CN111959820A - Gap detection method for folding wing of high-aspect-ratio unmanned aerial vehicle - Google Patents
Gap detection method for folding wing of high-aspect-ratio unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a method for detecting the gap of a wing, aiming at the gap problem of a folding and unfolding mechanism assembly of a high-aspect-ratio fixed-wing unmanned aerial vehicle. The invention can simply, quickly and effectively detect the system clearance of the folding and unfolding mechanism assembly. After the gap of the folding wing system is accurately measured by the method, on one hand, the gap of the folding wing system can be quantitatively analyzed and controlled, and on the other hand, the problems of high rejection rate, high processing difficulty and high cost caused by blindly tightening the mechanical dimension deviation of each matching piece can be avoided after the gap is quantitatively analyzed and controlled.
Description
Technical Field
The invention belongs to the field of high aspect ratio fixed wing unmanned aerial vehicles, and particularly relates to a gap detection method for a folding wing.
Background
In recent years, the market scale of the unmanned aerial vehicle is increased year by year, and the unmanned aerial vehicle has a large application space in the fields of military affairs, scientific research, governments, commercial activities, personal consumer goods and the like. Most unmanned aerial vehicles are in fixed wing layout, but the unmanned aerial vehicles are inconvenient to store and transport due to the structure, so that wings of the unmanned aerial vehicles with fixed wings are folded during storage and transportation, and the wings are unfolded under the action of a power element during use, and the unmanned aerial vehicles become an effective scheme for solving the problems.
After the wings of the fixed-wing unmanned aerial vehicle are folded, the required space can be reduced to the maximum extent, and the folding design has very important effects on improving the transportation and storage of the unmanned aerial vehicle, reducing the size of a packing box and the like; particularly in the field of military application, the adaptability of the aircraft carrier can be enhanced, the number of the carriers capable of being hung on the aircraft carrier is increased, and the fighting capacity of the aircraft carrier is improved.
The mechanism assembly for folding and unfolding the wings needs to be provided with three factors of an unfolding implementation mechanism, a locking mechanism after unfolding and an unfolding driving force. Firstly, wing unfolding is a process of rotating around a wing shaft, in order to enable the wings to rotate, torque needs to be applied to the wings, and an implementation mechanism is generally a gear mechanism or a link mechanism; then after the device is unfolded in place, a spring pin is generally required to be arranged for position locking; the driving force during the unfolding process can be selected from a spring, compressed gas, a motor and the like.
In summary, the mechanism assembly for the folding and unfolding functions of the wing has a complex structure. The assembly is a movable mechanism, system clearance is inevitable, and meanwhile, the clearance size has great influence on the function and performance of the mechanism. If the clearance is too small, the mechanism may be blocked in movement, which may cause functional disorder; the clearance is too large, the sweepback angle and the dihedral angle (or the dihedral angle) of the wing are changed after the wing is unfolded in place, the sweepback wing 'pitch-up' phenomenon is more serious along with the increase of the aspect ratio, the aerodynamic characteristics of the airplane are adversely affected, the flying posture of the airplane is further affected, and the flight failure is seriously caused.
In the existing engineering application, because the trial flight test failure caused by the folding wing system clearance frequently occurs, engineers mostly improve the clearance by continuously tightening the mechanical size deviation of each fitting part in the mechanism assembly, and an effective detection technology is not provided for measuring the system clearance of the folding and unfolding mechanism assembly. In the prior art, the detection of the relevant clearance of the control surface of the airplane exists, but the detection of the clearance of the control surface of the airplane is not completely suitable for a folded wing system, and the detection system used in the detection process is large and complex; in addition, in the prior art, the research and analysis of flutter caused by the gap of an airfoil folding system is carried out, but the gap of the folding system is inconsistent with the generation principle of the gap of the folding wing of the unmanned aerial vehicle, and a corresponding detection method is not applicable.
Disclosure of Invention
The invention provides a wing gap detection method aiming at the gap problem of a wing folding and unfolding mechanism assembly of a high-aspect-ratio fixed wing unmanned aerial vehicle.
