CN111846284B - Unmanned aerial vehicle performance test system and method - Google Patents
Unmanned aerial vehicle performance test system and method Download PDFInfo
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- CN111846284B CN111846284B CN202010753009.5A CN202010753009A CN111846284B CN 111846284 B CN111846284 B CN 111846284B CN 202010753009 A CN202010753009 A CN 202010753009A CN 111846284 B CN111846284 B CN 111846284B
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle performance test system, which comprises: the first acquisition module is used for acquiring the pneumatic performance parameters of the unmanned aerial vehicle; the second acquisition module is used for acquiring the motor operation parameters of the unmanned aerial vehicle; the judging module is used for judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters; the adjusting module is used for adjusting the attack angle of the wings of the unmanned aerial vehicle; the storage module is used for storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the stalling to the return to the normal state; and the analysis module is used for analyzing the stored pneumatic performance parameters and the motor operation parameters and judging whether the performance of the unmanned aerial vehicle meets the requirements or not. The invention solves the technical problem that the prior art can not test the special requirements of the power system when the unmanned aerial vehicle is in a stall state.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle performance test system and method.
Background
Drones, i.e. drones, operate with radio remote control devices and self-contained program control devices, or are controlled autonomously, either completely or intermittently, by an on-board computer. In recent years, unmanned aerial vehicles have been widely used in urban management, agriculture, geology, weather, electric power, rescue and relief work, video shooting and other industries.
In order to ensure that the unmanned aerial vehicle has good performance, the testing work of the performance of the unmanned aerial vehicle is started in the design stage. The general test mode is that the performance parameters of the power part of the unmanned aerial vehicle are tested on the ground, and then power model selection is carried out according to the performance parameters. Because the environment of ground test is not completely the same as the environment of actual flight, the best result can not be obtained, and the optimal matching of the motor and the propeller is difficult to realize.
To this end, document CN109774972A discloses an unmanned aerial vehicle power and pneumatic performance test system, including: the system comprises a main control unit, a first measuring system, a second measuring system, a positioning module and a storage module, wherein the power and pneumatic performance testing system is installed on the unmanned aerial vehicle, and in the dynamic flight testing process of the unmanned aerial vehicle, the relevant parameters of the power and pneumatic performance of the unmanned aerial vehicle are measured in real time through the first measuring system and the second measuring system, and the relevant parameters measured in real time are recorded through the main control unit, so that engineering designers can perform quantitative analysis and comprehensive judgment on the performance parameters and the working efficiency of the power unit of the unmanned aerial vehicle; and the pneumatic performance of the unmanned aerial vehicle is verified, so that scientific and accurate judgment standards and technical bases are provided for power supply part type selection and system integration.
At present, the unmanned aerial vehicle flying at low altitude basically adopts a rectangular wing structure, and the main reason is that even if the rectangular wing is in a stall state due to insufficient lift force during low altitude flying, the vibration of the body of the unmanned aerial vehicle and the fluttering of an engine cannot be caused. As long as ground operating personnel operate properly, the state of the unmanned aerial vehicle and the stall state can be easily recovered. However, when the unmanned aerial vehicle is in a stall state, that is, the wing attack angle is greater than the critical angle, to recover the state of the unmanned aerial vehicle in the stall state, the power device needs to control the tail wing to move in a short time, and thus the power device needs to output high power in a short time. However, the prior art can not test the special requirements of the power device when the unmanned aerial vehicle is in the stall state, so that the obtained performance test result is difficult to deal with the stall state.
Disclosure of Invention
The invention provides a system and a method for testing the performance of an unmanned aerial vehicle, which solve the technical problem that the prior art can not test the special requirements of a power system when the unmanned aerial vehicle is in a stall state.
The basic scheme provided by the invention is as follows: unmanned aerial vehicle capability test system includes:
the first acquisition module is used for acquiring the pneumatic performance parameters of the unmanned aerial vehicle;
the second acquisition module is used for acquiring motor operation parameters of the unmanned aerial vehicle;
the judging module is used for judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;
the adjusting module is used for adjusting the attack angle of the wings of the unmanned aerial vehicle;
the storage module is used for storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the stalling to the return to the normal state;
and the analysis module is used for analyzing the stored pneumatic performance parameters and the motor operation parameters and judging whether the performance of the unmanned aerial vehicle meets the requirements or not.
