CN111619824B - Multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device - Google Patents
Multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device Download PDFInfo
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- CN111619824B CN111619824B CN202010586242.9A CN202010586242A CN111619824B CN 111619824 B CN111619824 B CN 111619824B CN 202010586242 A CN202010586242 A CN 202010586242A CN 111619824 B CN111619824 B CN 111619824B
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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 abstract 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
- 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 4
- 230000001681 protective effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
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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
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention discloses a multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device, 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 radially along the circular central plate (2.1); the axes of the two pairs of coaxial cantilevers (2.2) are mutually perpendicular; the bottom of the cantilever (2.2) is provided with neodymium iron boron magnets (4); the distance between the neodymium iron boron magnet blocks (4) and the center of the circular center plate (2.1) is equal; the invention can perform simple, safe and efficient anti-interference test on the PID parameter adjusting effect.
Description
Technical Field
The invention relates to the technical field of debugging tools of multi-rotor unmanned aerial vehicles, in particular to a PID debugging and anti-interference testing device of a multi-rotor unmanned aerial vehicle.
Background
The multi-rotor unmanned aerial vehicle especially adopts brushless motor as the PID debugging process of power to have considerable danger, because many rotor unmanned aerial vehicle model parameters, the modeling is complicated, it is comparatively difficult to adopt the state space modeling scheme such as Kalman algorithm that the model precision requirement is higher to realize from steady algorithm, consequently, the present majority adopts PID control law to debug from steady, the debugging process can not fly debugging unmanned aerial vehicle without restraint, otherwise the potential safety hazards such as unmanned aerial vehicle crash or high-speed paddle hurt people appear easily, the present more conventional scheme adopts rope constraint unmanned aerial vehicle frame to debug, but the rope degree of freedom is great, the swing of controlling by a wide margin is easy to appear, be 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 debugging effect.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art: the multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device can conduct simple, safe and efficient anti-interference testing on the PID parameter adjusting effect.
The technical scheme of the invention is as follows: the utility model provides a many rotor unmanned aerial vehicle PID debugging and anti-interference testing arrangement, includes circular base, many rotor unmanned aerial vehicle fixed plate's middle part pass through the universal joint with circular base's center is connected; the multi-rotor unmanned aerial vehicle fixing plate consists of a circular central plate and two pairs of coaxial cantilevers extending radially along the circular central plate; the axes of the two pairs of coaxial cantilevers are mutually perpendicular; the bottom of the cantilever is provided with neodymium iron boron magnetic blocks; the distance between the neodymium iron boron magnet and the center of the circular center plate is equal;
the circular base is provided with three fan-shaped electromagnetic coils with 120-degree central angles; the three fan-shaped electromagnetic coils form a circular ring taking the center point of the circular base as the center of a circle; an annular protective cover plate is arranged on the fan-shaped electromagnetic coil;
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, a plurality of fixing holes for fixing the multi-rotor unmanned aerial vehicle are formed in the circular center plate.
The edge of the round base is provided with an anchoring hole for fixing on the ground or a tabletop.
The distance from the NdFeB magnet to the center of the circular center 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.
The multi-rotor unmanned aerial vehicle fixing plate is rotatably matched with the universal joint through a bearing.
And an anti-collision sponge is stuck to the bottom of the neodymium iron boron magnet.
The magnetic field lines generated after the fan-shaped electromagnetic coil is electrified are perpendicular to the surface of the annular protective cover plate.
The magnetic pole of the neodymium iron boron magnetic block is opposite to the upper end of the fan-shaped electromagnetic coil.
The magnetic poles at the lower ends of the NdFeB magnetic blocks are the same, and the magnetic poles generated at the upper ends of the three fan-shaped electromagnetic coils after the fan-shaped electromagnetic coils are electrified can be random.
