CN112033603A - Unmanned helicopter blade dynamic balance calibration system and calibration method - Google Patents
Unmanned helicopter blade dynamic balance calibration system and calibration method Download PDFInfo
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- CN112033603A CN112033603A CN202011021919.0A CN202011021919A CN112033603A CN 112033603 A CN112033603 A CN 112033603A CN 202011021919 A CN202011021919 A CN 202011021919A CN 112033603 A CN112033603 A CN 112033603A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012360 testing method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 3
- 238000012797 qualification Methods 0.000 abstract description 3
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining imbalance
- G01M1/16—Determining imbalance by oscillating or rotating the body to be tested
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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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- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a system and a method for calibrating the dynamic balance of an unmanned helicopter blade. According to the unmanned helicopter blade dynamic balance calibration system and method disclosed by the invention, dynamic data of the blades are collected through the laser range finder, so that the data is acquired more safely and the accuracy is high; compared with a stroboscope method, the method is more economical in data acquisition and simple to operate; and after the acquired data are coded, the currently acquired data can be displayed in real time, and the qualification can be analyzed and judged by depending on an expert system of a ground control station, so that the adjustment length of the pitch-variable pull rod of the paddle can be accurately indicated.
Description
Technical Field
The invention relates to the technical field of unmanned helicopter dynamic balance calibration, in particular to a system and a method for calibrating the dynamic balance of an unmanned helicopter blade.
Background
The traditional small and medium-sized unmanned helicopter blade dynamic balance calibration mainly adopts a flagpole method or a stroboscope method. The flagpole method is mainly suitable for small unmanned helicopters, and has the characteristics of simple operation, repeated adjustment, low cost and high risk; the stroboscopic method is mainly suitable for large unmanned helicopters, and is mainly characterized by complex operation, high price, high precision, and large use limit due to the high price and the complex operation.
Therefore, in order to solve the above problems, a system and a method for calibrating the dynamic balance of the blades of the unmanned helicopter are needed, which can simplify the operation process, reduce the equipment cost, improve the test safety, and expand the application range.
Disclosure of Invention
In view of this, the invention aims to overcome the defects in the prior art, and provides a system and a method for calibrating the dynamic balance of an unmanned helicopter blade, which can simplify the operation process, reduce the equipment cost, improve the test safety and expand the application range.
The unmanned helicopter blade dynamic balance calibration system comprises an unmanned helicopter blade mechanism, a laser range finder and a ground control station; the unmanned helicopter blade mechanism comprises a rotor shaft, blades, a variable-pitch pull rod and a movable ring, wherein the rotor shaft is driven by an engine to rotate; the blades are arranged on the rotor shaft and synchronously rotate along with the rotor shaft; the rotating ring is sleeved on the rotor shaft and can synchronously rotate along with the rotor shaft; the variable-pitch pull rod is connected with the paddle and the movable ring; the number of the blades corresponds to that of the variable-pitch pull rods one by one; the laser range finder is used for measuring the height of the paddle in the vertical direction when the paddle passes through a certain fixed position in the rotating process; the ground control station is connected with the laser range finder through a CAN bus, and the ground control station calculates the dynamic balance condition of the paddle through data obtained by testing of the laser range finder.
Further, the paddle comprises a paddle A and a paddle B; the variable-pitch pull rod comprises an A pull rod and a B pull rod, the A pull rod is connected between the A paddle and the moving ring, and the B pull rod is connected between the B paddle and the moving ring.
Further, A oar and B oar set up in rotor shaft both sides along the horizontal direction.
Furthermore, the paddle is provided with the reflection of light strip that is used for reflecting laser towards laser range finder one side.
Further, the horizontal distance between the tail end of the paddle and the light reflecting strip is 1cm-5 cm.
Furthermore, two ends of the variable-pitch pull rod are respectively connected with the paddle and the movable ring through bearings with handles to transmit hinge moment.