The working principle of the invention is as follows: stall refers to the separation of the airflow passing through the wing under the action of the adverse pressure gradient and the viscosity, resulting in the pressure rise at the upper airfoil separation, and thus the lift suddenly decreases. For an unmanned aerial vehicle, the unmanned aerial vehicle is usually in a low-speed flight state, and due to factors such as an increased angle of attack of wings, sideslip and the like, a stall state in which the lift force is suddenly reduced and the flying height is rapidly reduced also occurs. In the process of testing the unmanned aerial vehicle, the pneumatic performance parameters of the unmanned aerial vehicle need to be collected firstly, and then whether the unmanned aerial vehicle stalls or not is judged according to the pneumatic performance parameters. This includes two cases: first, if stall has occurred, the angle of attack of the wing is adjusted, i.e. gradually reduced, so that it gradually returns to normal. Secondly, if the stalling does not occur, the attack angle of the wing needs to be adjusted, so that the wing gradually stalls, and then gradually returns to a normal state from the stalling; that is, the attack angle is gradually increased until the wing stalls, and when the wing stalls, the attack angle of the wing is gradually reduced, so that the wing stalls and then gradually returns to normal. And finally, storing the pneumatic performance parameters and the motor operation parameters of the time period from the beginning of the stalling to the returning to the normal state, so that the pneumatic performance parameters and the motor operation parameters of the time period from the beginning of the stalling to the returning to the normal state of the unmanned aerial vehicle are obtained. Finally, a comprehensive decision is made on the performance of the drone according to this time period.
The invention has the advantages that: firstly, the performance of the unmanned aerial vehicle in the time period from the stalling to the returning to the normal state can be effectively tested, and the adjustment performance of the unmanned aerial vehicle in the stalling is obtained; secondly, when the unmanned aerial vehicle is in a stall state, testing is carried out on special requirements of the power device, and the obtained test result can effectively judge whether the unmanned aerial vehicle can deal with the stall state; and thirdly, only the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the time period from the stalling to the returning to the normal state are stored, and the memory space is saved.
The method can effectively test the performance of the unmanned aerial vehicle in the time period from the stalling to the returning to the normal state, and obtain the adjusting performance of the unmanned aerial vehicle when the unmanned aerial vehicle stalls; the technical problem that the special requirements of the power system can not be tested when the unmanned aerial vehicle is trapped in a stall state in the prior art is solved.
Further, the first acquisition module specifically includes:
the speed unit is used for acquiring the flight speed of the unmanned aerial vehicle;
the inertial unit is used for acquiring attitude data of the unmanned aerial vehicle;
and the pressure unit is used for acquiring the air flow pressure values of all parts of the upper surface and the lower surface of the wing.
Has the advantages that: for judging the stalling of the unmanned aerial vehicle, the flight speed, the attitude data and the air flow pressure values of all parts on the upper surface and the lower surface of the wing are extremely important data, whether the unmanned aerial vehicle stalls or not can be effectively judged through the three data, and compared with the judgment according to other pneumatic parameters, the accuracy rate is high.
Further, the second acquisition module specifically includes:
the power unit is used for acquiring the power value of the motor of the unmanned aerial vehicle;
the rotating speed unit is used for acquiring a rotating speed value of the motor of the unmanned aerial vehicle;
the current unit is used for acquiring the current value of the motor of the unmanned aerial vehicle;
and the voltage unit is used for acquiring the voltage value of the motor of the unmanned aerial vehicle.
Has the advantages that: for the motor of the unmanned aerial vehicle, the current and the voltage can be regarded as internal parameters of the motor, and the internal performance of the motor is reflected; the tension and the rotating speed can be regarded as external parameters of the motor, and the external performance of the motor is reflected. Therefore, the performance of the motor can be comprehensively reflected by adopting the four parameters, so that the analysis is convenient.
Further, the judging module specifically includes:
the speed judging unit is used for judging whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value or not;
the inertia judging unit is used for judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value;
and the pressure judging unit is used for judging whether the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is greater than the pressure threshold value or not.
The beneficial effects are that: according to the theory related to the air flow separation of aerodynamics and flight principle, when stall occurs, the flying speed is reduced, attitude data (such as deflection angle) is increased, and the air flow separation occurs on the upper surface of the wing, so that the air flow pressure difference of each part of the upper surface and the lower surface is too large, therefore, the method for judging whether stall occurs is more intuitive, and compared with the method for directly judging whether air flow separation occurs, the method is more simple and is understood by specifically referring to the related sections of aerodynamics or flight mechanics books.