The technical scheme of the invention is as follows:
the gap detection method for the folding wings of the high-aspect-ratio unmanned aerial vehicle is characterized by comprising the following steps of: comprises the following steps:
step 1: the test tool and the folding and unfolding mechanism assembly are assembled, and the connection is stable and reliable;
the interface structure used for being connected with the folding and unfolding mechanism assembly in the test tool is the same as the interface structure used for being connected with the folding and unfolding mechanism assembly in the folding wing, and the deviation design of the interface structure is also the same;
step 2: fixing the assembled test tool and the folding and unfolding mechanism assembly on a horizontal table board, so that the folding and unfolding mechanism assembly does not move in position in the detection process, and setting the folding and unfolding mechanism assembly to be in an opened and locked state; respectively measuring a rotating clearance and an up-down shaking clearance:
measuring the rotating clearance:
selecting a certain point on one end of the test tool far away from the folding and unfolding mechanism assembly as an observation point, driving the test tool to rotate around a rotating shaft seat in the folding and unfolding mechanism assembly to a limit position, recording the position A point of the observation point at the moment, driving the test tool to rotate around the rotating shaft seat in the folding and unfolding mechanism assembly in the opposite direction to the limit position, recording the position B point of the observation point at the moment, obtaining the angles between the AB two points and the central point of the rotating shaft seat, and using the angles as the initial value theta of the rotating clearance of the folding and unfolding mechanism assemblyAB；
When the testing tool is driven to rotate to two limit positions around a rotating shaft seat in the folding and unfolding mechanism assembly, measuring the magnitude of horizontal force applied to the testing tool when the position of an observation point is recorded;
and (3) measuring up-down shaking clearance:
pressing down one end of the test tool far away from the folding and unfolding mechanism assembly to a limit position, recording a position C point of the observation point, lifting one end of the test tool far away from the folding and unfolding mechanism assembly to the limit position, recording a position D point of the observation point, obtaining angles between two points of the CD and a central point of the rotating shaft seat, and taking the angles as initial values theta of up-and-down shaking gaps of the folding and unfolding mechanism assemblyCD；
Measuring the force of the downward pressing and upward lifting test tool when one end of the test tool, which is far away from the folding and unfolding mechanism assembly, is driven to be pressed downward and lifted to two limit positions;
and step 3: measurement data correction
And (3) carrying out correction calculation on the deflection of the test tool, including the calculation of the rotation deflection of the test tool and the calculation of the vertical shaking deflection of the tool, respectively obtaining the corners generated by the deflection factor of the tool when the test tool is positioned at two sides and at upper and lower limit positions, and respectively subtracting the corresponding corners generated by the deflection factor of the tool from the initial values of the rotation gap and the vertical shaking gap obtained in the step (2) to obtain the final rotation gap and the vertical shaking gap of the unmanned aerial vehicle folding and unfolding mechanism assembly.
Furthermore, in the step 1, the rigidity of the test tool meets the design requirements by selecting the material of the test tool and adopting a hollow and internal frame structure form in the structural design.
Further, in step 1, the length of the test tool along the span direction of the machine wing is larger than the span direction length of the folding wing.
Further, in step 2, by measuring the distance between the points AB and combining the distance from the observation point to the central point of the rotating shaft seat, the central angle with the two points AB as the arc point and the central point of the rotating shaft seat as the central point is calculated and obtained as the initial value θ of the rotating gap of the folding and unfolding mechanism assemblyAB(ii) a By measuring the distance between the CDs and combining the distance from the observation point to the central point of the rotating shaft seat, the central angle with the two CD points as the arc points and the central point of the rotating shaft seat as the central point is calculated to be used as the initial value theta of the up-and-down shaking gap of the folding and unfolding mechanism assemblyCD。
Further, in step 3, calculating a corresponding corner generated by the deflection factor of the test fixture, and obtaining the following through equivalent calculation:
the equivalent calculation takes a typical cantilever beam as a model and utilizes a formula
Calculating the outer end corner of the tool, wherein F is the outer end loading force, the force applied to the test tool is recorded when the test tool obtained in the step 2 is located at the limit position during calculation, c is the arm length of the loading force, and EI is the bending rigidity of the test tool; calculating according to a formula to obtain a corresponding corner theta generated due to the deflection factor of the test tool when the test tool is positioned at the limit positions at two sides1，θ2And when the test fixture is positioned at the upper limit position and the lower limit position, the corresponding corner theta is generated due to the deflection factor of the test fixture3，θ4And the finally obtained rotating clearance of the unmanned aerial vehicle folding and unfolding mechanism assembly is thetaAB-θ1-θ2The up-down shaking gap is thetaCD-θ3-θ4。
Further, in step 3, calculating a corresponding corner generated by the deflection factor of the test fixture, and obtaining the following through simulation calculation: and (3) establishing a three-dimensional model of the test tool in three-dimensional configuration software, adopting end part fixed support constraint, and performing simulation calculation by using the force applied to the test tool, which is recorded when the test tool obtained in the step (2) is located at the limit position, so as to obtain the corner generated by the deflection factor of the tool when the test tool is located at two sides and the upper and lower limit positions, and further obtain the final rotating gap and the up-and-down shaking gap of the unmanned aerial vehicle folding and unfolding mechanism assembly.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that: the system clearance of the folding and unfolding mechanism assembly can be simply, quickly and effectively detected. After the gap of the folding wing system is accurately measured by the method, on one hand, the gap of the folding wing system can be quantitatively analyzed and controlled, and on the other hand, the problems of high rejection rate, high processing difficulty and high cost caused by blindly tightening the mechanical dimension deviation of each matching piece can be avoided after the gap is quantitatively analyzed and controlled.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1: a schematic view of the rotational clearance;
FIG. 2: schematic view of up-down shaking gap.