A dynamic balance calibration method for blades of an unmanned helicopter comprises the following steps:
s1, mounting a paddle mechanism of an unmanned helicopter and then placing the unmanned helicopter on the ground;
s2, pasting a light reflecting strip on one surface of the blade facing the laser range finder;
s3, arranging a laser range finder on the ground and adjusting the position of the laser range finder to enable light beams emitted by the laser range finder to irradiate on the light reflecting strips when the paddle reaches a certain fixed position in the rotating process;
s4, identifying the data and sequence of the acquisition of the paddles in the vertical height measurement of the laser range finder through software in the ground control station;
s5, starting a paddle mechanism of the unmanned helicopter, adjusting the rotating speed of the engine to 5000-7000 rpm, starting ranging by using a laser range finder, downloading data to a ground control station through a CAN (controller area network) bus, continuously acquiring the data for 10-40 s, ending acquisition, and flameout the engine when the rotating speed is reduced;
s6, comparing the collected data with the corresponding rotation speed stage data of the database in the ground control station; if the data are in the qualified interval, the length of the variable-pitch pull rod does not need to be adjusted; if the data is unqualified, checking the mapping adjustment quantity of the variable-pitch pull rod corresponding to the current numerical value in a table look-up mode, and adjusting the length of the variable-pitch pull rod;
s7, repeating the steps S5 and S6 when the length of the variable-pitch pull rod is adjusted once, until the data are qualified, and completing the calibration of the dynamic balance of the unmanned helicopter blades.
The invention has the beneficial effects that: according to the unmanned helicopter blade dynamic balance calibration system and method disclosed by the invention, dynamic data of the blades are collected through the laser range finder, so that the data is acquired more safely and the accuracy is high; compared with a stroboscope method, the method is more economical in data acquisition and simple to operate; and after the acquired data are coded, the currently acquired data can be displayed in real time, and the qualification can be analyzed and judged by depending on an expert system of a ground control station, so that the adjustment length of the pitch-variable pull rod of the paddle can be accurately indicated.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of the direction of the paddle a (the side on which the reflective strips are adhered) in fig. 1.
Detailed Description
Fig. 1 is a schematic structural diagram of the present invention, and as shown in the drawing, the unmanned helicopter blade dynamic balance calibration system in the present embodiment includes an unmanned helicopter blade mechanism, a laser range finder 6 and a ground control station 7; the unmanned helicopter blade mechanism comprises a rotor shaft 1, blades, a variable-pitch pull rod and a movable ring 2, wherein the rotor shaft 1 is driven by an engine to rotate; the blades are arranged on the rotor shaft 1 and synchronously rotate along with the rotor shaft 1; the rotating ring 2 is sleeved on the rotor shaft 1 and can synchronously rotate along with the rotor shaft 1; the variable-pitch pull rod is connected with the paddle and the movable ring 2; the number of the blades corresponds to that of the variable-pitch pull rods one by one; the laser range finder 6 is used for measuring the height of the paddle in the vertical direction when the paddle passes through a certain fixed position in the rotating process; the ground control station 7 is connected with the laser range finder 6 through a CAN bus 8, and the ground control station 7 calculates the dynamic balance condition of the paddle through data obtained by testing the laser range finder 6. The variable-pitch pull rod is adjusted through the adjusting movable ring 2 to achieve variable pitch, the laser range finder 6 is adopted to be matched with the unmanned aerial vehicle paddle mechanism to assist the ground control station 7, dynamic balance calibration of the unmanned helicopter paddle is achieved, the operation process is simplified, the equipment cost is reduced, and the test safety is improved.
In this embodiment, the blades include a paddle 31 and a paddle 32; the variable-pitch pull rod comprises an A pull rod 41 and a B pull rod 42, the A pull rod 41 is connected between the A paddle 31 and the moving ring 2, and the B pull rod 42 is connected between the B paddle 32 and the moving ring 2. The system adopts double blades (A blade 31 and B blade 32) and variable-distance pull rods (A pull rod 41 and B pull rod 42) matched with the double blades, collects the vertical distances of different blades at the same position through the laser range finder 6, codes the collected data and transmits the coded data to the ground control system, the ground control system compares the obtained data with a preset expert database, and the system can not only meet the real-time data display function, but also analyze and judge whether the data is qualified or not and accurately indicate the adjustment quantity of the variable-distance pull rods of the blades, thereby further improving the calibration precision of the dynamic balance of the blades, certainly adjusting the number of the blades and the variable-distance pull rods matched with the blades according to the actual condition and ensuring the calibration precision.
In this embodiment, the a paddles 31 and the B paddles 32 are arranged on both sides of the rotor shaft 1 in the horizontal direction. The horizontal direction is the length direction of the blades in the unmanned helicopter blade mechanism, that is, the a-paddle 31 and the B-paddle 32 are on two sides of the rotor shaft 1 on the same horizontal plane, so that the a-paddle 31 and the B-paddle 32 have the same ascending or descending rotation plane when rotating, and the laser range finder 6 is convenient to acquire distance information.
In this embodiment, as shown in fig. 1 and 2, a reflective strip 5 for reflecting laser is disposed on one surface of the blade facing the laser range finder 6. The cooperation of reflection of light strip 5 and laser range finder 6 can further realize accurate information acquisition for measurement of efficiency.
