CN112033638A - Tilt rotor unmanned aerial vehicle's area power wind tunnel test closed-loop control collection system - Google Patents
Tilt rotor unmanned aerial vehicle's area power wind tunnel test closed-loop control collection system Download PDFInfo
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- CN112033638A CN112033638A CN202010895396.6A CN202010895396A CN112033638A CN 112033638 A CN112033638 A CN 112033638A CN 202010895396 A CN202010895396 A CN 202010895396A CN 112033638 A CN112033638 A CN 112033638A
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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
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention discloses a closed-loop control acquisition system with a power wind tunnel test for a tilt rotor unmanned aerial vehicle, which comprises ground control end equipment and airborne end equipment of the tilt rotor unmanned aerial vehicle. The ground control end equipment comprises a control computer, a control end data transmission station and a control end power supply. The airborne end equipment of the tilt rotor unmanned aerial vehicle comprises an airborne end data transmission station, a control collector, a sensor, an actuating mechanism and an airborne end power supply. The control acquisition system is a closed-loop control acquisition system, carries out data acquisition through each actuating mechanism installation sensor to rotor unmanned aerial vehicle verts to utilize the control acquisition ware to control each actuating mechanism's input signal, through the wireless communication mode at last, utilize wireless data transfer station and host computer to carry out the remote transmission of control command, realize contactless, continuous wind tunnel test and data acquisition.
Description
Technical Field
The invention belongs to the field of detection control instruments, and particularly relates to a closed-loop control acquisition system with a power wind tunnel test for a tilt rotor unmanned aerial vehicle.
Background
The wind tunnel test plays a vital role in verifying the pneumatic performance of the unmanned aerial vehicle and optimizing a control algorithm. The existing wind tunnel test instrument mainly carries out wind tunnel test experiments under different angles and different flow field conditions on an unmanned aerial vehicle scaling model which is not provided with a power system and is in a relatively ideal state in an open-loop control and open-loop acquisition mode.
To rotor unmanned aerial vehicle verts, there is close relation at transition mode's aerodynamic characteristic and rotor power's rotational speed, rotor angle and incoming flow velocity of verting, consequently considers the wind-tunnel test including power to rotor unmanned aerial vehicle verts and has important effect.
Considering the problems of high risk, dangerous operation and the like of a dynamic test, a wind tunnel test control and acquisition system which has high automation degree and can be remotely operated is urgently needed for testing the pneumatic parameters of the transition mode of the tilt rotor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a power wind tunnel test closed-loop control acquisition system of a tilt rotor unmanned aerial vehicle.
In order to achieve the technical purpose, the invention adopts the following specific technical scheme:
tilt rotor unmanned aerial vehicle's area power wind tunnel test closed-loop control collection system including ground control end equipment and the airborne end equipment of rotor unmanned aerial vehicle that verts. The ground control end equipment comprises a control computer, a control end data transmission station and a control end power supply. The airborne terminal equipment of the tilt rotor unmanned aerial vehicle comprises an airborne terminal data transmission station, a control collector, a sensor, an actuating mechanism and an airborne terminal power supply; various physical information is collected by various sensors on the tilt rotor unmanned aerial vehicle in real time, and the various physical information collected in real time is converted into corresponding voltage signals to be sent to a control collector; the control collector collects the collected sensor voltage signals into a communication protocol through coding and packaging, and sends the communication protocol to the airborne terminal data transmission station; the airborne terminal data transmission radio station transmits a communication protocol to the control terminal data transmission radio station through wireless transmission; the control end data transmission radio station sends the received data to the control computer, the control computer reads the received communication protocol and analyzes the real-time acquisition data of each sensor, corresponding control quantity is generated according to the comparison between the acquired real-time acquisition data of each sensor and a preset expected control result, and the generated control quantity is encoded, packaged and converged into a control communication protocol which is sent to the control end data transmission radio station through the control computer to be broadcasted; the airborne terminal data transmission station sends the control communication protocol to the control collector after receiving the control communication protocol broadcasted by the control terminal data transmission station, the control collector generates corresponding control quantity signals through protocol analysis to each actuating mechanism on the tilt rotor unmanned aerial vehicle, and each actuating mechanism operates according to the control quantity signals after receiving the control quantity signals.