Wherein: 1. a rotating shaft seat; 2. testing the tool; 3. folding deployment mechanism assembly.
Detailed Description
The invention provides a gap detection method which is easy to operate, low in cost, high in speed and high in precision, and aims at the importance of gap control of folding wings on a high-aspect-ratio fixed-wing unmanned aerial vehicle. Meanwhile, the gap detection method provided by the invention is also suitable for the fixed-wing unmanned aerial vehicle with a small aspect ratio.
The pneumatic layout of the folding wing comprises a conventional layout, a simple tandem wing layout, a duck wing, a diamond back, a folding wing and the like, but the gap detection technology provided by the invention is suitable for the folding wing with each pneumatic layout.
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
The method for detecting the gap of the folding and unfolding mechanism assembly of the unmanned aerial vehicle in the embodiment comprises the following steps:
step 1: the test tool and the folding and unfolding mechanism assembly are assembled, and the connection is stable and reliable; the interface structure used for being connected with the folding and unfolding mechanism assembly in the test tool is the same as the interface structure used for being connected with the folding and unfolding mechanism assembly in the folding wing, and the deviation design of the interface structure is also the same.
In the method, the clearance measurement is carried out by utilizing the modes of forward and backward rotation and up and down shaking of the test tool, so that the test tool is made of a material with higher rigidity in order to reduce the influence of the self deflection of the test tool on the detection result as much as possible, and the rigidity of the tool is improved by adopting a hollow and internal frame structural form on the structural design.
In addition, according to the principle that the angle is fixed, the radius is larger, the arc chord length is larger, the length of the test tool along the wingspan direction of the machine is longer than that of the folding wing, and therefore the gap angle can be measured more accurately. Of course, increasing the length of the test tool and ensuring the rigidity of the tool are contradictory to each other, so the length of the test tool is not infinitely increased, in this embodiment, the length of the test tool in the wingspan direction is 1.5 times of the length of the folded wing, and the rigidity requirement of the tool is met by combining the material and the structural design of the test tool.
Step 2: fixing the assembled test tool and the folding and unfolding mechanism assembly on a horizontal table top, ensuring that the folding and unfolding mechanism assembly does not move in position in the detection process, and setting the folding and unfolding mechanism assembly to be in an opened and locked state; respectively measuring a rotating clearance and an up-down shaking clearance:
measuring the rotating clearance:
selecting a certain point on one end of the test tool far away from the folding and unfolding mechanism assembly as an observation point, driving the test tool to rotate around a rotating shaft seat in the folding and unfolding mechanism assembly to a limit position, recording the position A of the observation point at the moment, driving the test tool to rotate around the rotating shaft seat in the folding and unfolding mechanism assembly in the opposite direction to the limit position, recording the position B of the observation point at the moment, and obtaining the angle between the AB two points and the central point of the rotating shaft seat as the initial value of the rotating clearance of the folding and unfolding mechanism assembly.
In the actual measurement, it is difficult to directly measure the angle, so in this embodiment, the distance between the points AB is measured by using a vernier caliper, and the distance from the observation point to the central point of the rotating shaft base is combined to calculate the central angle using the points AB and the central point of the rotating shaft base as the central point as the folding and unfolding mechanismInitial value of rotational clearance theta of assemblyAB。
In addition, in order to carry out the next data correction, when the test tool is driven to rotate to two limit positions around the rotating shaft seat in the folding and unfolding mechanism assembly, in order to keep the test tool at the limit positions, a force in the horizontal direction is applied to the test tool, and the force applied to the test tool when the position of the observation point is recorded is measured by adopting a dynamometer.