The beneficial effects of the invention are as follows: the invention has simple and compact structure, can perform simple, safe and efficient anti-interference test and evaluation on the PID parameter adjusting effect of the multi-rotor unmanned aerial vehicle, effectively avoids potential safety hazards caused by artificial external force interference, and can fully cover attraction or rejection of the neodymium-iron-boron magnet blocks when the central angles of the three fan-shaped electromagnetic coils are 120 degrees, and perform external force interference evaluation operation on the pitch angle or the roll angle of the unmanned aerial vehicle in a self-stabilizing state at will.
Drawings
Fig. 1 is a schematic diagram of a semi-sectional structure of a multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device.
FIG. 2 is a schematic cross-sectional view of A-A in FIG. 1.
Fig. 3 is a schematic top view of a multi-rotor unmanned aerial vehicle PID debug and anti-interference test apparatus.
Fig. 4 is a circuit diagram of a power supply board of an electromagnetic coil of the multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device.
Fig. 5 is a schematic diagram of a usage state of a PID debug and anti-interference test device of a multi-rotor unmanned aerial vehicle in an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following specific examples, but the present invention is not limited to the following specific examples.
Examples
As shown in fig. 1-3, the multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing 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 radially along the circular central plate 2.1; the axes of the two pairs of coaxial cantilevers 2.2 are mutually perpendicular; the bottom of the cantilever 2.2 is provided with neodymium-iron-boron magnets 4; the distance between the neodymium iron boron magnet 4 and the center of the circular center plate 2.1 is equal;
The circular base 1 is provided with three fan-shaped electromagnetic coils 5 with 120-degree central angles; the three fan-shaped electromagnetic coils 5 form a circular ring taking the center 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 the 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 lead can be provided with a 3-5m far away device so as to realize remote control of current on-off of the fan-shaped electromagnetic coil 5, and the propeller scratch of the multi-rotor unmanned aerial vehicle is avoided during debugging.
The power supply is a lithium battery.
The circular center plate 2.1 is provided with a plurality of fixing holes for fixing the multi-rotor unmanned aerial vehicle.
The edge of the round base 1 is provided with an anchoring hole for fixing on the ground or a tabletop.
The distance from the neodymium iron boron magnet 4 to the center of the circular center plate 2.1 is larger than the minimum radius of a circular ring formed by the fan-shaped electromagnetic coils 5 and smaller than the maximum radius of the circular ring.
The multi-rotor unmanned aerial vehicle fixing plate 2 and the universal joint 3 are rotatably matched through bearings.
And an anti-collision sponge is stuck to the bottom of the neodymium iron boron magnet 4.
The 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.
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 NdFeB magnetic blocks 4 are the same, and the magnetic poles generated at the upper ends of the three fan-shaped electromagnetic coils 5 after being electrified can be random.
As shown in fig. 4, the three fan-shaped electromagnetic coils 5 are respectively L1, L2, and L3, and are connected in series with the individual control switches S1, S2, and S3 and the charge-discharge capacitors C1, C2, and C3, and then connected in parallel with the power supply, and the freewheeling diodes D1, D2, and D3 are also connected in parallel to the two ends of the L1, L2, and L3, respectively, and the capacity of the charge-discharge capacitors C1, C2, and C3 is preferably greater than 470uf, depending on the required duration of the transient magnetic pulse.
The method for carrying out PID debugging and anti-interference testing of 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 adopting a ribbon through a fixing hole arranged on the circular central plate 2.1 as shown in fig. 5;
2) Fixing the circular base 1 on the ground or a table top through an anchoring hole arranged at the edge of the circular base 1, wherein the circular base 1 can be not fixed if the lifting force of the multi-rotor unmanned aerial vehicle is insufficient to pull the device;
3) The multi-rotor unmanned aerial vehicle is remotely controlled to be started and Gao Youmen is pulled, and the universal joint 3 can allow the multi-rotor unmanned aerial vehicle to roll, pitch and yaw to rotate, so that the PID parameter effect can be determined by observing the swinging state of the multi-rotor unmanned aerial vehicle, and if the PID parameter effect does not meet the requirement, the PID parameter is debugged again and the effect is tested again;
4) The on-off control of the button switch on the electromagnetic coil power supply board 7 is used for controlling the on-off of the current of at least one fan-shaped electromagnetic coil 5 to generate an interference pulse, and as the fan-shaped electromagnetic coil 5 is electrified and then has magnetic property and the neodymium-iron-boron magnet 4 repel or attract each other, the situation that the multi-rotor unmanned aerial vehicle is interfered by external force is simulated, and the PID parameter adjusting effect can be estimated by judging the time of the multi-rotor unmanned aerial vehicle PID recovering from the stable state after the interference.