Further, actuating mechanism includes driving system, the mechanism of verting and control surface on the rotor unmanned aerial vehicle that verts at least. For a power system, if the power system is a motor, power control is carried out through the electrically-adjusted PWM wave duty ratio; if the power system is an oil engine, the power control is carried out through an electronic injection system. And for the tilting mechanism, the tilting mechanism is driven to work by controlling the tilting steering engine to move. And for the control surface, the control surface is driven to work by controlling the movement of the control surface steering engine.
Furthermore, the sensor on the tilt rotor unmanned aerial vehicle at least comprises a sensor for detecting the rotating speed of a power system on the tilt rotor unmanned aerial vehicle, a sensor for detecting the tilt angle of an upward tilt mechanism of the tilt rotor unmanned aerial vehicle, and a sensor for detecting the deflection angle of a control surface of the tilt rotor unmanned aerial vehicle. Specifically, for the acquisition mode of the rotating speed of the power system, if the power system is a motor, the rotating speed of the motor is detected by detecting the polarity change between any two power lines in the 3 power lines; and if the power system is an oil engine, acquiring the rotating speed through a Hall element of the oil engine. And for the collection mode of the tilting angle of the tilting mechanism, the tilting angle is measured through the potential change of a potentiometer matched with the tilting mechanism. And for the acquisition mode of the deflection angle of the control surface, the deflection angle of the control surface is measured through the potential change of a potentiometer linked with the control surface.
Furthermore, the control computer is an upper computer control software installation and operation platform developed based on Labview, and is connected with a data transmission radio station of a control end through a self USB interface. The upper computer control software developed based on Labview mainly collects sensor data detected by each sensor on the tilt rotor unmanned aerial vehicle, displays a wave chart, assists four arithmetic operations of the wave chart, controls operation and saves data. The upper computer control software developed based on Labview comprises a basic configuration module, a numerical display safety threshold setting module, a wave chart display module, a wave chart auxiliary four-rule operation module, a tilting indicating disc and a control operation area;
the basic configuration module is used for configuring serial port information, setting a file storage position, storing data and stopping operation;
the numerical value display safety threshold setting module is used for displaying data, setting a safety threshold and displaying a record table in real time;
the oscillogram display module is used for displaying acquired data wavelike of control surface tilting, tilting deflection and power by opening or closing a corresponding switch;
the waveform chart assists the four arithmetic modules, and parameter comparison is carried out on the waveform chart display data through the four arithmetic parameter adjustment;
the tilting indicating disc is used for carrying out visualization display on a corresponding set value and an actual value of the tilting mechanism through a visual indicating disc;
the control operation area is mainly used for controlling power, a control surface and tilting in real time, and sending an operation instruction through the sending key.
The invention relates to a closed-loop control acquisition system, which is characterized in that sensors are arranged on each actuating mechanism (comprising key parts such as a power system, a tilting mechanism, a control surface and the like on a tilting rotor unmanned aerial vehicle) of the tilting rotor unmanned aerial vehicle to acquire data, input signals of each actuating mechanism are controlled by using a control acquisition device, and finally, a wireless data transmission radio station and an upper computer are used for remote transmission of control commands in a wireless communication mode, so that non-contact continuous wind tunnel test and data acquisition are realized. Compared with the existing wind tunnel test control acquisition system, the wind tunnel test control acquisition system has the following advantages:
(1) closed-loop control, namely, automatic adjustment and closed-loop control of a power system, a control surface and a tilt angle are realized through a designed data acquisition and control circuit, manual operation is not needed, and the complexity of a test is reduced;
(2) the wireless data transmission radio station realizes the non-contact data acquisition and the sending of control commands;
(3) the invention systematically integrates test control, data acquisition, data waveform display, data waveform comparison, data storage and the like, can carry out the operation of test control and acquisition of the wind tunnel with power by a single person, and effectively reduces the number of testers.
(4) The invention can be applied to the wind tunnel test with power of the tilt rotor unmanned aerial vehicle, and can also be expanded to the wind tunnel test of other aircrafts needing power;
drawings
FIG. 1 is a block diagram of the components of a control acquisition system according to an embodiment of the present invention.
