CN113022885A - Detection device and detection method for unmanned aerial vehicle arm - Google Patents
Detection device and detection method for unmanned aerial vehicle arm Download PDFInfo
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- CN113022885A CN113022885A CN202110222461.3A CN202110222461A CN113022885A CN 113022885 A CN113022885 A CN 113022885A CN 202110222461 A CN202110222461 A CN 202110222461A CN 113022885 A CN113022885 A CN 113022885A
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Abstract
The embodiment of the application provides a detection device and a detection method for an unmanned aerial vehicle arm, and relates to the technical field of unmanned aerial vehicles. The detection device of the unmanned aerial vehicle arm comprises an excitation mechanism, a clamping mechanism and a data acquisition mechanism; the vibration excitation mechanism comprises a vibration table, and the vibration table is used for outputting vibration with preset frequency and preset acceleration; the clamping mechanism is installed on the vibrating table, the unmanned aerial vehicle arm is fixedly installed with the clamping mechanism, and the clamping mechanism is fixedly connected with the vibrating table; the data acquisition mechanism comprises a plurality of inertia measurement units, and the inertia measurement units are respectively installed on the vibrating table and the unmanned aerial vehicle arm. This detection device of unmanned aerial vehicle horn can detect and discern the natural frequency of unmanned aerial vehicle horn, realizes the technological effect of convenient detection.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a detection device and a detection method for an unmanned aerial vehicle arm.
Background
At present, Unmanned Aerial Vehicles (UAVs) are widely used, wherein a multi-rotor Unmanned Aerial Vehicle refers to an aircraft that does not carry an operator and can fly autonomously or be remotely piloted, and is a special Unmanned rotor aircraft with three or more rotor shafts. The multi-rotor unmanned aerial vehicle is provided with a special unmanned helicopter with three or more rotor shafts, and the motor on each shaft rotates to drive a rotor so as to generate lift force; the total distance of the rotors is fixed, and is not variable like a common helicopter, and the single-shaft propelling force can be changed by changing the relative rotating speed between different rotors, so that the running track of the aircraft can be controlled.
In the prior art, the multi-rotor unmanned aerial vehicle bears power load for a long time in the flying process, and the main power load is from a propeller and a propeller driving motor; in addition, the rotating speed of the propeller is constantly changed in the flying process, so that the horn always bears vibration excitation with different frequencies, different directions and different sizes, different natural frequencies and different order vibration modes exist in different horns, once the vibration source excitation is close to or reaches the natural frequency of the horn, the resonance or vibration amplitude of the horn is easily increased, the attitude of the airplane is unstable, and even the resonance damage of the horn is caused; in order to solve the problem, the main testing methods in the industry are simulation and flight testing, the difference between simulation analysis and actual results is often very large, and flight testing needs to consume a large amount of human resources and prolong the development period.
Disclosure of Invention
An object of the embodiment of the application is to provide a detection device and a detection method for an unmanned aerial vehicle horn, which can detect and identify the natural frequency of the unmanned aerial vehicle horn, and realize the technical effect of convenient detection.
In a first aspect, an embodiment of the application provides a detection device for an unmanned aerial vehicle arm, which includes an excitation mechanism, a clamping mechanism and a data acquisition mechanism;
the vibration excitation mechanism comprises a vibration table, and the vibration table is used for outputting vibration with preset frequency and preset acceleration;
the clamping mechanism is installed on the vibrating table, the unmanned aerial vehicle arm is fixedly installed with the clamping mechanism, and the clamping mechanism is fixedly connected with the vibrating table;
the data acquisition mechanism comprises a plurality of inertia measurement units, and the inertia measurement units are respectively installed on the vibrating table and the unmanned aerial vehicle arm.