Further, the analysis module specifically includes:
the external performance analysis unit is used for analyzing the change rule of the power value and the rotating speed value of the motor in the time period from the start of the stalling of the unmanned aerial vehicle to the return to normal and judging whether the change rule of the power value and the rotating speed value meets the preset requirement or not;
and the internal performance analysis unit is used for analyzing the change rule of the current value and the voltage value of the motor from the start of the unmanned aerial vehicle stalling to the return to normal time period and judging whether the change rule of the current value and the voltage value meets the preset requirement.
Has the advantages that: meanwhile, the change rule of the current value and the voltage value of the motor, the power value and the rotating speed value in the period from the stalling of the unmanned aerial vehicle to the returning to the normal state is analyzed, and through the mode, the comprehensive evaluation can be simultaneously carried out on the performance of the unmanned aerial vehicle from the inside and the outside.
The invention also provides an unmanned aerial vehicle performance test method, which comprises the following steps:
s1, acquiring a pneumatic performance parameter of the unmanned aerial vehicle;
s2, acquiring motor operation parameters of the unmanned aerial vehicle;
s3, judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;
s4, adjusting an attack angle of a wing of the unmanned aerial vehicle;
s5, storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the beginning of stalling to the return to normal;
s6, analyzing the stored pneumatic performance parameters and the motor operation parameters, and judging whether the performance of the unmanned aerial vehicle meets the requirements or not.
The invention solves the technical problem that the prior art can not test the special requirements of the power system when the unmanned aerial vehicle is in a stall state
Further, S1 includes:
s11, acquiring the flight speed of the unmanned aerial vehicle;
s12, acquiring attitude data of the unmanned aerial vehicle;
and S13, obtaining the air flow pressure values of all parts of the upper surface and the lower surface of the wing.
Has the advantages that: according to the theory related to aerodynamics and flight principle, whether the unmanned aerial vehicle stalls can be effectively judged through the three data, however, the judging priority is the flight speed, the attitude data and the airflow pressure values of all parts on the upper surface and the lower surface of the wing in sequence, and therefore, the data are collected in sequence, and the judgment efficiency is improved.
Further, S2 includes:
s21, acquiring a power value and a rotating speed value of a motor of the unmanned aerial vehicle;
s22, obtaining a current value and a voltage value of the motor of the unmanned aerial vehicle.
Has the advantages that: when the power value and the rotational speed value of motor do not satisfy the requirement, just do not need to judge whether the current value and the voltage value of motor satisfy the requirement, so gather the power value and the rotational speed value of unmanned aerial vehicle motor earlier, can improve data acquisition's efficiency like this, also can not influence the result of follow-up judgement simultaneously.
Further, S3 includes:
s31, judging whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value or not, and if the flying speed of the unmanned aerial vehicle is smaller than the preset threshold value, judging that the unmanned aerial vehicle stalls; otherwise, carrying out the next step;
s32, judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value or not, and if the attitude data of the unmanned aerial vehicle is larger than the corresponding threshold value, judging that the unmanned aerial vehicle stalls; otherwise, carrying out the next step;
s33, judging whether the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is larger than a pressure threshold value or not, and if the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is larger than the pressure threshold value, judging that the unmanned aerial vehicle stalls; otherwise, judging that the unmanned aerial vehicle does not have stall.
Has the advantages that: by the aid of the judging mode, the flying speed, attitude data and the priority of the airflow pressure values of all parts of the upper surface and the lower surface of the wing are considered, and whether stall occurs or not is judged more simply and visually.
Further, S6 includes:
s61, analyzing a change rule of the power value and the rotating speed value of the motor in the time period from the stalling of the unmanned aerial vehicle to the returning to the normal state, and judging whether the change rule of the power value and the rotating speed value meets a preset requirement: if the change rule of the power value and the rotating speed value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; if the change rule of the power value and the rotating speed value meets the preset requirement, the next step is carried out;
s62, analyzing the change rule of the current value and the voltage value of the motor in the period from the start of the unmanned aerial vehicle stalling to the return to normal, and judging whether the change rule of the current value and the voltage value meets the preset requirement: if the change rule of the current value and the voltage value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; on the contrary, if the change rule of the current value and the voltage value meets the preset requirement, the unmanned aerial vehicle is judged to be qualified in performance.