Fig. 2 is a flow chart of the closed loop control acquisition of the present invention.
FIG. 3 is a schematic interface diagram of a Labview-based upper computer control software provided by an embodiment of the present invention.
FIG. 4 is a data processing flow chart of the Labview-based upper computer control software provided by the embodiment of the invention
Fig. 5 is a structural diagram of a control collector of the present invention.
FIG. 6 is a flow chart of the present invention for controlling the collector to control and collect data
Fig. 7 is a diagram of the sensor of the present invention.
FIG. 8 is a schematic view of the tilt angle measurement arrangement of the present invention
FIG. 9 is a schematic view of the installation of the deflection angle measuring structure of the control surface of the present invention
Fig. 10 is a diagram showing the construction of the actuator.
1. Operating the computer; 2. upper computer control software developed based on Labview; 3. the data transmission radio station of the control end; 4. a control end power supply; 5. an airborne terminal data transmission radio station; 6. controlling the collector; 7. a sensor; 8. an actuator; 9. an onboard end power supply; 10. a basic configuration module; 11. a numerical value display safety threshold setting module; 12. a waveform chart display module; 13. the waveform chart assists the four arithmetic operation modules; 14. a tilt indicating dial; 15. controlling the operation area; 16. 1# potentiometer; 17. a tilting steering engine; 18. an airfoil; 19. a control surface steering engine; 20. a steering engine rocker arm; 21. a pull rod; 22. a # 2 potentiometer; 23. a rudder angle; 24. a control surface.
Detailed Description
In order to make the technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 10, the present embodiment provides a powered wind tunnel test closed-loop control acquisition system for a tilt rotor unmanned aerial vehicle. Including ground control end equipment and the airborne end equipment of rotor unmanned aerial vehicle that verts. The ground control end device comprises a control computer 1, a control end data transmission radio station 3 and a control end power supply 4. Tilt rotor unmanned aerial vehicle airborne end equipment includes airborne end data transfer station 5, control collector 6, sensor 7, actuating mechanism 8, airborne end power 9. The system can realize remote real-time power system throttle control, power system tilting angle control and control surface tilting angle control on the unmanned aerial vehicle in the wind tunnel, and meanwhile, the actual rotating speed of the power system, the tilting actual tilting angle of the power system and the actual tilting angle of the control surface can be obtained in real time by acquiring data of the sensor, all control and acquisition data can be displayed through a waveform chart, and useful information can be selected for recording and storing. The waveform chart can be used for comparing data parameters through four auxiliary algorithms (the comparison only changes the waveform display, and does not change the original data). The specific collected values can be checked and the safety control threshold can be set through the data display safety threshold setting window. The method has the characteristics of safety, convenience, high efficiency, real-time data recording and the like. The specific design is as follows:
the control computer 1 is an installation and operation platform of upper computer control software 2 developed based on Labview, and is connected with a control end data transmission radio station 3 through a self-contained USB interface. The upper computer control software 2 developed based on Labview mainly collects sensor data detected by each sensor on the tilt rotor unmanned aerial vehicle, displays a wave chart, assists four arithmetic operations of the wave chart, controls operation and saves data. Referring to fig. 3 and 4, the upper computer control software developed based on Labview includes a basic configuration module 10, a numerical display safety threshold setting module 11, a waveform chart display module 12, a waveform chart auxiliary four-fundamental operation module 13, a tilting indicator panel 14 and a control operation area 15.
The basic configuration module 10 is used for configuring serial port information, setting a file storage position, storing data and stopping operation;
a numerical value display safety threshold value setting module 11 for displaying data, setting a safety threshold value and displaying a record table in real time;
the oscillogram display module 12 is used for displaying acquired data wavelike of control surface tilting, tilting deflection and power by opening or closing a corresponding switch;
the waveform chart auxiliary four-rule operation module 13 compares the parameters of the waveform chart display data through the adjustment of four-rule operation parameters;
the tilting indicating disc 14 is used for displaying the corresponding set value and actual value of the tilting mechanism in an visualization way through a visual indicating disc;
the control operation area 15 mainly controls power, a control surface and tilting in real time, and sends an operation command through a sending key.
