CN112946314A - Unmanned vehicles and airspeed meter thereof - Google Patents
Unmanned vehicles and airspeed meter thereof Download PDFInfo
- Publication number
- CN112946314A CN112946314A CN201911176895.3A CN201911176895A CN112946314A CN 112946314 A CN112946314 A CN 112946314A CN 201911176895 A CN201911176895 A CN 201911176895A CN 112946314 A CN112946314 A CN 112946314A
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- propeller
- airspeed
- actual
- rotating speed
- control module
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
- G01P21/025—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers for measuring speed of fluids; for measuring speed of bodies relative to fluids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
Abstract
The invention discloses an unmanned aerial vehicle and an airspeed meter thereof, wherein the airspeed meter comprises a propeller, a rotating speed measuring module and a control module; the rotating speed measuring module is used for acquiring the actual rotating speed of the propeller when the unmanned aerial vehicle is in a normal flight state and sending the actual rotating speed to the control module; the control module is used for acquiring the actual pitch of the propeller and acquiring the vacuum speed of the unmanned aerial vehicle in the current flight state according to the actual pitch and the actual rotating speed. The airspeed meter is formed by the propeller, the rotating speed measuring module, the control module and the main structure, and the accuracy of airspeed measurement is ensured by combining a pre-calibration process; because only the propeller is exposed outside, the airspeed meter is prevented from being influenced by rainwater, and the cost is reduced on the basis of ensuring the measurement accuracy of the airspeed; in addition, the airspeed meter is less influenced by environmental factors, namely, the use performance of the airspeed meter is improved.
Description
Technical Field
The invention relates to the technical field of flight equipment, in particular to an unmanned aerial vehicle and an airspeed meter thereof.
Background
Currently, the airspeed meter is mainly a differential pressure airspeed meter, which mainly consists of an airspeed tube, a pitot tube and a differential pressure sensor. However, the existing ordinary airspeed meter has the problem of water resistance, and once the airspeed meter is filled with water, the airspeed measurement is inaccurate, so that the flight safety of the unmanned aerial vehicle is influenced. In order to solve the waterproof problem, a related design is additionally arranged in the airspeed head, and then the airspeed head is high in cost and high in price due to the improved mode, so that the airspeed head cannot be applied to a general unmanned aerial vehicle, the application scene of the airspeed head is reduced, and the airspeed head is not universal.
Disclosure of Invention
The invention aims to overcome the defects of water resistance, high price and no universality of an airspeed meter in the prior art, and provides an unmanned aerial vehicle and the airspeed meter thereof.
The invention solves the technical problems through the following technical scheme:
the invention provides an airspeed meter which comprises a propeller, a rotating speed measuring module and a control module;
the rotating speed measuring module is fixedly connected with the propeller and electrically connected with the control module;
the rotating speed measuring module is used for acquiring the actual rotating speed of the propeller when the unmanned aerial vehicle is in a normal flight state and sending the actual rotating speed to the control module;
the control module is used for acquiring the actual pitch of the propeller and acquiring the actual vacuum speed of the unmanned aerial vehicle in the current flight state according to the actual pitch and the actual rotating speed.
Preferably, the actual pitch of the propeller is inversely related to the cruising flight speed of the unmanned aerial vehicle.
Preferably, the rotation speed measuring module comprises a magnetic encoder;
the magnetic encoder is fixedly arranged on the central shaft of the propeller;
the magnetic encoder is used for acquiring the rotating angle of the propeller within set time and calculating to obtain the actual rotating speed of the propeller.
Preferably, the rotation speed measuring module comprises a zero-crossing detecting module;
the zero-crossing detection module is fixedly connected with the propeller;
the zero-crossing detection module is used for acquiring the actual rotating speed of the propeller when the unmanned aerial vehicle is in a normal flight state.
Preferably, in the calibration process, the rotating speed measuring module is configured to obtain first rotating speeds corresponding to the propellers in different experimental airspeed environments, and send the first rotating speeds to the control module;
the control module is used for respectively acquiring corresponding first vacuum speeds according to the actual screw pitch and the first rotating speed;
the control module is also used for obtaining a reference vacuum speed measured by the standard airspeed meter in the same experimental airspeed environment, comparing whether the first vacuum speed is consistent with the reference vacuum speed, and if not, calibrating the airspeed meter by adopting the reference vacuum speed.
Preferably, the calculation formula of the control module for obtaining the actual vacuum speed is as follows:
V＝D*v
wherein V represents the actual vacuum speed, D represents the actual pitch, and V represents the actual rotational speed.
Preferably, the airspeed meter further comprises a main body structure;
the propeller is fixedly arranged at one end of the main body structure, and the other end of the main body structure is fixedly connected with the unmanned aerial vehicle;
the rotating speed measuring module and the control module are both fixedly arranged in the main body structure.
Preferably, the main body structure is an L-shaped structure;
the propeller is fixedly arranged at one end of the L-shaped structure, and the other end of the L-shaped structure is fixedly connected with the unmanned aerial vehicle.