The above is merely exemplary embodiments of the present invention, and the scope of the present invention is not limited in any way. All technical schemes formed by adopting equivalent exchange or equivalent substitution fall within the protection scope of the invention.
Claims (9)
1. The utility model provides a many rotor unmanned aerial vehicle PID debugging and anti-interference testing arrangement, includes circular base (1), many rotor unmanned aerial vehicle fixed plate (2), the middle part of many rotor unmanned aerial vehicle fixed plate (2) pass through universal joint (3) with the center of circular base (1); 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 radially along the circular central plate (2.1); the axes of the two pairs of coaxial cantilevers (2.2) are mutually perpendicular; the bottom of the cantilever (2.2) is provided with neodymium iron boron magnets (4); the distance between the neodymium iron boron magnet blocks (4) and the center of the circular center plate (2.1) is equal;
The circular base (1) is provided with three fan-shaped electromagnetic coils (5) with 120-degree central angles; 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 protection cover plate (6) is arranged on the fan-shaped electromagnetic coil (5);
The fan-shaped electromagnetic coil (5) is electrically connected with the 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);
The distance from the neodymium iron boron magnet block (4) to the center of the circular center plate (2.1) is larger than the minimum radius of a circular ring formed by the fan-shaped electromagnetic coils (5) and smaller than the maximum radius of the circular ring.
2. The multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing apparatus of claim 1, wherein: the power supply is a lithium battery.
3. The multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing apparatus of claim 1, wherein: the circular center plate (2.1) is provided with a plurality of fixing holes for fixing the multi-rotor unmanned aerial vehicle.
4. The multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing apparatus of claim 1, wherein: the edge of the round base (1) is provided with an anchoring hole for fixing on the ground or a tabletop.
5. The multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing apparatus of claim 1, wherein: the multi-rotor unmanned aerial vehicle fixing plate (2) is rotatably matched with the universal joint (3) through a bearing.
6. The multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing apparatus of claim 1, wherein: and an anti-collision sponge is stuck to the bottom of the neodymium iron boron magnet (4).
7. The multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing apparatus of claim 1, wherein: the magnetic field lines generated after the fan-shaped electromagnetic coil (5) is electrified are perpendicular to the surface of the annular protection cover plate (6).
8. The multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing apparatus of claim 1, wherein: the magnetic pole of the neodymium iron boron magnet block (4) is opposite to the upper end of the fan-shaped electromagnetic coil (5).
9. The multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing apparatus of claim 1, wherein: the magnetic poles at the lower ends of the NdFeB magnetic blocks (4) are the same, and the magnetic poles generated at the upper ends of the three fan-shaped electromagnetic coils (5) after being electrified can be random.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010586242.9A CN111619824B (en) | 2020-06-24 | 2020-06-24 | Multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010586242.9A CN111619824B (en) | 2020-06-24 | 2020-06-24 | Multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device |
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| CN111619824A CN111619824A (en) | 2020-09-04 |
| CN111619824B true CN111619824B (en) | 2024-05-10 |
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| 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 |
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2020
- 2020-06-24 CN CN202010586242.9A patent/CN111619824B/en active Active
Patent Citations (7)
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| 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 |
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