Referring to fig. 2, various physical information is acquired by sensors on the tilt rotor unmanned aerial vehicle in real time, and the various physical information acquired in real time is converted into corresponding voltage signals to be sent to a control acquisition unit; the control collector collects the collected sensor voltage signals into a communication protocol through coding and packaging, and sends the communication protocol to the airborne terminal data transmission station; the airborne terminal data transmission radio station transmits a communication protocol to the control terminal data transmission radio station through wireless transmission; the control end data transmission radio station sends the received data to the control computer, the control computer reads the received communication protocol and analyzes the real-time acquisition data of each sensor, corresponding control quantity is generated according to the comparison between the acquired real-time acquisition data of each sensor and a preset expected control result, and the generated control quantity is encoded, packaged and converged into a control communication protocol which is sent to the control end data transmission radio station through the control computer to be broadcasted; the airborne terminal data transmission station sends the control communication protocol to the control collector after receiving the control communication protocol broadcasted by the control terminal data transmission station, the control collector generates corresponding control quantity signals through protocol analysis to each actuating mechanism on the tilt rotor unmanned aerial vehicle, and each actuating mechanism operates according to the control quantity signals after receiving the control quantity signals.
And the data transmission radio station at the control end and the data transmission radio station at the airborne end carry out data communication between the control end and the airborne end. And the control end power supply supplies power to the control end data transmission radio station. The control collector is in charge of collecting work, collecting sensor data and sending the data to the airborne terminal data radio station, and is in charge of controlling work, and controls the execution mechanism to work after receiving and analyzing a control instruction from the airborne terminal data radio station. And the sensor is used for measuring the rotating speed of the power system, the deflection angle of the tilting mechanism and the deflection angle of the control surface and sending the measured data to the control collector. And the executing mechanism executes an executing command sent by the control collector, and controls the change of an accelerator (the electric motor controls the electric speed regulator and the oil engine controls the steering engine), the deflection of the tilting mechanism and the deflection of the control surface. The airborne terminal power supply is used for providing a direct current power supply meeting the requirements for the airborne terminal data transmission station, the control collector, the sensor and the executing mechanism through the control collector.
Referring to fig. 4, 5, 6, 7, 8, and 9, the actuator includes at least a power system, a tilting mechanism, and a control surface of the tilt rotor drone. For a power system, if the power system is a motor, power control is carried out through the electrically-adjusted PWM wave duty ratio; if the power system is an oil engine, the power control is carried out through an electronic injection system. For the tilting mechanism, the tilting mechanism is driven to work by controlling the tilting steering engine 17 to move. And for the control surface 24 on the wing 18, the control surface is driven to work by controlling the control surface steering engine 19 to move. As shown in fig. 9, for a control surface 24 on the wing 18, a control angle 23 is arranged on the control surface 24, a control surface steering engine 19 is connected with the control angle 23 on the control surface 24 through a steering engine rocker arm 20 and a pull rod 21, the control surface steering engine 19 works, and the control surface 24 is driven to deflect through the steering engine rocker arm 20 and the pull rod 21.
The last sensor of rotor unmanned aerial vehicle verts includes the sensor that is used for detecting rotor unmanned aerial vehicle that verts go up the driving system rotational speed, is used for detecting its sensor of the angle of verting of rotor unmanned aerial vehicle tilt-up mechanism and is used for detecting the sensor of its control surface angle of deflection of rotor unmanned aerial vehicle that verts at least. Specifically, for the acquisition mode of the rotating speed of the power system, if the power system is a motor, the rotating speed of the motor is detected by detecting the polarity change between any two power lines in the 3 power lines; and if the power system is an oil engine, acquiring the rotating speed through a Hall element of the oil engine. For the collection mode of the tilting angle of the tilting mechanism, the tilting angle is measured by the change of the electric potential of the 1# potentiometer 16 matched with the tilting mechanism. For the collection mode of the deflection angle of the control surface, the deflection angle of the control surface is measured by the change of the electric potential of the 2# potentiometer 22 linked with the control surface 24.