In the implementation process, the detection device of the unmanned aerial vehicle arm outputs vibration with preset frequency and preset acceleration through the vibration table, and vibration data such as sine frequency sweep, cosine frequency sweep, fixed frequency analysis and the like can be customized; the clamping mechanism is installed on the vibration table and fixedly installed with an unmanned aerial vehicle arm, so that vibration of the vibration table is transmitted to the unmanned aerial vehicle arm, then response data of the arm and vibration source data of the vibration table are acquired through the unmanned aerial vehicle arm and a data acquisition mechanism on the vibration table, and natural frequency and vibration mode of the unmanned aerial vehicle arm are obtained through analysis; therefore, the detection device of the unmanned aerial vehicle horn can detect and identify the natural frequency of the unmanned aerial vehicle horn without simulation and flight test, and the technical effect of convenience in detection is realized, so that the detection cost is reduced, and the development period of the unmanned aerial vehicle is shortened.
Further, fixture includes first support and second support, first support fixed mounting be in on the shaking table, the second support with first support fixed mounting, the unmanned aerial vehicle horn is installed first support with between the second support.
In the above-mentioned realization process, first support and second support can the fixed mounting unmanned aerial vehicle horn, with the unmanned aerial vehicle horn cantilever suspended to make the root of unmanned aerial vehicle horn (the junction of unmanned aerial vehicle horn and unmanned aerial vehicle fuselage) and shaking table rigid connection, make the vibration of shaking table can conduct to on the unmanned aerial vehicle horn.
Further, the clamping mechanism further comprises a first screw, and the first screw penetrates through a screw hole of the first support and fixedly installs the first support on the vibration table.
In the implementation process, the first support is fastened and installed on the vibration table through the first screw, and the vibration table is convenient to install and disassemble.
Further, the clamping mechanism further comprises a second screw, and the second screw penetrates through a screw hole of the second support and fixedly installs the second support on the first support.
In the implementation process, the second support is fastened and installed on the first support through the second screw, and the second support is convenient to install and disassemble.
Further, data acquisition mechanism includes first inertial measurement unit and second inertial measurement unit, the unmanned aerial vehicle horn includes first horn and second horn, first inertial measurement unit installs on the first horn, second inertial measurement unit installs on the second horn.
In the implementation process, the first inertia measurement unit and the second inertia measurement unit are respectively used for measuring the response data of the arms on the first arm and the second arm, wherein the response data of the arms is the vibration response information of the arms of the unmanned aerial vehicle, and the response data of the arms comprises triaxial acceleration data and triaxial angular velocity data.
Further, the data acquisition mechanism further comprises a third inertia measurement unit, and the third inertia measurement unit is installed on the vibration table.
In the implementation process, the third inertia measurement unit is used for measuring vibration source data of the vibration table on the vibration table, and also comprises triaxial acceleration data and triaxial angular velocity data.
Further, one of the direction axes of the first inertial measurement unit, the second inertial measurement unit, and the third inertial measurement unit is in a vertical state.
In the implementation process, when one of the direction axes of the first inertia measurement unit, the second inertia measurement unit and the third inertia measurement unit is ensured to be in a vertical state, the length, width and height of the first inertia measurement unit, the second inertia measurement unit and the third inertia measurement unit are required to be in a state of being perpendicular to or parallel to a natural space coordinate system, so that the test data of each inertia measurement unit are kept consistent.
In a second aspect, an embodiment of the present application provides a method for detecting an arm of an unmanned aerial vehicle, including:
exciting the vibration table to output preset sweep frequency vibration according to the paddle frequency of the unmanned aerial vehicle, wherein the frequency of the sweep frequency vibration is not greater than the paddle frequency of the unmanned aerial vehicle;
receiving horn response data and vibration source data of the vibration table sent by the data acquisition mechanism;
and processing the horn response data and the vibration source data of the vibration table to obtain vibration detection information of the unmanned aerial vehicle horn, wherein the vibration detection information comprises a natural frequency point, a bandwidth and a vibration mode of the natural frequency point.
