claim 1, characterized in that: the passive vibration damping assembly comprises a spring group, a lower rubber block arranged at the upper end of the connecting rod is arranged at the lower end of the spring group, an upper rubber block embedded with the permanent magnet is arranged at the upper end of the spring group, and the connecting rod, the lower rubber block, the spring group and the upper rubber block are positioned on the same axis.
3. The vibration damping device of unmanned aerial vehicle hybrid power unit of claim 2, characterized in that: the spring set comprises an outer spring and an inner spring, the inner spring is sleeved in the outer spring, the outer spring and the inner spring are both helical springs, and the helical directions of the outer spring and the inner spring are opposite.
4. The vibration damping device of unmanned aerial vehicle hybrid power unit of claim 1, characterized in that: the support sets up to the L type, and support one end is installed on the load platform, and the other end is installed on cylindrical roller bearing.
5. The vibration damping device of unmanned aerial vehicle hybrid power unit of claim 1, characterized in that: the first damping mechanisms are arranged in four angular positions along the hybrid power unit, and the second damping mechanisms are arranged in four angular positions along the loading platform.
6. The vibration damping device of unmanned aerial vehicle hybrid power unit of claim 1, characterized in that: the second vibration reduction mechanism further comprises a protective shell, the passive vibration reduction assembly and the magnetic force vibration reduction assembly are arranged in the protective shell, and a rubber pad is arranged on the inner wall of the protective shell.
7. The vibration damping device of unmanned aerial vehicle hybrid power unit of claim 1, characterized in that: the hybrid power unit is characterized in that a first acceleration sensor is arranged on the surface of a shell of the hybrid power unit, a second acceleration sensor is arranged on the surface of a machine body, and a grating ruler displacement sensor is arranged on the second vibration reduction mechanism.
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| CN202010492439.6A CN111605718B (en) | 2020-06-03 | 2020-06-03 | Vibration damper of hybrid power unit of unmanned aerial vehicle |
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| CN209142407U (en) * | 2018-09-11 | 2019-07-23 | 长春工业大学 | It is a kind of based on magnetorheological second level vibration isolation holder |
| CN209430682U (en) * | 2019-01-25 | 2019-09-24 | 吉林大学 | A kind of main passive absorber of three axis rotation aerial camera |
| CN110304259A (en) * | 2019-05-09 | 2019-10-08 | 珠海银通无人机科技有限公司 | A kind of unmanned plane oil electric mixed dynamic system damping device |
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