And (3) measuring up-down shaking clearance:
selecting a certain point on one end of the test tool far away from the folding and unfolding mechanism assembly as an observation point, pressing down one end of the test tool far away from the folding and unfolding mechanism assembly to an extreme position, recording the position C of the observation point at the moment, lifting up one end of the test tool far away from the folding and unfolding mechanism assembly to the extreme position, recording the position D of the observation point at the moment, obtaining the angles between the two points of the CD and the central point of the rotating shaft seat, and taking the angles as the initial value theta of the up-and-down shaking gap of the folding and unfolding mechanismCD。
Similarly, in this embodiment, the height gauge is used to measure the distance between the CDs, and the distance from the observation point to the central point of the rotating shaft seat is combined to calculate the central angle, which takes the two points of the CDs as the arc points and the central point of the rotating shaft seat as the central point, as the initial value of the vertical shaking gap of the folding and unfolding mechanism assembly.
In addition, for the next data correction, when the end of the test fixture far away from the folding and unfolding mechanism assembly is driven to be pressed downwards and lifted to two limit positions, the force of the test fixture is measured by using a dynamometer, and the force of the test fixture is measured by using the dynamometer.
And step 3: measurement data correction
Although a tool with higher rigidity is adopted in the step 1 to avoid the influence of the deflection of the test tool on the measurement precision, in order to improve the test precision from the angle of test data, the actual length of the test tool is larger than the length of the folding wing, so the deflection of the test tool still needs to be corrected and calculated, the deflection of the test tool is calculated, the rotation angle generated by the deflection factor of the tool when the test tool is positioned at two sides and at the upper limit position and the lower limit position is respectively obtained, and the corresponding rotation angle generated by subtracting the deflection factor of the tool from the initial value of the rotation gap and the initial value of the up-down shaking gap obtained in the step 2 is used to obtain the final rotation gap and the up-down shaking gap of the unmanned aerial vehicle folding and unfolding mechanism assembly.
The corresponding corner generated by the deflection factor of the test tool can be obtained through equivalent calculation or simulation calculation.
The equivalent calculation takes a typical cantilever beam as a model and utilizes a formula
And (3) calculating the outer end corner of the tool, wherein F is the outer end loading force, the force applied to the test tool is recorded when the test tool obtained in the step (2) is located at the extreme position during calculation, c is the arm length of the loading force, in the embodiment, the length from the observation point to the interface of the test tool and the folding and unfolding mechanism assembly is shown, and EI is the bending rigidity of the test tool. When the test tool is located at the limit positions at two sides, the corresponding corner theta generated due to the deflection factor of the test tool is obtained through calculation1，θ2And when the test fixture is positioned at the upper limit position and the lower limit position, the corresponding corner theta is generated due to the deflection factor of the test fixture3，θ4Therefore, the finally obtained rotating clearance of the unmanned aerial vehicle folding and unfolding mechanism assembly is thetaAB-θ1-θ2The up-down shaking gap is thetaCD-θ3-θ4。
And through simulation calculation, a three-dimensional model of the test tool is established in three-dimensional configuration software, end part fixed support constraint is adopted, simulation calculation is carried out by utilizing the force applied to the test tool, recorded when the test tool obtained in the step 2 is located at the limit position, and the corners generated by the deflection factor of the tool when the test tool is located at the two sides and the upper limit position and the lower limit position are obtained, so that the final rotating gap and the up-and-down shaking gap of the unmanned aerial vehicle folding and unfolding mechanism assembly are obtained.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (6)
1. A gap detection method for a folding wing of an unmanned aerial vehicle with a high aspect ratio is characterized by comprising the following steps: comprises the following steps:
step 1: the test tool and the folding and unfolding mechanism assembly are assembled, and the connection is stable and reliable;
the interface structure used for being connected with the folding and unfolding mechanism assembly in the test tool is the same as the interface structure used for being connected with the folding and unfolding mechanism assembly in the folding wing, and the deviation design of the interface structure is also the same;
step 2: fixing the assembled test tool and the folding and unfolding mechanism assembly on a horizontal table board, so that the folding and unfolding mechanism assembly does not move in position in the detection process, and setting the folding and unfolding mechanism assembly to be in an opened and locked state; respectively measuring a rotating clearance and an up-down shaking clearance:
measuring the rotating clearance:
selecting a certain point on one end of the test tool far away from the folding and unfolding mechanism assembly as an observation point, driving the test tool to rotate around a rotating shaft seat in the folding and unfolding mechanism assembly to a limit position, recording the position A point of the observation point at the moment, driving the test tool to rotate around the rotating shaft seat in the folding and unfolding mechanism assembly in the opposite direction to the limit position, recording the position B point of the observation point at the moment, obtaining the angles between the AB two points and the central point of the rotating shaft seat, and using the angles as the initial value theta of the rotating clearance of the folding and unfolding mechanism assemblyAB；
