CN111619824A - Many rotor unmanned aerial vehicle PID debugs and anti-interference testing arrangement - Google Patents
Many rotor unmanned aerial vehicle PID debugs and anti-interference testing arrangement Download PDFInfo
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- CN111619824A CN111619824A CN202010586242.9A CN202010586242A CN111619824A CN 111619824 A CN111619824 A CN 111619824A CN 202010586242 A CN202010586242 A CN 202010586242A CN 111619824 A CN111619824 A CN 111619824A
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- 238000012360 testing method Methods 0.000 title claims abstract description 25
- 229910001172 neodymium magnet Inorganic materials 0.000 claims abstract description 22
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000004873 anchoring Methods 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
Abstract
The invention discloses a PID debugging and anti-interference testing device for a multi-rotor unmanned aerial vehicle, which comprises a circular base (1) and a multi-rotor unmanned aerial vehicle fixing plate (2), wherein the middle part of the multi-rotor unmanned aerial vehicle fixing plate (2) is connected with the center of the circular base (1) through a universal joint (3); the multi-rotor unmanned aerial vehicle fixing plate (2) consists of a circular central plate (2.1) and two pairs of coaxial cantilevers (2.2) extending out of the circular central plate (2.1) in the radial direction; the axes of the two pairs of coaxial cantilevers (2.2) are perpendicular to each other; the bottom of each cantilever (2.2) is provided with a neodymium iron boron magnet (4); the distance between the neodymium iron boron magnet (4) and the center of the circular central plate (2.1) is equal; the invention can simply, safely and efficiently test the anti-interference effect of the PID parameter adjusting effect.
Description
Technical Field
The invention relates to the technical field of multi-rotor unmanned aerial vehicle debugging tools, in particular to a PID debugging and anti-interference testing device for a multi-rotor unmanned aerial vehicle.
Background
There is considerable danger in multi-rotor drones and especially in PID commissioning processes that employ brushless motors as power, because the multi-rotor unmanned aerial vehicle has numerous model parameters and complex modeling, the self-stabilization algorithm is difficult to realize by adopting a state space modeling scheme with higher requirement on the model precision, such as the Kalman algorithm, therefore, at present, the PID control law is mostly adopted to debug the self-stability, the debugging process cannot carry out flight debugging on the unmanned aerial vehicle without restriction, otherwise potential safety hazards such as crash of the unmanned aerial vehicle or injury of high-speed blades to people easily occur, the prior conventional scheme adopts a rope to restrict the frame of the unmanned aerial vehicle to carry out debugging, but the rope degree of freedom is great, appears easily all around great amplitude swing, is unfavorable for observing the PID parameter debugging effect of pitch angle, roll angle, especially can not carry out simple, safe and efficient anti-interference test to PID parameter debugging effect.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art: the utility model provides a can carry out simple, safe and efficient anti-interference test's many rotor unmanned aerial vehicle PID debugging and anti-interference testing arrangement to PID accent parameter effect.
The technical solution of the invention is as follows: a PID debugging and anti-interference testing device for a multi-rotor unmanned aerial vehicle comprises a circular base and a multi-rotor unmanned aerial vehicle fixing plate, wherein the middle part of the multi-rotor unmanned aerial vehicle fixing plate is connected with the center of the circular base through a universal joint; the multi-rotor unmanned aerial vehicle fixing plate consists of a circular central plate and two pairs of coaxial cantilevers extending out of the circular central plate in the radial direction; the axes of the two pairs of coaxial cantilevers are vertical to each other; the bottom of each cantilever is provided with a neodymium iron boron magnet; the distance between the neodymium iron boron magnet and the center of the circular central plate is equal;
three fan-shaped electromagnetic coils with central angles of 120 degrees are arranged on the circular base; the three fan-shaped electromagnetic coils form a circular ring taking the center point of the circular base as the center of a circle; the fan-shaped electromagnetic coil is provided with an annular protective cover plate;
the fan-shaped electromagnetic coil is electrically connected with the electromagnetic coil power supply plate; the electromagnetic coil power supply board is electrically connected with a power supply, and button switches for respectively controlling the on-off of the currents of the three fan-shaped electromagnetic coils are arranged on the electromagnetic coil power supply board.