In the implementation process, vibration with preset frequency and preset acceleration is output through the vibration table, so that vibration data such as sine frequency sweep, cosine frequency sweep, fixed frequency analysis and the like can be customized; the clamping mechanism is installed on the vibration table and fixedly installed with an unmanned aerial vehicle arm, so that vibration of the vibration table is transmitted to the unmanned aerial vehicle arm, then response data of the arm and vibration source data of the vibration table are acquired through the unmanned aerial vehicle arm and a data acquisition mechanism on the vibration table, and natural frequency and vibration mode of the unmanned aerial vehicle arm are obtained through analysis; therefore, the detection device of the unmanned aerial vehicle horn can detect and identify the natural frequency of the unmanned aerial vehicle horn without simulation and flight test, and the technical effect of convenience in detection is realized, so that the detection cost is reduced, and the development period of the unmanned aerial vehicle is shortened.
Further, the step of processing the horn response data and the vibration source data of the vibration table to obtain vibration detection information of the horn of the unmanned aerial vehicle includes:
analyzing the response data of the horn and the vibration source data of the vibration table to obtain triaxial acceleration data;
drawing the acceleration amplitude-frequency curve according to the triaxial acceleration data;
and obtaining the natural frequency point and the bandwidth of the unmanned aerial vehicle horn through the differentiated wave crests in the acceleration amplitude-frequency curve.
In the implementation process, the response data of the horn and the vibration source data of the vibration table are analyzed to obtain the triaxial acceleration data, and an acceleration amplitude-frequency curve is drawn according to the triaxial acceleration data, so that the natural frequency point and the bandwidth of the horn of the unmanned aerial vehicle can be obtained through differential wave peak analysis.
Further, the step of processing the horn response data and the vibration source data of the vibration table to obtain vibration detection information of the horn of the unmanned aerial vehicle includes:
analyzing the response data of the horn and the vibration source data of the vibration table to obtain triaxial angular velocity data;
drawing an angular velocity amplitude-frequency curve according to the triaxial angular velocity data;
and obtaining the natural frequency point and the bandwidth of the unmanned aerial vehicle horn through the differentiated wave crests in the angular velocity amplitude-frequency curve.
In the implementation process, the response data of the arm and the vibration source data of the vibration table are analyzed to obtain the triaxial angular velocity data, and then an angular velocity amplitude-frequency curve is drawn according to the triaxial angular velocity data, so that the natural frequency point and the bandwidth of the arm of the unmanned aerial vehicle can be obtained through differential wave peak analysis.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described techniques.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a detection apparatus for an unmanned aerial vehicle horn according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of another detection device for an arm of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 3a is a schematic structural diagram of a clamping mechanism according to an embodiment of the present disclosure;
fig. 3b is an exploded view of a clamping mechanism according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a method for detecting an arm of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a schematic flowchart of obtaining vibration detection information according to an embodiment of the present application;
fig. 6 is a schematic flowchart of another process for obtaining vibration detection information according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
The embodiment of the application provides a detection device and a detection method for an unmanned aerial vehicle arm, which can be applied to natural frequency detection of the unmanned aerial vehicle arm and can be used for identifying natural frequency points, bandwidth, vibration modes and the like of the unmanned aerial vehicle arm; the detection device of the unmanned aerial vehicle arm outputs vibration with preset frequency and preset acceleration through the vibration table, and vibration data such as sine frequency sweep, cosine frequency sweep, fixed frequency analysis and the like can be customized; the clamping mechanism is installed on the vibration table and fixedly installed with an unmanned aerial vehicle arm, so that vibration of the vibration table is transmitted to the unmanned aerial vehicle arm, then response data of the arm and vibration source data of the vibration table are acquired through the unmanned aerial vehicle arm and a data acquisition mechanism on the vibration table, and natural frequency and vibration mode of the unmanned aerial vehicle arm are obtained through analysis; therefore, the detection device of the unmanned aerial vehicle horn can detect and identify the natural frequency of the unmanned aerial vehicle horn without simulation and flight test, and the technical effect of convenience in detection is realized, so that the detection cost is reduced, and the development period of the unmanned aerial vehicle is shortened.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a detection device for an unmanned aerial vehicle horn according to an embodiment of the present application, where the detection device for an unmanned aerial vehicle horn includes an excitation mechanism 10, a clamping mechanism 20, and a data acquisition mechanism 30, and an unmanned aerial vehicle 40 includes an unmanned aerial vehicle horn 41.