When the testing tool is driven to rotate to two limit positions around a rotating shaft seat in the folding and unfolding mechanism assembly, measuring the magnitude of horizontal force applied to the testing tool when the position of an observation point is recorded;
and (3) measuring up-down shaking clearance:
keep away from folding expansion with test fixtureOne end of the mechanism assembly is pressed down to the limit position, the position C of the observation point is recorded, the end of the test tool far away from the folding and unfolding mechanism assembly is lifted upwards to the limit position, the position D of the observation point is recorded, the angles of the two points of the CD and the central point of the rotating shaft seat are obtained and are used as the initial value theta of the up-and-down shaking gap of the folding and unfolding mechanism assemblyCD；
Measuring the force of the downward pressing and upward lifting test tool when one end of the test tool, which is far away from the folding and unfolding mechanism assembly, is driven to be pressed downward and lifted to two limit positions;
and step 3: measurement data correction
And (3) carrying out correction calculation on the deflection of the test tool, including the calculation of the rotation deflection of the test tool and the calculation of the vertical shaking deflection of the tool, respectively obtaining the corners generated by the deflection factor of the tool when the test tool is positioned at two sides and at upper and lower limit positions, and respectively subtracting the corresponding corners generated by the deflection factor of the tool from the initial values of the rotation gap and the vertical shaking gap obtained in the step (2) to obtain the final rotation gap and the vertical shaking gap of the unmanned aerial vehicle folding and unfolding mechanism assembly.
2. The method for detecting the gap of the folding wing of the high-aspect-ratio unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps: in the step 1, the rigidity of the test tool meets the design requirement by selecting the material of the test tool and adopting a hollow and internal frame structure form in the structural design.
3. The method for detecting the gap of the folding wing of the high-aspect-ratio unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps: in the step 1, the length of the test tool along the wingspan direction of the machine is larger than the length of the folding wing along the wingspan direction of the folding wing.
4. The method for detecting the gap of the folding wing of the high-aspect-ratio unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps: in step 2, by measuring the distance between the points AB and combining the distance from the observation point to the central point of the rotating shaft seat, the central angle with the points AB and the central point of the rotating shaft seat as the circular point is calculated and obtained as the folding and unfolding mechanism assemblyInitial value of rotational clearance thetaAB(ii) a By measuring the distance between the CDs and combining the distance from the observation point to the central point of the rotating shaft seat, the central angle with the two CD points as the arc points and the central point of the rotating shaft seat as the central point is calculated to be used as the initial value theta of the up-and-down shaking gap of the folding and unfolding mechanism assemblyCD。
5. The method for detecting the gap of the folding wing of the high-aspect-ratio unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps: in step 3, calculating a corresponding corner generated by the deflection factor of the test tool, and obtaining the following through equivalent calculation:
the equivalent calculation takes a typical cantilever beam as a model and utilizes a formula
Calculating the outer end corner of the tool, wherein F is the outer end loading force, the force applied to the test tool is recorded when the test tool obtained in the step 2 is located at the limit position during calculation, c is the arm length of the loading force, and EI is the bending rigidity of the test tool; calculating according to a formula to obtain a corresponding corner theta generated due to the deflection factor of the test tool when the test tool is positioned at the limit positions at two sides1，θ2And when the test fixture is positioned at the upper limit position and the lower limit position, the corresponding corner theta is generated due to the deflection factor of the test fixture3，θ4And the finally obtained rotating clearance of the unmanned aerial vehicle folding and unfolding mechanism assembly is thetaAB-θ1-θ2The up-down shaking gap is thetaCD-θ3-θ4。
6. The method for detecting the gap of the folding wing of the high-aspect-ratio unmanned aerial vehicle according to claim 1, wherein the method comprises the following steps: in step 3, calculating a corresponding corner generated by the deflection factor of the test tool, and obtaining the following through simulation calculation: and (3) establishing a three-dimensional model of the test tool in three-dimensional configuration software, adopting end part fixed support constraint, and performing simulation calculation by using the force applied to the test tool, which is recorded when the test tool obtained in the step (2) is located at the limit position, so as to obtain the corner generated by the deflection factor of the tool when the test tool is located at two sides and the upper and lower limit positions, and further obtain the final rotating gap and the up-and-down shaking gap of the unmanned aerial vehicle folding and unfolding mechanism assembly.
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