Preferably, the power source is a lithium battery.
As optimization, be equipped with a plurality of fixed orificess that are used for fixed many rotor unmanned aerial vehicle in the circular well core plate.
The edge of the round base is provided with an anchoring hole for fixing on the ground or the desktop.
The distance between the neodymium iron boron magnetic block and the center of the circular central plate is larger than the minimum radius of a circular ring formed by the fan-shaped electromagnetic coils and smaller than the maximum radius of the circular ring.
But through the rotatable cooperation of bearing between many rotor unmanned aerial vehicle fixed plate and the universal joint.
The bottom of the neodymium iron boron magnetic block is pasted with an anti-collision sponge.
Magnetic field lines generated after the fan-shaped electromagnetic coil is electrified are perpendicular to the surface of the annular protective cover plate.
And the magnetic pole of the neodymium iron boron magnetic block is over against the upper end of the fan-shaped electromagnetic coil.
The magnetic poles at the lower ends of the neodymium iron boron magnetic blocks are the same, and the magnetic poles generated at the upper end parts of the three fan-shaped electromagnetic coils after being electrified can be random.
The invention has the beneficial effects that: the three fan-shaped electromagnetic coils are arranged at a central angle of 120 degrees, can fully cover attraction or repulsion to the neodymium iron boron magnet block, and can carry out external force interference evaluation operation on a pitch angle or a roll angle of the unmanned aerial vehicle in a self-stable state at will.
Drawings
FIG. 1 is a schematic diagram of a semi-section structure of a multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device.
Fig. 2 is a schematic sectional view along the direction of a-a in fig. 1.
Fig. 3 is a schematic view of a multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device in a plan view.
FIG. 4 is a circuit diagram of a solenoid power supply board of a multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device.
Fig. 5 is a schematic diagram of the usage state of the PID debugging and anti-interference testing device of the multi-rotor drone in the embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following examples, but the present invention is not limited to the following examples.
Examples
As shown in fig. 1-3, a PID debugging and anti-interference testing device for a multi-rotor unmanned aerial vehicle comprises a circular base 1 and a multi-rotor unmanned aerial vehicle fixing plate 2, wherein the middle part of the multi-rotor unmanned aerial vehicle fixing plate 2 is connected with the center of the circular base 1 through a universal joint 3; the multi-rotor unmanned aerial vehicle fixing plate 2 consists of a circular central plate 2.1 and two pairs of coaxial cantilevers 2.2 which radially extend out of the circular central plate 2.1; the axes of the two pairs of coaxial cantilevers 2.2 are perpendicular to each other; the bottom of each cantilever 2.2 is provided with a neodymium iron boron magnet 4; the distance between the neodymium iron boron magnetic blocks 4 and the center of the circular central plate 2.1 is equal;
three fan-shaped electromagnetic coils 5 with central angles of 120 degrees are arranged on the circular base 1; the three fan-shaped electromagnetic coils 5 form a circular ring taking the central point of the circular base 1 as the center of a circle; the fan-shaped electromagnetic coil 5 is provided with an annular protective cover plate 6;
the fan-shaped electromagnetic coil 5 is electrically connected with an electromagnetic coil power supply plate 7 through a power supply lead; the electromagnetic coil power supply board 7 is electrically connected with a power supply, and button switches for respectively controlling the on-off of the currents of the three fan-shaped electromagnetic coils 5 are arranged on the electromagnetic coil power supply board 7. The power supply wire can be provided with a 3-5m far-away device to realize remote control on the on-off of the current of the fan-shaped electromagnetic coil 5, so that the propeller of the multi-rotor unmanned aerial vehicle is prevented from being scratched during debugging.
The power supply is a lithium battery.
Be equipped with a plurality of fixed orificess that are used for fixed many rotor unmanned aerial vehicle in circular well 2.1.
The edge of the round base 1 is provided with an anchoring hole for fixing on the ground or a desktop.
The distance from the neodymium iron boron magnetic block 4 to the center of the circular central plate 2.1 is larger than the minimum radius of a circular ring formed by the fan-shaped electromagnetic coil 5 and smaller than the maximum radius of the circular ring.