In this embodiment, the horizontal distance between the end of the paddle and the light reflecting strip 5 is 1cm to 5 cm. Preferably, the horizontal distance between the tail end of each blade and the corresponding light reflecting strip 5 is 2cm, and the light reflecting strips 5 are arranged on the paddles A31 and the paddles B32 in the scheme.
In this embodiment, the two ends of the variable-pitch pull rod are respectively connected with the paddle and the movable ring 2 through the bearing with the handle to transfer the hinge moment.
A dynamic balance calibration method for blades of an unmanned helicopter comprises the following steps:
s1, mounting a paddle mechanism of an unmanned helicopter and then placing the unmanned helicopter on the ground;
s2, sticking a light reflecting strip 5 on one surface of the blade facing the laser range finder 6;
s3, arranging a laser range finder 6 on the ground and adjusting the position of the laser range finder to enable light beams emitted by the laser range finder 6 to irradiate on the light reflecting strips 5 when the paddle reaches a certain fixed direction in the rotating process;
s4, identifying the data and sequence of the acquisition of the paddles in the vertical height measurement of the laser range finder 6 in the ground control station 7 through software;
s5, starting a blade mechanism of the unmanned helicopter, adjusting the rotating speed of the engine to 5000-7000 rpm, preferably 6500rpm, starting ranging by using a laser range finder 6, downloading data to a ground control station 7 through a CAN bus 8, continuously acquiring data for 10-40 s, then ending acquisition, preferably, continuously acquiring data for 20s, then ending acquisition, and flameout when the rotating speed of the engine is reduced;
s6, comparing the collected data with the corresponding rotation speed stage data of the database in the ground control station 7; if the data is in a qualified interval, the length of the variable-pitch pull rod does not need to be adjusted; if the data is unqualified, checking the mapping adjustment quantity of the variable-pitch pull rod corresponding to the current numerical value in a table look-up mode, and adjusting the length of the variable-pitch pull rod;
s7, repeating the steps S5 and S6 when the length of the variable-pitch pull rod is adjusted once, until the data are qualified, and completing the calibration of the dynamic balance of the unmanned helicopter blades.
Dynamic data of the blades are acquired through the laser range finder 6, so that the data are acquired more safely and accurately; compared with a stroboscope method, the method is more economical in data acquisition and simple to operate; and after the collected data are coded, the currently collected data can be displayed in real time, and the qualification can be analyzed and judged by depending on an expert system of the ground control station 7, so that the adjustment length of the pitch-variable pull rod of the paddle can be accurately indicated.
In this embodiment, the laser range finder is RW-B-10 in model, the ground control station is GETA B360 in model, and the two are correspondingly connected by a CAN bus, and its internal structure and usage are not mentioned in the text, which belong to the prior art and are not described herein again.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (7)
1. The utility model provides an unmanned helicopter paddle dynamic balance calibration system which characterized in that: the unmanned helicopter comprises an unmanned helicopter blade mechanism, a laser range finder and a ground control station; the unmanned helicopter blade mechanism comprises a rotor shaft, blades, a variable-pitch pull rod and a movable ring, wherein the rotor shaft is driven by an engine to rotate; the blades are arranged on the rotor shaft and synchronously rotate along with the rotor shaft; the rotating ring is sleeved on the rotor shaft and can synchronously rotate along with the rotor shaft; the variable-pitch pull rod is connected with the paddle and the movable ring; the number of the blades corresponds to that of the variable-pitch pull rods one by one; the laser range finder is used for measuring the height of the paddle in the vertical direction when the paddle passes through a certain fixed position in the rotating process; the ground control station is connected with the laser range finder through a CAN bus, and the ground control station calculates the dynamic balance condition of the paddle through data obtained by testing of the laser range finder.
2. The unmanned helicopter blade dynamic balance calibration system of claim 1, wherein: the paddle comprises an A paddle and a B paddle; the variable-pitch pull rod comprises an A pull rod and a B pull rod, the A pull rod is connected between the A paddle and the moving ring, and the B pull rod is connected between the B paddle and the moving ring.
3. The unmanned helicopter blade dynamic balance calibration system of claim 2, wherein: the A oar and the B oar are arranged on two sides of the rotor shaft along the horizontal direction.
4. The unmanned helicopter blade dynamic balance calibration system of claim 1, wherein: the paddle is provided with the reflection of light strip that is used for the reflection of laser towards laser range finder one side.