Has the advantages that: when the power value and the rotating speed value of the motor do not meet the requirements, whether the current value and the voltage value of the motor meet the requirements or not does not need to be judged, and by means of the mode, comprehensive evaluation can be simultaneously conducted on the performance of the unmanned aerial vehicle from the inside and the outside.
Drawings
Fig. 1 is a block diagram of a system structure of an embodiment of the system for testing the performance of the unmanned aerial vehicle of the invention.
Detailed Description
The following is further detailed by way of specific embodiments:
example 1
The embodiment of the unmanned aerial vehicle performance test system is basically as shown in the attached figure 1, and comprises the following components:
the first acquisition module is used for acquiring the pneumatic performance parameters of the unmanned aerial vehicle;
the second acquisition module is used for acquiring motor operation parameters of the unmanned aerial vehicle;
the judging module is used for judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;
the adjusting module is used for adjusting the attack angle of the wings of the unmanned aerial vehicle;
the storage module is used for storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the stalling to the return to the normal state;
and the analysis module is used for analyzing the stored pneumatic performance parameters and the motor operation parameters and judging whether the performance of the unmanned aerial vehicle meets the requirements or not.
In this embodiment, the first acquisition module and the second acquisition module are hardware, the adjustment module is hardware and programs/software to implement the functions thereof, and the determination module, the storage module and the analysis module are integrated on the server, and the specific implementation process is as follows:
s1, acquiring the pneumatic performance parameters of the unmanned aerial vehicle.
The first acquisition module comprises a speed unit, an inertia unit and a pressure unit, wherein the speed unit acquires the flight speed of the unmanned aerial vehicle; the method comprises the steps that an inertial unit obtains attitude data of the unmanned aerial vehicle; the pressure unit obtains the air flow pressure values of all parts of the upper surface and the lower surface of the wing.
Specifically, the speed unit adopts the pitot tube, installs on unmanned aerial vehicle. A total pressure hole is formed in the head of the pitot tube in the direction of the head stream, a static pressure hole is formed at a certain distance away from the head, and the flying speed of the unmanned aerial vehicle can be obtained according to the numerical relation between the difference between the total pressure and the static pressure and the flow speed. The inertial unit adopts an attitude sensor, is installed on the unmanned aerial vehicle, and can generate three-dimensional attitude data such as a pitch angle, a roll angle and a yaw angle in real time. The pressure unit adopts a film pressure sensor, the film sensors are arranged on the upper surface and the lower surface of the wing of the unmanned aerial vehicle to be measured, and the pressure intensity is measured in real time.
S2, obtaining motor operation parameters of the unmanned aerial vehicle.
The second acquisition module specifically comprises a power unit, a rotating speed unit, a current unit and a voltage unit, wherein the power unit acquires the power value of the motor, the rotating speed unit acquires the rotating speed value of the motor, the current unit acquires the current value of the motor, and the voltage unit acquires the voltage value of the motor.
Particularly, the tension unit adopts stress deformation inductive sensor, concatenates it to between unmanned aerial vehicle's the motor and unmanned aerial vehicle's the fuselage, and after the weak analog signal variation of stress deformation inductive sensor output, trun into digital form by the analog-to-digital conversion chip, can output the tension value in real time. The rotational speed unit is connected the signal of wherein arbitrary looks in unmanned aerial vehicle's the motor three-phase drive line, detects it and rotates the in-process at the motor, and the reverse electromotive force that produces behind the motor inner coil through the permanent magnet will be examined reverse electromotive force alternating speed, divides by the motor magnetic pole logarithm, can obtain the rotational speed data of unmanned aerial vehicle's motor.
The current unit adopts a Hall induction type current sensor, and after the current of the motor passes through the Hall induction type current sensor, the current signal is connected to an analog-to-digital conversion chip, so that the current value can be converted; the voltage unit adopts a voltage sensor and is connected to the analog-to-digital conversion chip, and a voltage value can be converted; therefore, the output current and voltage of the power battery of the unmanned aerial vehicle can be obtained in real time.
And S3, judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters.