But pass through bearing rotatable cooperation between many rotor unmanned aerial vehicle fixed plate 2 and the universal joint 3.
The bottom of the neodymium iron boron magnetic block 4 is pasted with an anti-collision sponge.
Magnetic field lines generated after the fan-shaped electromagnetic coil 5 is electrified are vertical to the surface of the annular protective cover plate 6.
The magnetic pole of the neodymium iron boron magnetic block 4 is opposite to the upper end of the fan-shaped electromagnetic coil 5.
The magnetic poles at the lower ends of the neodymium iron boron magnetic blocks 4 are the same, and the magnetic poles generated at the upper end parts of the three fan-shaped electromagnetic coils 5 can be random after being electrified.
As shown in fig. 4, the three fan-shaped electromagnetic coils 5 are respectively L1, L2 and L3, which are connected in series with individual control switches S1, S2 and S3 and charge-discharge capacitors C1, C2 and C3, and then connected in parallel with each other to be connected to a power supply, and at both ends of L1, L2 and L3, freewheeling diodes D1, D2 and D3 are connected in parallel, and the capacities of the charge-discharge capacitors C1, C2 and C3 are determined according to the required duration of the instantaneous magnetic pulse, and are preferably larger than 470 uf.
The method for carrying out PID debugging and anti-interference test on the multi-rotor unmanned aerial vehicle comprises the following steps:
1) fixing the multi-rotor unmanned aerial vehicle to be debugged on a multi-rotor unmanned aerial vehicle fixing plate 2, and fixing the multi-rotor unmanned aerial vehicle by using a binding belt through a fixing hole arranged on a circular central plate 2.1 as shown in fig. 5;
2) the circular base 1 is fixed on the ground or a desktop through anchoring holes arranged at the edge of the circular base 1, and if the lift force of the multi-rotor unmanned aerial vehicle is not enough to pull the device, the multi-rotor unmanned aerial vehicle can not be fixed;
3) the multi-rotor unmanned aerial vehicle is started in a remote control mode, an accelerator is pulled up, and the universal joint 3 can allow the multi-rotor unmanned aerial vehicle to roll, pitch and yaw, so that the PID parameter effect can be determined by observing the swinging state of the multi-rotor unmanned aerial vehicle, and if the effect does not meet the requirement, the PID parameter is debugged again and the effect is tested again;
4) through control solenoid supplies power board 7 to go up button switch's on-off control at least one fan-shaped solenoid 5's electric current break-make can produce an interference pulse, because fan-shaped solenoid 5 circular telegram after have magnetic property with neodymium iron boron magnetic path 4 repels or attracts mutually to the condition that many rotor unmanned aerial vehicle receive external force to the simulation receives disturbance, judges that the time that many rotor unmanned aerial vehicle PID after the disturbance recovered from steady state can assess PID and transfer the parameter effect.
The above are merely characteristic embodiments of the present invention, and do not limit the scope of the present invention in any way. All technical solutions formed by equivalent exchanges or equivalent substitutions fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a many rotor unmanned aerial vehicle PID debugging and anti-interference testing arrangement which characterized in that: the multi-rotor unmanned aerial vehicle fixing device comprises a circular base (1) and a multi-rotor unmanned aerial vehicle fixing plate (2), wherein the middle part of the multi-rotor unmanned aerial vehicle fixing plate (2) is connected with the center of the circular base (1) through a universal joint (3); the multi-rotor unmanned aerial vehicle fixing plate (2) consists of a circular central plate (2.1) and two pairs of coaxial cantilevers (2.2) extending out of the circular central plate (2.1) in the radial direction; the axes of the two pairs of coaxial cantilevers (2.2) are perpendicular to each other; the bottom of each cantilever (2.2) is provided with a neodymium iron boron magnet (4); the distance between the neodymium iron boron magnet (4) and the center of the circular central plate (2.1) is equal;
three fan-shaped electromagnetic coils (5) with central angles of 120 degrees are arranged on the circular base (1); the three fan-shaped electromagnetic coils (5) form a circular ring taking the central point of the circular base (1) as the center of a circle; an annular protective cover plate (6) is arranged on the fan-shaped electromagnetic coil (5);
the fan-shaped electromagnetic coil (5) is electrically connected with an electromagnetic coil power supply plate (7); the electromagnetic coil power supply board (7) is electrically connected with a power supply, and button switches for respectively controlling the on-off of the currents of the three fan-shaped electromagnetic coils (5) are arranged on the electromagnetic coil power supply board (7).
2. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: the power supply is a lithium battery.
3. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: be equipped with a plurality of fixed orificess that are used for fixed many rotor unmanned aerial vehicle in circular well core plate (2.1).
4. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: the edge of the round base (1) is provided with an anchoring hole for fixing on the ground or a desktop.
5. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: the distance from the neodymium iron boron magnetic block (4) to the center of the circular central plate (2.1) is larger than the minimum radius of a circular ring formed by the fan-shaped electromagnetic coil (5) and smaller than the maximum radius of the circular ring.
6. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: but through the rotatable cooperation of bearing between many rotor unmanned aerial vehicle fixed plate (2) and universal joint (3).
7. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: the bottom of the neodymium iron boron magnetic block (4) is pasted with an anti-collision sponge.
8. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: magnetic field lines generated after the fan-shaped electromagnetic coil (5) is electrified are perpendicular to the surface of the annular protective cover plate (6).
9. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: the magnetic pole of the neodymium iron boron magnetic block (4) is opposite to the upper end of the fan-shaped electromagnetic coil (5).
10. The multi-rotor unmanned aerial vehicle PID tuning and anti-jamming testing device of claim 1, wherein: the magnetic poles at the lower ends of the neodymium iron boron magnetic blocks (4) are the same, and the magnetic poles generated at the upper end parts of the three fan-shaped electromagnetic coils (5) can be random after being electrified.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010586242.9A CN111619824A (en) | 2020-06-24 | 2020-06-24 | Many rotor unmanned aerial vehicle PID debugs and anti-interference testing arrangement |
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| CN202010586242.9A CN111619824A (en) | 2020-06-24 | 2020-06-24 | Many rotor unmanned aerial vehicle PID debugs and anti-interference testing arrangement |
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| CN108413956A (en) * | 2018-02-06 | 2018-08-17 | 西安工业大学 | Multi-rotor aerocraft stability analysis platform |
| CN108635839A (en) * | 2018-06-07 | 2018-10-12 | 王伟 | Simulate the games system of reality and the game implementation method of simulation reality |
| CN108931985A (en) * | 2017-05-24 | 2018-12-04 | 西北农林科技大学 | A kind of TT&C system of quadrotor drone scientific research and teaching test stand |
| CN109229421A (en) * | 2018-09-25 | 2019-01-18 | 昆明理工大学 | A kind of unmanned plane power performance test macro and method |
| CN109927934A (en) * | 2019-04-12 | 2019-06-25 | 中国民航大学 | A kind of multiple degrees of freedom quadrotor drone attitude test device |
| WO2019163523A1 (en) * | 2018-02-23 | 2019-08-29 | 本田技研工業株式会社 | Flight status inspection system, flight status inspection method, and program |
| CN111284730A (en) * | 2020-03-24 | 2020-06-16 | 北京理工大学珠海学院 | Rotor craft comprehensive test experiment simulation platform and test method |
-
2020
- 2020-06-24 CN CN202010586242.9A patent/CN111619824A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108931985A (en) * | 2017-05-24 | 2018-12-04 | 西北农林科技大学 | A kind of TT&C system of quadrotor drone scientific research and teaching test stand |
| CN108413956A (en) * | 2018-02-06 | 2018-08-17 | 西安工业大学 | Multi-rotor aerocraft stability analysis platform |
| WO2019163523A1 (en) * | 2018-02-23 | 2019-08-29 | 本田技研工業株式会社 | Flight status inspection system, flight status inspection method, and program |
| CN108635839A (en) * | 2018-06-07 | 2018-10-12 | 王伟 | Simulate the games system of reality and the game implementation method of simulation reality |
| CN109229421A (en) * | 2018-09-25 | 2019-01-18 | 昆明理工大学 | A kind of unmanned plane power performance test macro and method |
| CN109927934A (en) * | 2019-04-12 | 2019-06-25 | 中国民航大学 | A kind of multiple degrees of freedom quadrotor drone attitude test device |
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