Illustratively, the excitation mechanism 10 includes a vibration table 11, and the vibration table 11 is configured to output vibrations at a preset frequency and a preset acceleration.
Illustratively, the vibration table 11 can output vibrations with different frequencies and different accelerations, and can customize vibration data, such as sine frequency sweep, cosine frequency sweep, fixed frequency analysis, and the like; therefore, vibration data meeting detection requirements can be output through the vibration table 11, and natural frequency detection of the unmanned aerial vehicle arm 41 is facilitated.
Exemplarily, fixture 20 is installed on shaking table 11, and unmanned aerial vehicle horn 41 and fixture 20 fixed mounting, fixture 20 and shaking table 11 fastening connection.
Illustratively, the drone 40 may be a quad-rotor drone, having four drone arms 41; the drone 40 may also be a tri-rotor drone, having three drone arms 41; it should be understood that the number of arms of the drone 40 is by way of example only and not by way of limitation, and that the drone 40 may include other numbers of drone arms 41.
Illustratively, the data acquisition mechanism 30 includes a plurality of inertial measurement units 31, and the plurality of inertial measurement units 31 are respectively installed on the vibration table 11 and the unmanned aerial vehicle arm 41.
Illustratively, the inertial measurement unit 31 includes a three-axis accelerometer and a three-axis gyroscope, and is capable of testing three axial accelerations and three axial angular velocity data of the object to be measured.
An Inertial Measurement Unit (IMU) is an apparatus that measures the three-axis attitude angle (or angular velocity) and acceleration of an object, for example. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, measure angular velocity and acceleration of the object in a three-dimensional space, and calculate the attitude of the object based on the angular velocity and acceleration signals; in the navigation and test field, the inertial measurement unit has important application value.
Exemplarily, the detection device of the unmanned aerial vehicle arm outputs vibration with preset frequency and preset acceleration through the vibration table 11, and vibration data such as sine frequency sweep, cosine frequency sweep, fixed frequency analysis and the like can be customized; the clamping mechanism 20 is installed on the vibration table 11 and fixedly installed with the unmanned aerial vehicle horn 41, so that the vibration of the vibration table 11 is transmitted to the unmanned aerial vehicle horn 41, then the unmanned aerial vehicle horn 41 and the data acquisition mechanism on the vibration table 11 are used for acquiring horn response data and vibration source data of the vibration table, and the natural frequency and the vibration mode of the unmanned aerial vehicle horn are obtained through analysis; therefore, the detection device of the unmanned aerial vehicle horn can detect and identify the natural frequency of the unmanned aerial vehicle horn without simulation and flight test, and the technical effect of convenience in detection is realized, so that the detection cost is reduced, and the development period of the unmanned aerial vehicle is shortened.
In some implementation scenarios, if the natural frequency of the unmanned aerial vehicle horn 41 is within the propeller frequency range and the excitation acceleration is significantly increased, the difficulty of controlling the flight attitude of the unmanned aerial vehicle 40 may be increased, and in a severe case, the strength of the unmanned aerial vehicle horn 41 and the unmanned aerial vehicle body may be damaged, which may seriously affect the stability and safety of the unmanned aerial vehicle 40 during flight; through the detection device of the unmanned aerial vehicle horn that this application embodiment provided, can detect and discern the natural frequency of unmanned aerial vehicle horn to whether can inspect unmanned aerial vehicle horn 41 and satisfy the designing requirement, and confirm the improvement direction of unmanned aerial vehicle horn 41, thereby stability and security when guaranteeing unmanned aerial vehicle 40 flight.
Please refer to fig. 2, fig. 2 is a schematic structural diagram of another detection device for an arm of an unmanned aerial vehicle according to an embodiment of the present application.