The judging module specifically comprises a speed judging unit, an inertia judging unit and a pressure judging unit, wherein the speed judging unit judges whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value; the inertia judging unit judges whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value; the pressure judging unit judges whether the difference value of the air flow pressure of each part of the upper surface and the lower surface of the wing is larger than a pressure threshold value.
Specifically, the method comprises the following steps:
first step, judge whether unmanned aerial vehicle's airspeed is less than preset threshold: and if the flying speed of the unmanned aerial vehicle is smaller than the preset threshold value, judging that the unmanned aerial vehicle stalls, and if not, carrying out the next step. For example, the preset threshold value is artificially set to be 20m/s, and if the flying speed of the unmanned aerial vehicle is 18m/s and is less than the preset threshold value 20m/s, the unmanned aerial vehicle is directly judged to stall; on the contrary, if the flying speed of the unmanned aerial vehicle is 22m/s, 20m/s and is greater than or equal to the preset threshold value of 20m/s, the next judgment is needed.
Secondly, judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value, and if the attitude data of the unmanned aerial vehicle is larger than the corresponding threshold value, judging that the unmanned aerial vehicle stalls; otherwise, the next step is carried out. For example, for the pitch angle, the corresponding threshold value is artificially set to 8 degrees, and if the pitch angle of the unmanned aerial vehicle is 10 degrees and is greater than the corresponding threshold value by 8 degrees, the unmanned aerial vehicle is directly judged to stall; on the contrary, if the pitch angle of the unmanned aerial vehicle is 7 degrees and 8 degrees and is less than or equal to the corresponding threshold value of 8 degrees, the next judgment is needed.
Thirdly, judging whether the air flow pressure difference value of each part on the upper surface and the lower surface of the wing is greater than a pressure threshold value, and if the air flow pressure difference value of each part on the upper surface and the lower surface of the wing is greater than the pressure threshold value, judging that the unmanned aerial vehicle stalls; otherwise, judging that the unmanned aerial vehicle does not have stall. For example, for a specified point on the chord of the wing, on a line perpendicular to the chord, a point just on the upper surface of the wing is a point a, a point just on the lower surface of the wing is a point B, the pressure threshold is artificially set to 0.02atm according to experimental data, and if the pressure difference between the point B and the point a is 0.03atm and is greater than the pressure threshold by 0.02atm, the unmanned aerial vehicle is judged to stall; on the contrary, if the pressure difference between the point B and the point A is 0.01atm and 0.02atm, which is less than or equal to the pressure threshold value of 0.02atm, the unmanned aerial vehicle is judged not to stall.
And S4, adjusting the attack angle of the wings of the unmanned aerial vehicle.
The adjustment of the attack angle of the wings of the unmanned aerial vehicle is divided into two specific conditions,
in the first case: the unmanned aerial vehicle already has stalled, or just begins to have stalled, and the moment this moment is TA, just at this moment reduces the angle of attack of unmanned aerial vehicle's wing gradually, until the stall disappears, resumes normally, the moment this moment is TB.
In the second case: the unmanned aerial vehicle does not stall, the moment is T1, the attack angle of the wings of the unmanned aerial vehicle is gradually increased until the unmanned aerial vehicle starts to stall, and the moment is T2; and then gradually reducing the attack angle of the wings of the unmanned aerial vehicle until the stalling disappears and the normal state is recovered, wherein the moment is T3.
Under above-mentioned two kinds of circumstances, the angle of attack of adjustment unmanned aerial vehicle's wing, the accessible is direct to be adjusted the realization to unmanned aerial vehicle's fuselage. When the attack angle of the wing of the unmanned aerial vehicle needs to be increased, the elevation angle of the body of the unmanned aerial vehicle is increased; when the attack angle of the wings of the unmanned aerial vehicle needs to be reduced, the elevation angle of the body of the unmanned aerial vehicle is reduced. The specific implementation mode can be carried out through a mechanical structure and a control program, and the prior art can be completely referred to.
And S5, storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the beginning of the stalling to the return to normal.
In the same way, there are specifically two cases,
in the first case: the unmanned aerial vehicle already has stalled, or just begins to appear stalled, and the moment this moment is Ta, just at this moment reduces the angle of attack of unmanned aerial vehicle's wing gradually, until the stall disappears, resumes normally, the moment this moment is Tb. In this case, storing [ Ta, tb ] the aerodynamic performance parameters of the time period, such as flight speed, attitude data and the air flow pressure values of all parts of the upper surface and the lower surface of the wing; and [ Ta, tb ] motor operating parameters for this time period, such as power values, rotational speed values, current values, and voltage values.