5. The unmanned helicopter blade dynamic balance calibration system of claim 4, wherein: the horizontal distance between the tail end of the paddle and the light reflecting strip is 1cm-5 cm.
6. The unmanned helicopter blade dynamic balance calibration system of claim 1, wherein: and two ends of the variable-pitch pull rod are respectively connected with the paddle and the movable ring through a bearing with a handle so as to transmit hinge moment.
7. A calibration method using the unmanned helicopter blade dynamic balance calibration system of any one of claims 1 to 6, characterized in that: the method comprises the following steps:
s1, mounting a paddle mechanism of an unmanned helicopter and then placing the unmanned helicopter on the ground;
s2, pasting a light reflecting strip on one surface of the blade facing the laser range finder;
s3, arranging a laser range finder on the ground and adjusting the position of the laser range finder to enable light beams emitted by the laser range finder to irradiate on the light reflecting strips when the paddle reaches a certain fixed position in the rotating process;
s4, identifying the data and sequence of the acquisition of the paddles in the vertical height measurement of the laser range finder through software in the ground control station;
s5, starting a paddle mechanism of the unmanned helicopter, adjusting the rotating speed of the engine to 5000-7000 rpm, starting ranging by using a laser range finder, downloading data to a ground control station through a CAN (controller area network) bus, continuously acquiring the data for 10-40 s, ending acquisition, and flameout the engine when the rotating speed is reduced;
s6, comparing the collected data with the corresponding rotation speed stage data of the database in the ground control station; if the data are in the qualified interval, the length of the variable-pitch pull rod does not need to be adjusted; if the data is unqualified, checking the mapping adjustment quantity of the variable-pitch pull rod corresponding to the current numerical value in a table look-up mode, and adjusting the length of the variable-pitch pull rod;
s7, repeating the steps S5 and S6 when the length of the variable-pitch pull rod is adjusted once, until the data are qualified, and completing the calibration of the dynamic balance of the unmanned helicopter blades.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011021919.0A CN112033603A (en) | 2020-09-25 | 2020-09-25 | Unmanned helicopter blade dynamic balance calibration system and calibration method |
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| CN202011021919.0A CN112033603A (en) | 2020-09-25 | 2020-09-25 | Unmanned helicopter blade dynamic balance calibration system and calibration method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112577670A (en) * | 2020-12-12 | 2021-03-30 | 安徽卓尔航空科技有限公司 | Propeller dynamic balance measuring device |
| CN116605416A (en) * | 2023-07-17 | 2023-08-18 | 四川腾盾科技有限公司 | Automatic inclinator calibration equipment and calibration method |
| EP4184214A4 (en) * | 2021-01-29 | 2024-02-14 | Mitsubishi Heavy Industries, Ltd. | Movement prediction device |
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| CN102749045A (en) * | 2012-07-25 | 2012-10-24 | 中国人民解放军国防科学技术大学 | High-precision ground measurement method for blade pitch angle of small helicopter |
| CN102944361A (en) * | 2012-12-06 | 2013-02-27 | 哈尔滨工业大学 | Device for calibrating dynamic balance parameter of helicopter rotor blade |
| CN107933957A (en) * | 2017-12-21 | 2018-04-20 | 中国人民解放军总参谋部第六十研究所 | A kind of unmanned helicopter blade aerodynamic load flight actual measurement system and its measurement method |
| CN209258418U (en) * | 2018-12-12 | 2019-08-16 | 山东智翼航空科技有限公司 | Unidirectional dynamic balance test system for rotor wing of unmanned aerial vehicle |
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2020
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Patent Citations (5)
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| US20090324409A1 (en) * | 2008-05-13 | 2009-12-31 | Mark Volanthen | Rotor blade monitoring |
| CN102749045A (en) * | 2012-07-25 | 2012-10-24 | 中国人民解放军国防科学技术大学 | High-precision ground measurement method for blade pitch angle of small helicopter |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112577670A (en) * | 2020-12-12 | 2021-03-30 | 安徽卓尔航空科技有限公司 | Propeller dynamic balance measuring device |
| EP4184214A4 (en) * | 2021-01-29 | 2024-02-14 | Mitsubishi Heavy Industries, Ltd. | Movement prediction device |
| CN116605416A (en) * | 2023-07-17 | 2023-08-18 | 四川腾盾科技有限公司 | Automatic inclinator calibration equipment and calibration method |
| CN116605416B (en) * | 2023-07-17 | 2023-10-24 | 四川腾盾科技有限公司 | Automatic inclinator calibration equipment and calibration method |
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