Illustratively, the data acquisition mechanism 30 includes a first inertial measurement unit 311 and a second inertial measurement unit 312, the unmanned aerial vehicle horn 41 includes a first horn 411 and a second horn 412, the first inertial measurement unit 311 is mounted on the first horn 411, and the second inertial measurement unit 312 is mounted on the second horn 412.
Illustratively, the first inertial measurement unit 311 and the second inertial measurement unit are respectively configured to measure the boom response data on the first boom 411 and the second boom 412, where the boom response data is the vibration response information of the unmanned aerial vehicle boom 41, and includes three-axis acceleration data and three-axis angular velocity data.
Illustratively, the data acquisition mechanism 30 further includes a third inertial measurement unit 313, and the third inertial measurement unit 313 is mounted on the vibration table 11.
Illustratively, the third inertial measurement unit 313 is configured to measure the vibration source data of the vibration table 11, which also includes three-axis acceleration data and three-axis angular velocity data.
Illustratively, one of the directional axes of the first inertial measurement unit 311, the second inertial measurement unit 312, and the third inertial measurement unit 313 is in a vertical state.
Illustratively, when one of the directional axes of the first inertial measurement unit 311, the second inertial measurement unit 312, and the third inertial measurement unit 313 is ensured to be in a vertical state, that is, the length, width, and height of the first inertial measurement unit 311, the second inertial measurement unit 312, and the third inertial measurement unit 313 are required to be in a state perpendicular or parallel to the world space coordinate system, so that the test data of the respective inertial measurement units are kept consistent.
Referring to fig. 3a and fig. 3b, fig. 3a is a schematic structural diagram of a clamping mechanism according to an embodiment of the present disclosure, and fig. 3b is a schematic structural diagram of an explosion structure of the clamping mechanism according to the embodiment of the present disclosure.
Illustratively, fixture 20 includes first support 21 and second support 22, and first support 21 fixed mounting is on shaking table 11, and second support 22 and first support 21 fixed mounting, and unmanned aerial vehicle horn 41 installs between first support and second support.
Exemplarily, the first bracket 21 and the second bracket 22 may fixedly mount the arm 41 of the unmanned aerial vehicle, suspend the arm 41 of the unmanned aerial vehicle, and rigidly connect the root of the arm 41 of the unmanned aerial vehicle (the joint between the arm 41 of the unmanned aerial vehicle and the fuselage of the unmanned aerial vehicle) with the vibration table 11, so that the vibration of the vibration table 11 can be conducted to the arm of the unmanned aerial vehicle.
In some embodiments, the clamping mechanism 20 may be in other forms, and the unmanned aerial vehicle arm 41 may be suspended through a fixing structure, and the root of the unmanned aerial vehicle arm 41 may be rigidly connected to the vibration table 11.
Illustratively, the clamping mechanism 20 further includes a first screw, which passes through a screw hole of the first bracket 21 and fixedly mounts the first bracket 21 on the vibration table 11.
Illustratively, the first bracket 21 is tightly installed on the vibration table 11 through first screws, so that the installation and the disassembly are convenient.
Illustratively, the clamping mechanism 20 further comprises a second screw 23, and the second screw 23 passes through a screw hole of the second bracket 22 and fixedly mounts the second bracket 22 on the first bracket 21.
The second bracket 22 is fastened and mounted on the first bracket 21 by a second screw 23, for example, so that the mounting and dismounting are convenient.
In some embodiments, the first bracket 21 is fixed to the vibration table by screws, and the second bracket 22 is fixed to the first bracket 21 by screws; the unmanned aerial vehicle arm 41 is fixed between the first bracket 21 and the second bracket 22 and is screwed down through screws; the first inertia measurement unit 311 is fixed on the first arm 411 through glue, the first inertia measurement unit 311 is close to a motor end of the first arm 411, the second inertia measurement unit 312 is fixed on the second arm 412 through glue, the second inertia measurement unit 312 is close to the motor end of the second arm 412, and the third inertia measurement unit 313 is fixed on the vibration table 11 through glue.