In the second case: the unmanned aerial vehicle does not stall, the moment is T1, the attack angle of the wings of the unmanned aerial vehicle is gradually increased until the unmanned aerial vehicle starts to stall, and the moment is T2; and then gradually reducing the attack angle of the wings of the unmanned aerial vehicle until the stalling disappears and the normal state is recovered, wherein the moment is T3. In this case, storing [ T2, T3 ] the aerodynamic performance parameters of the time period, such as flight speed, attitude data and the air flow pressure values of all parts of the upper and lower surfaces of the wing; and [ T2, T3 ] motor operating parameters for this time period, such as power values, rotational speed values, current values, and voltage values.
S6, analyzing the stored pneumatic performance parameters and the motor operation parameters, and judging whether the performance of the unmanned aerial vehicle meets the requirements or not.
The analysis module specifically comprises an external performance analysis unit and an internal performance analysis unit, wherein the external performance analysis unit analyzes a change rule of the power value and the rotating speed value of the motor in a time period from the stalling of the unmanned aerial vehicle to the return to normal, and judges whether the change rule of the power value and the rotating speed value meets a preset requirement or not; the internal performance analysis unit analyzes the change rule of the current value and the voltage value of the motor in the period from the start of the stalling of the unmanned aerial vehicle to the return to the normal state, and judges whether the change rule of the current value and the voltage value meets the preset requirement or not.
Considering that the motor drives the mechanical structure to adjust the tail wing in a very short time, generally 5-20 seconds when stalling; meanwhile, due to the factor of air resistance, the adjustment of the tail wing requires a motor to output higher power, which is 20-40% higher than that in normal times. Therefore, when the motor is used for adjusting the tail wing, the motor works in a short time and at high power, the motor is required to output high power in a short time, and meanwhile, the voltage and the current are not too high, so that the motor is prevented from being burnt out.
In particular, the method of manufacturing a semiconductor device,
the first step, the change rule of the power value and the rotating speed value of the motor from the stalling of the unmanned aerial vehicle to the time period of returning to normal is analyzed, and whether the change rule of the power value and the rotating speed value meets the preset requirement or not is judged: if the change rule of the power value and the rotating speed value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; and otherwise, if the change rule of the power value and the rotating speed value meets the preset requirement, the next step is carried out. For example, the preset requirements are that the maximum values of the power value and the rotation speed value are both higher than 30% of the working value of normal working at ordinary times and linearly decrease to the corresponding working value within the stall adjusting time period, if the maximum values of the power value are both higher than 35% of the working value of normal working at ordinary times and the maximum values of the rotation speed value are both higher than 38% of the working value of normal working at ordinary times and within the stall adjusting time period, the power value and the rotation speed value are both linearly decreased to the corresponding working value, then the next step of judgment is carried out; otherwise, the unmanned aerial vehicle performance is directly judged to be unqualified.
And secondly, analyzing the change rule of the current value and the voltage value of the motor from the start of the unmanned aerial vehicle stalling to the return to normal time period, and judging whether the change rule of the current value and the voltage value meets the preset requirement or not: if the change rule of the current value and the voltage value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; and otherwise, if the change rule of the current value and the voltage value meets the preset requirement, judging that the performance of the unmanned aerial vehicle is qualified. For example, the preset requirement is that the maximum values of the current value and the voltage value cannot be higher than 20% of the working value of normal working at ordinary times, and if the maximum values of the current value and the voltage value are higher than 25% of the working value of normal working at ordinary times and are larger than 20%, the unmanned aerial vehicle is judged to be unqualified in performance; on the contrary, the maximum value of the current value and the voltage value is higher than 15% of the normal working value at ordinary times, is larger than 20%, and the unmanned aerial vehicle can be judged to be qualified in performance.
Example 2
The difference from the embodiment 1 is that after the change rule of the power value and the rotation speed value of the motor from the start of the stalling of the unmanned aerial vehicle to the return to normal is analyzed, and whether the change rule of the power value and the rotation speed value meets the preset requirement or not is judged, if the change rule of the power value and the rotation speed value meets the preset requirement, the temperature of the motor can be directly obtained by adopting the temperature sensor, and whether the temperature of the motor is too high or not is judged. For example, the preset temperature threshold is 80 degrees, and if the temperature of the motor is 85 degrees and is higher than 80 degrees, the performance of the motor is judged to be unqualified; on the contrary, if the temperature of the motor is 75 ℃ and is lower than 80 ℃, the performance of the motor is judged to be qualified.