The communication protocol of the present invention is defined as follows:
when the invention is applied specifically, the preparation working steps are as follows:
the method comprises the following steps that firstly, an onboard end executing mechanism is installed and debugged and is connected with a control collector through a circuit;
step two, completing the installation and debugging of the airborne end sensor, and connecting the airborne end sensor with the control collector through a circuit;
and step three, controlling the collector to be in data transmission with the airborne terminal through a circuit, and finishing the preparation work.
Referring to fig. 2 and 3, the upper computer control software developed based on Labview includes a basic configuration module, a numerical display safety threshold setting module, a waveform chart display module, a waveform chart auxiliary four-rule operation module, a tilting dial, and a control operation area.
When the method is applied specifically, the working steps are as follows:
starting a control computer, and opening upper computer software developed based on Labview;
step two, connecting the control end digital transmission radio station with a control computer through a USB interface, and supplying power to the control end digital transmission radio station by a control end power supply;
thirdly, switching on a power supply to the onboard end equipment except the power system executing mechanism at the onboard end for power supply operation, and strictly forbidding people and equipment to approach in a working area of the power system;
step four, performing software foundation setting work of the upper computer: configuring serial port numbers, selecting baud rates, selecting file positions (recording file storage positions), selecting sampling frequencies, clicking serial port connection after setting is completed, starting the upper computer software to work, and receiving data sent by an airborne terminal by the upper computer software after the data transmission radio station is normally connected;
step five, setting a numerical display safety threshold, setting a safety threshold range, and prompting by an alarm lamp when software exceeds the safety threshold;
step six, switching on a power supply of an executing mechanism of the airborne power system;
seventhly, operating and controlling the deflection angle of the tilting mechanism and the deflection angle of the control surface, clicking a starting command, sending an instruction to a control collector by upper computer software through a data transmission radio station, displaying a deflection set value (an operating value) and an actual value of the tilting mechanism in a tilting indicating disc in real time, and displaying a command value sent finally in a control operation area all the time;
step eight, controlling a relevant power system in a control operation area to test, displaying the measured power rotating speed, the measured tilting deflection angle and the measured control surface deflection angle in real time on a waveform chart after power starts to run, and turning on or turning off the waveform chart of relevant parameters through relevant switches;
step nine, data comparison, namely comparison of the curve parameters of the oscillogram through four arithmetic operations assisted by the oscillogram (the comparison only shows the change of the curve and does not change the original numerical value);
step ten, triggering the alarm condition by the safety threshold, and if the collected related data exceeds the safety threshold setting, enabling an alarm lamp to flash red in the corresponding parameter of the safety display safety threshold module to remind an operator of safety;
step eleven, recording data, namely enabling the tested unmanned aerial vehicle system and the equipment to stably work for a period of time, clicking a data storage button set based on the data to store the data after the data are stable, starting recording the data, clicking again to stop storing the data, and storing the data into a txt file at a set file storage position;
step twelve, after the experiment is finished, clicking to stop working, and controlling to recover to a default value (the power control output is 0, the control surface and the tilting offset angle are 0 degrees at the middle position, and the data which is not stored can be directly stopped to be recorded and directly stored into a txt file);
step thirteen, firstly powering off the power system executing mechanism, and then powering off other airborne equipment;
and step fourteen, powering off the data transmission station at the control end, removing the connection between the data transmission station at the operation end and the operation computer, closing the software, closing the operation computer, and ending the experiment.