Referring to fig. 4, fig. 4 is a schematic flowchart of a method for detecting an arm of an unmanned aerial vehicle according to an embodiment of the present application, where the method for detecting an arm of an unmanned aerial vehicle includes the following steps:
s100: and according to the paddle frequency of the unmanned aerial vehicle, exciting the vibration table to output preset sweep frequency vibration, wherein the frequency of the sweep frequency vibration is not more than the paddle frequency of the unmanned aerial vehicle.
S200: and receiving horn response data and vibration source data of the vibration table sent by the data acquisition mechanism.
S300: and processing the horn response data and the vibration source data of the vibration table to obtain vibration detection information of the horn of the unmanned aerial vehicle, wherein the vibration detection information comprises a natural frequency point, a bandwidth and a vibration mode of the natural frequency point.
Illustratively, vibration data such as sine frequency sweep, cosine frequency sweep, fixed frequency analysis and the like can be customized by outputting vibration with preset frequency and preset acceleration through the vibration table; the clamping mechanism is installed on the vibration table and fixedly installed with an unmanned aerial vehicle arm, so that vibration of the vibration table is transmitted to the unmanned aerial vehicle arm, then response data of the arm and vibration source data of the vibration table are acquired through the unmanned aerial vehicle arm and a data acquisition mechanism on the vibration table, and natural frequency and vibration mode of the unmanned aerial vehicle arm are obtained through analysis; therefore, the detection device of the unmanned aerial vehicle horn can detect and identify the natural frequency of the unmanned aerial vehicle horn without simulation and flight test, and the technical effect of convenience in detection is realized, so that the detection cost is reduced, and the development period of the unmanned aerial vehicle is shortened.
Referring to fig. 5, fig. 5 is a schematic flow chart of obtaining vibration detection information according to an embodiment of the present application.
Exemplarily, S300: the step of processing horn response data and shaking table vibration source data to obtain the vibration detection information of the unmanned aerial vehicle horn comprises the following steps:
s311: analyzing the response data of the horn and the vibration source data of the vibration table to obtain triaxial acceleration data;
s312: drawing an acceleration amplitude-frequency curve according to the triaxial acceleration data;
s313: and obtaining the natural frequency point and the bandwidth of the unmanned aerial vehicle horn through the differentiated wave crests in the acceleration amplitude-frequency curve.
Illustratively, the response data of the horn and the vibration source data of the vibration table are analyzed to obtain triaxial acceleration data, and an acceleration amplitude-frequency curve is drawn according to the triaxial acceleration data, so that the natural frequency point and the bandwidth of the horn of the unmanned aerial vehicle can be obtained through differential wave peak analysis.
Referring to fig. 6, fig. 6 is a schematic view of another flow chart for obtaining vibration detection information according to an embodiment of the present application.
Exemplarily, S300: the step of processing horn response data and shaking table vibration source data to obtain the vibration detection information of the unmanned aerial vehicle horn comprises the following steps:
s321: analyzing the response data of the machine arm and the vibration source data of the vibration table to obtain three-axis angular velocity data;
s322: drawing an angular velocity amplitude-frequency curve according to the triaxial angular velocity data;
s323: and obtaining the natural frequency point and the bandwidth of the unmanned aerial vehicle horn through the differentiated wave crests in the angular velocity amplitude-frequency curve.
Illustratively, the natural frequency point and the bandwidth of the unmanned aerial vehicle horn can be obtained through differential wave peak analysis by analyzing the horn response data and the vibration source data of the vibration table and obtaining triaxial angular velocity data in the horn response data and drawing an angular velocity amplitude-frequency curve according to the triaxial angular velocity data.
Exemplarily, the natural frequency point and the bandwidth of the unmanned aerial vehicle arm can be respectively obtained through the triaxial angular velocity data and the triaxial acceleration data, and the two can be mutually verified, so that the accuracy of the natural frequency point and the bandwidth of the unmanned aerial vehicle arm is ensured.