Example 3
The difference from the embodiment 2 is that the aircraft further comprises a third acquisition module and a vortex identification module, wherein the third acquisition module is used for acquiring streamline pictures near the wings; and the vortex identification module is used for identifying whether a vortex appears near the wing according to the streamline picture. Whole test process goes on in the wind-tunnel, and unmanned aerial vehicle is in quiescent condition, and the air current flows from the unmanned aerial vehicle surface. The third acquisition module is a camera and is arranged near the wings of the unmanned aerial vehicle; the vortex identification module is pattern identification software and is carried on the server.
In order to obtain streamlines of airflow flowing near the wings of the drone, it is necessary to resort to the dyeing line method in hydrodynamics. Specifically, the dyeing line method belongs to a fluid tracing particle flow display method, and the basic principle is to arrange a plurality of points in a measured flow field, and continuously release fluid with certain color at the points, so that the colored fluid can flow downstream along with fluid micelles flowing through the points. Thus, all fluid micelles flowing through the spot are colored, and the fluid micelles constitute a visualized stain line, which can be used to observe the movement trajectory of the fluid micelles. In this embodiment, the airflow flows from the front to the rear of the wing, dry ice is placed in the wind tunnel at a position close to the front of the wing, the height of the dry ice is equal to the position of the wing, and white smoke is generated through the dry ice.
During the test, when the airflow flows through the wing, the smoke is also driven to flow together, so that white dyeing line is formed. The camera collects pictures near the wings in real time and sends the collected pictures to the server. And after the server receives the picture, identifying the picture and judging whether a white circle or a circle-like or arc-shaped graph appears in the picture. If a white circle or a graph similar to the circle or the arc appears in the picture, the situation that a vortex appears near the wing is indicated, namely airflow separation also appears, and therefore the wing can be directly judged to be in a stall state; on the contrary, if no white circle or a circle-like or arc-like graph appears in the picture, it is indicated that no vortex appears near the wing, or the vortex is little or very small, so that whether the wing is in a stall state or not needs to be comprehensively judged by combining the flight speed, attitude data and the airflow pressure values of all parts of the upper surface and the lower surface of the wing.
Meanwhile, after the wing stalls, the force or moment of the attack angle of the wing is controlled and adjusted according to the strength of the vortex, namely the density of a white circle or a circle-like or arc-shaped graph in the picture. This is because the greater the density of white circles or circular arc-like figures in the picture is, the stronger the vortex strength is, the greater the airflow resistance is, and the greater the force or moment is required to adjust the angle of attack of the wing; on the contrary, the density of white circles or circular arc-like figures in the picture is smaller, which indicates that the strength of the vortex is weaker, the resistance of the airflow is smaller, and the attack angle of the wing can be adjusted by smaller force or torque. For example, when the intensity of the vortex is relatively high, that is, when the density of a white circle or a circle-like or arc-shaped graph in the picture is relatively high, the motor is controlled to output relatively high power or rotating speed, so that relatively high force or torque is provided to adjust the attack angle of the wing; when the intensity of the vortex is small, namely the density of a white circle or a circle-like or circular-arc-shaped graph in the picture is low, the motor is controlled to output small power or rotating speed, and therefore small force or moment is provided to adjust the attack angle of the wing. By the mode, the adjusting process of the attack angle of the wing is smoother, and the obtained aerodynamic performance parameters and the motor operation parameters are more accurate.