The invention also provides an unmanned aerial vehicle comprising an airspeed meter as defined in any one of claims 1 to 8.
Preferably, the airspeed meter is fixedly arranged below a nose of the unmanned aerial vehicle or below a main wing; and/or the presence of a gas in the gas,
the orientation of the propeller is consistent with the flight direction of the unmanned aerial vehicle.
The positive progress effects of the invention are as follows:
according to the invention, the airspeed meter is formed by the propeller, the rotating speed measuring module, the control module and the main structure, and the accuracy of airspeed measurement is ensured by combining a pre-calibration process; because only the propeller is exposed outside, the airspeed meter is prevented from being influenced by rainwater, and the cost is reduced on the technology of ensuring the measurement accuracy of the airspeed; in addition, the airspeed meter is less influenced by environmental factors, namely, the use performance of the airspeed meter is improved.
Drawings
Fig. 1 is a schematic view of a first configuration of an airspeed meter of embodiment 1 of the present invention.
Fig. 2 is a second schematic representation of the airspeed meter of embodiment 1 of the present invention.
Fig. 3 is a schematic diagram of the structure of an airspeed meter of embodiment 2 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the airspeed meter of the present embodiment includes a propeller 1, a rotation speed measuring module 2, a control module 3, and a main body structure 4.
Wherein, the one end of major structure 4 has set firmly screw 1, and the other end of major structure 4 is used for with unmanned vehicles fixed connection, and rotation speed measurement module 2 and control module 3 all set firmly in major structure 4.
Preferably, as shown in fig. 2, the main body structure 4 is an L-shaped structure, one end of the L-shaped structure is fixedly provided with the propeller 1, and the other end of the L-shaped structure is used for being fixedly connected with the unmanned aerial vehicle.
The rotating speed measuring module 2 is fixedly connected with the propeller 1, and the rotating speed measuring module 2 is electrically connected with the control module 3.
The rotating speed measuring module 2 is used for acquiring the actual rotating speed corresponding to the propeller 1 when the unmanned aerial vehicle is in a normal flight state, and sending the actual rotating speed to the control module 3;
when the rotating speed measuring module 2 comprises a magnetic encoder, the magnetic encoder is fixedly arranged on the central shaft of the propeller 1.
The magnetic encoder is used for acquiring the rotating angle of the propeller 1 within a set time and calculating to obtain the corresponding actual rotating speed of the propeller 1.
When the rotating speed measuring module 2 comprises a zero-crossing detection module, the zero-crossing detection module is fixedly connected with the propeller 1.
The zero-crossing detection module is used for acquiring the actual rotating speed of the propeller when the unmanned aerial vehicle is in a normal flight state. The specific working principle of acquiring the rotating speed by adopting the zero-crossing detection module belongs to the mature technology in the field, and therefore, the detailed description is omitted here.
In addition, in order to make the peripheral circuit simple and the rotational speed measurement accuracy higher, a magnetic encoder is preferable as the rotational speed measurement module.
The control module 3 is used for acquiring the actual pitch of the propeller 1 and acquiring the corresponding actual vacuum speed of the unmanned aerial vehicle in a normal flight state according to the actual pitch and the actual rotating speed.
Specifically, the calculation formula for the control module 3 to obtain the actual vacuum speed is as follows:
V＝D*v
where V represents the actual vacuum speed, D represents the actual pitch, and V represents the actual rotational speed.
In addition, the actual pitch of the propeller is in negative correlation with the cruising flight speed of the unmanned aerial vehicle, namely, the propellers with different pitches are configured according to the cruising flight speeds of different unmanned aerial vehicles, so that the flight stability and airspeed detection accuracy of the unmanned aerial vehicle are ensured.
Before the airspeed meter leaves a factory (or before the airspeed meter is not put into use), the airspeed meter is calibrated through a standard airspeed meter so as to eliminate errors caused by the rotation resistance of the propeller 1 to a measurement result. Specifically, the method comprises the following steps:
in a miniature wind tunnel laboratory, the airspeed meter and the standard airspeed meter of the embodiment are respectively installed on an unmanned aerial vehicle or are installed on an automobile test fixture and the like for fixation.
The rotating speed measuring module 2 is used for respectively obtaining first rotating speeds corresponding to the propellers in different experimental airspeed environments and sending the first rotating speeds to the control module 3;
the control module 3 is used for respectively acquiring corresponding first vacuum speeds according to the actual screw pitch and the first rotating speed;
the control module 3 is also used for obtaining a reference vacuum speed measured by the standard airspeed meter in the same experimental airspeed environment, comparing whether the first vacuum speed is consistent with the reference vacuum speed, and if not, calibrating the airspeed meter by adopting the reference vacuum speed.
In addition, the indicated airspeed can be obtained by converting the obtained actual vacuum speed, and the specific formula is as follows:
1/2*ρ0*IAS2＝1/2*ρh*V2
where IAS represents the indicated airspeed, ρ0Representing the air density at sea level, phAir density representing the current flying height.