In summary, although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. Tilt rotor unmanned aerial vehicle's area power wind tunnel test closed-loop control collection system, its characterized in that: the tilting rotor unmanned aerial vehicle comprises ground control end equipment and airborne end equipment of a tilting rotor unmanned aerial vehicle; the ground control end equipment comprises a control computer, a control end data transmission station and a control end power supply; the airborne terminal equipment of the tilt rotor unmanned aerial vehicle comprises an airborne terminal data transmission station, a control collector, a sensor, an actuating mechanism and an airborne terminal power supply; various physical information is collected by various sensors on the tilt rotor unmanned aerial vehicle in real time, and the various physical information collected in real time is converted into corresponding voltage signals to be sent to a control collector; the control collector collects the collected sensor voltage signals into a communication protocol through coding and packaging, and sends the communication protocol to the airborne terminal data transmission station; the airborne terminal data transmission radio station transmits a communication protocol to the control terminal data transmission radio station through wireless transmission; the control end data transmission radio station sends the received data to the control computer, the control computer reads the received communication protocol and analyzes the real-time acquisition data of each sensor, corresponding control quantity is generated according to the comparison between the acquired real-time acquisition data of each sensor and a preset expected control result, and the generated control quantity is encoded, packaged and converged into a control communication protocol which is sent to the control end data transmission radio station through the control computer to be broadcasted; the airborne terminal data transmission station sends the control communication protocol to the control collector after receiving the control communication protocol broadcasted by the control terminal data transmission station, the control collector generates corresponding control quantity signals through protocol analysis to each actuating mechanism on the tilt rotor unmanned aerial vehicle, and each actuating mechanism operates according to the control quantity signals after receiving the control quantity signals.
2. The tilt rotor unmanned aerial vehicle powered wind tunnel test closed loop control acquisition system of claim 1, wherein: the control computer is an upper computer control software installation and operation platform developed based on Labview, and is connected with the control end data transmission radio station through a self-contained USB interface.
3. The tilt rotor unmanned aerial vehicle powered wind tunnel test closed loop control acquisition system of claim 2, wherein: and the upper computer control software developed based on Labview carries out acquisition, waveform chart display, waveform chart auxiliary four-rule operation, operation control and data storage on the sensor data detected by each sensor on the tilt rotor unmanned aerial vehicle.
4. The tilt rotor unmanned aerial vehicle powered wind tunnel test closed loop control acquisition system of claim 1, 2 or 3, wherein: actuating mechanism includes driving system, tilting mechanism and the control surface on the rotor unmanned aerial vehicle that verts at least.
5. The tilt rotor unmanned aerial vehicle's powered wind tunnel test closed loop control collection system of claim 4, characterized in that: for a power system, if the power system is a motor, power control is carried out through the electrically-adjusted PWM wave duty ratio; if the power system is an oil engine, the power control is carried out through an electronic injection system.
6. The tilt rotor unmanned aerial vehicle's powered wind tunnel test closed loop control collection system of claim 4, characterized in that: for the tilting mechanism, the tilting mechanism is driven to work by controlling the tilting steering engine to move; and for the control surface, the control surface is driven to work by controlling the movement of the control surface steering engine.
7. The tilt rotor unmanned aerial vehicle's powered wind tunnel test closed loop control collection system of claim 4, characterized in that: last sensor of rotor unmanned aerial vehicle verts including being used for detecting the sensor of rotor unmanned aerial vehicle last driving system rotational speed that verts, being used for detecting its sensor of angle of verting of rotor unmanned aerial vehicle tilt-up mechanism and being used for detecting the sensor of its control surface angle of deflection of rotor unmanned aerial vehicle that verts.
8. The tilt rotor unmanned aerial vehicle powered wind tunnel test closed loop control acquisition system of claim 6, wherein: for the acquisition mode of the rotating speed of the power system, if the power system is a motor, the rotating speed of the motor is detected by detecting the polarity change between any two power lines in the 3 power lines; and if the power system is an oil engine, acquiring the rotating speed through a Hall element of the oil engine.
9. The tilt rotor unmanned aerial vehicle powered wind tunnel test closed loop control acquisition system of claim 6, wherein: and for the collection mode of the tilting angle of the tilting mechanism, the tilting angle is measured through the potential change of a potentiometer matched with the tilting mechanism.
10. The tilt rotor unmanned aerial vehicle powered wind tunnel test closed loop control acquisition system of claim 6, wherein: and for the acquisition mode of the deflection angle of the control surface, the deflection angle of the control surface is measured through the potential change of a potentiometer linked with the control surface.
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| CN114235324A (en) * | 2021-09-19 | 2022-03-25 | 中国航空工业集团公司西安飞机设计研究所 | Full-aircraft power influence wind tunnel test method for tilt rotor aircraft |
| CN114397905A (en) * | 2022-03-25 | 2022-04-26 | 中国空气动力研究与发展中心低速空气动力研究所 | Tilting transition wind tunnel flight experiment method and system of tilting rotorcraft |
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