The foregoing are embodiments of the present invention and are not intended to limit the scope of the invention to the particular forms set forth in the specification, which are set forth in the claims below, but rather are to be construed as the full breadth and scope of the claims, as defined by the appended claims, as defined in the appended claims, in order to provide a thorough understanding of the present invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several variations and modifications can be made, which should also be considered as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the utility of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (4)
1. Unmanned aerial vehicle capability test system, its characterized in that includes:
the first acquisition module is used for acquiring the pneumatic performance parameters of the unmanned aerial vehicle; the first acquisition module comprises a speed unit, an inertia unit and a pressure unit, wherein the speed unit is used for acquiring the flight speed of the unmanned aerial vehicle, the inertia unit is used for acquiring the attitude data of the unmanned aerial vehicle, and the pressure unit is used for acquiring the air flow pressure values of all parts on the upper surface and the lower surface of the wing;
the second acquisition module is used for acquiring the motor operation parameters of the unmanned aerial vehicle; the second acquisition module comprises a power unit, a rotating speed unit, a current unit and a voltage unit, wherein the power unit is used for acquiring a power value of the motor, the rotating speed unit is used for acquiring a rotating speed value of the motor, the current unit is used for acquiring a current value of the motor, and the voltage unit is used for acquiring a voltage value of the motor;
the judging module is used for judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;
the adjusting module is used for adjusting the attack angle of the wings of the unmanned aerial vehicle;
the storage module is used for storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the stalling to the return to the normal state;
the analysis module is used for analyzing the stored pneumatic performance parameters and the motor operation parameters and judging whether the performance of the unmanned aerial vehicle meets the requirements or not; the analysis module comprises an external performance analysis unit and an internal performance analysis unit, wherein the external performance analysis unit is used for analyzing the change rule of the power value and the rotating speed value of the motor in the time period from the stalling of the unmanned aerial vehicle to the return to normal and judging whether the change rule of the power value and the rotating speed value meets the preset requirement or not; the internal performance analysis unit is used for analyzing the change rule of the current value and the voltage value of the motor in the period from the start of the stalling of the unmanned aerial vehicle to the return to normal, and judging whether the change rule of the current value and the voltage value meets the preset requirement.
2. The UAV performance testing system of claim 1, wherein the determining module comprises:
the speed judging unit is used for judging whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value or not;
the inertia judging unit is used for judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value;
and the pressure judging unit is used for judging whether the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is greater than the pressure threshold value or not.
3. Unmanned aerial vehicle performance test method, its characterized in that includes:
s1, acquiring the pneumatic performance parameters of the unmanned aerial vehicle, wherein the S1 comprises,
s11, acquiring the flight speed of the unmanned aerial vehicle;
s12, acquiring attitude data of the unmanned aerial vehicle;
s13, obtaining the air flow pressure values of all parts of the upper surface and the lower surface of the wing;
s2, acquiring motor operation parameters of the unmanned aerial vehicle, wherein the S2 comprises,
s21, acquiring a power value and a rotating speed value of a motor of the unmanned aerial vehicle;
s22, acquiring a current value and a voltage value of the motor of the unmanned aerial vehicle;
s3, judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;
s4, adjusting the attack angle of the wings of the unmanned aerial vehicle;
s5, storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the beginning of stalling to the return to normal;
s6, analyzing the stored pneumatic performance parameters and motor operation parameters, judging whether the performance of the unmanned aerial vehicle meets the requirements or not, wherein S6 comprises,
s61, analyzing a change rule of the power value and the rotating speed value of the motor in the time period from the stalling of the unmanned aerial vehicle to the returning to the normal state, and judging whether the change rule of the power value and the rotating speed value meets a preset requirement: if the change rule of the power value and the rotating speed value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; if the change rule of the power value and the rotating speed value meets the preset requirement, the next step is carried out;
s62, analyzing the change rule of the current value and the voltage value of the motor in the period from the start of the unmanned aerial vehicle stalling to the return to normal, and judging whether the change rule of the current value and the voltage value meets the preset requirement: if the change rule of the current value and the voltage value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; and otherwise, if the change rule of the current value and the voltage value meets the preset requirement, judging that the performance of the unmanned aerial vehicle is qualified.
4. The unmanned aerial vehicle performance testing method of claim 3, wherein S3 comprises:
s31, judging whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value or not, and if the flying speed of the unmanned aerial vehicle is smaller than the preset threshold value, judging that the unmanned aerial vehicle stalls; otherwise, carrying out the next step;
s32, judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value, and if the attitude data of the unmanned aerial vehicle is larger than the corresponding threshold value, judging that the unmanned aerial vehicle stalls; otherwise, carrying out the next step;
s33, judging whether the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is larger than a pressure threshold value or not, and if the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is larger than the pressure threshold value, judging that the unmanned aerial vehicle stalls; otherwise, judging that the unmanned aerial vehicle does not have stall.
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