In the embodiment, the airspeed meter is formed by the propeller, the rotating speed measuring module, the control module and the main structure, and the accuracy of airspeed measurement is ensured by combining a pre-calibration process; because only the propeller is exposed outside, the airspeed meter is prevented from being influenced by rainwater, the measurement precision of the airspeed is ensured, and the cost is reduced; in addition, the airspeed meter is less influenced by environmental factors, namely, the use performance of the airspeed meter is improved.
Example 2
As shown in fig. 3, the unmanned aerial vehicle of the present embodiment includes the airspeed meter of embodiment 1.
The airspeed meter may be located anywhere on the UAV. Preferably, the fastening is arranged below the nose or below the main wing of the unmanned aerial vehicle.
The orientation of the propeller 1 is consistent with the flight direction of the unmanned aerial vehicle so as to ensure the measurement accuracy of the actual vacuum speed.
In addition, during actual flight, the actual vacuum speed measured by the airspeed meter needs to be converted into the gauge speed (the speed displayed by the instrument) of the unmanned aerial vehicle for use.
In this embodiment, dispose screw, rotational speed measurement module, control module and major structure in the aircraft and form the airspeed meter, it is less influenced by environmental factor, improved airspeed measurement's accuracy and the performance of airspeed meter, and the cost is reduced.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. The airspeed meter is characterized by comprising a propeller, a rotating speed measuring module and a control module;
the rotating speed measuring module is fixedly connected with the propeller and electrically connected with the control module;
the rotating speed measuring module is used for acquiring the actual rotating speed of the propeller when the unmanned aerial vehicle is in a normal flight state and sending the actual rotating speed to the control module;
the control module is used for acquiring the actual pitch of the propeller and acquiring the actual vacuum speed of the unmanned aerial vehicle in the current flight state according to the actual pitch and the actual rotating speed.
2. The airspeed meter of claim 1, wherein the actual pitch of the propeller is inversely related to the cruising flight speed of the UAV.
3. The airspeed meter of claim 1, wherein the tachometry module comprises a magnetic encoder;
the magnetic encoder is fixedly arranged on the central shaft of the propeller;
the magnetic encoder is used for acquiring the rotating angle of the propeller within set time and calculating to obtain the actual rotating speed of the propeller.
4. The airspeed meter of claim 1, wherein the speed measurement module includes a zero-crossing detection module;
the zero-crossing detection module is fixedly connected with the propeller;
the zero-crossing detection module is used for acquiring the actual rotating speed of the propeller when the unmanned aerial vehicle is in a normal flight state.
5. The airspeed meter of claim 1, wherein during calibration, the rotation speed measurement module is configured to obtain first rotation speeds corresponding to the propellers in different experimental airspeed environments, and send the first rotation speeds to the control module;
the control module is used for respectively acquiring corresponding first vacuum speeds according to the actual screw pitch and the first rotating speed;
the control module is also used for obtaining a reference vacuum speed measured by the standard airspeed meter in the same experimental airspeed environment, comparing whether the first vacuum speed is consistent with the reference vacuum speed, and if not, calibrating the airspeed meter by adopting the reference vacuum speed.
6. The airspeed meter of claim 1, wherein the control module obtains the actual airspeed by the following equation:
V＝D*v
wherein V represents the actual vacuum speed, D represents the actual pitch, and V represents the actual rotational speed.
7. The airspeed meter of claim 1, further comprising a body structure;
the propeller is fixedly arranged at one end of the main body structure, and the other end of the main body structure is fixedly connected with the unmanned aerial vehicle;
the rotating speed measuring module and the control module are both fixedly arranged in the main body structure.
8. The airspeed meter of claim 7, wherein the body structure is an L-shaped structure;
the propeller is fixedly arranged at one end of the L-shaped structure, and the other end of the L-shaped structure is fixedly connected with the unmanned aerial vehicle.
9. An unmanned aerial vehicle comprising the airspeed meter of any one of claims 1-8.
10. The UAV of claim 9 wherein the airspeed meter is mounted below a nose or a primary wing of the UAV; and/or the presence of a gas in the gas,
the orientation of the propeller is consistent with the flight direction of the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911176895.3A CN112946314A (en) | 2019-11-26 | 2019-11-26 | Unmanned vehicles and airspeed meter thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911176895.3A CN112946314A (en) | 2019-11-26 | 2019-11-26 | Unmanned vehicles and airspeed meter thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112946314A true CN112946314A (en) | 2021-06-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201911176895.3A Pending CN112946314A (en) | 2019-11-26 | 2019-11-26 | Unmanned vehicles and airspeed meter thereof |
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| Country | Link |
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| CN (1) | CN112946314A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115575673A (en) * | 2022-11-11 | 2023-01-06 | 四川新川航空仪器有限责任公司 | Vacuum high-rotation-speed test platform and test method for tone wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115575673A (en) * | 2022-11-11 | 2023-01-06 | 四川新川航空仪器有限责任公司 | Vacuum high-rotation-speed test platform and test method for tone wheel |
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