In some embodiments, the detailed flow of the detection method of the unmanned aerial vehicle arm is as follows:
(1) determining the pitch frequency of this multi-rotor drone, for example the pitch frequency of the drone 40 may be set to 500 HZ;
(2) inputting acceleration with constant magnitude and sweep frequency excitation of 0-500HZ through a vibration table 11;
(3) the first inertia measurement unit 311 and the second inertia measurement unit 312 are used for respectively acquiring the horn response data of the first horn 411 and the second horn 412, and the third inertia measurement unit 313 is used for acquiring the vibration source data of the vibration table 11;
(4) analyzing triaxial acceleration data of the first inertia measurement unit 311 and the second inertia measurement unit 312 and triaxial acceleration data of the third inertia measurement unit 313, drawing amplitude-frequency curves of the triaxial acceleration data of the three inertia measurement units, and calculating natural frequency points and bandwidths of the first machine arm 411 and the second machine arm 412 through differentiated wave peaks of the first inertia measurement unit 311, the second inertia measurement unit 312 and the third inertia measurement unit 313;
(5) analyzing triaxial angular velocity data of the first inertia measurement unit 311 and the second inertia measurement unit 312 and triaxial angular velocity data of the third inertia measurement unit 313, drawing amplitude-frequency curves of the triaxial angular velocity data of the three inertia measurement units, and calculating natural frequency points and bandwidths of the first machine arm 411 and the second machine arm 412 through differentiated wave peaks of the first inertia measurement unit 311, the second inertia measurement unit 312 and the third inertia measurement unit 313;
(6) the vibration mode of the natural frequency point is analyzed by combining the acceleration data and the angular velocity data of the first inertial measurement unit 311 and the second inertial measurement unit 312.
Therefore, the natural frequency and the vibration mode of the unmanned aerial vehicle horn can be analyzed through the mode, if the natural frequency of the horn is in the propeller frequency range, the vibration acceleration is obviously increased, the increase of the airplane attitude control difficulty or the damage of the horn and the airplane body strength can be caused, the natural frequency of the horn can be identified, whether the horn meets the design requirements can be checked, and the improvement direction of the horn can be determined.
In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A detection device for an unmanned aerial vehicle arm is characterized by comprising an excitation mechanism, a clamping mechanism and a data acquisition mechanism;
the vibration excitation mechanism comprises a vibration table, and the vibration table is used for outputting vibration with preset frequency and preset acceleration;
the clamping mechanism is installed on the vibrating table, the unmanned aerial vehicle arm is fixedly installed with the clamping mechanism, and the clamping mechanism is fixedly connected with the vibrating table;
the data acquisition mechanism comprises a plurality of inertia measurement units, and the inertia measurement units are respectively installed on the vibrating table and the unmanned aerial vehicle arm.
2. The apparatus of claim 1, wherein the clamping mechanism comprises a first bracket and a second bracket, the first bracket is fixedly mounted on the vibration table, the second bracket and the first bracket are fixedly mounted, and the drone arm is mounted between the first bracket and the second bracket.
3. The apparatus of claim 2, wherein the clamping mechanism further comprises a first screw, the first screw passing through a screw hole of the first bracket and fixedly mounting the first bracket on the vibration table.
4. The apparatus of claim 2, wherein the clamping mechanism further comprises a second screw passing through a threaded hole of the second bracket and fixedly mounting the second bracket to the first bracket.
5. The apparatus of claim 1, wherein the data acquisition mechanism comprises a first inertial measurement unit and a second inertial measurement unit, the unmanned aerial vehicle horn comprising a first horn and a second horn, the first inertial measurement unit mounted on the first horn, the second inertial measurement unit mounted on the second horn.
6. The apparatus of claim 5, wherein the data acquisition mechanism further comprises a third inertial measurement unit mounted on the vibration table.
7. The apparatus of claim 6, wherein one of the directional axes of the first, second, and third inertial measurement units is vertical.
8. A detection method of an unmanned aerial vehicle arm, which is applied to the detection device of the unmanned aerial vehicle arm of any one of claims 1 to 7, and comprises the following steps:
exciting the vibration table to output preset sweep frequency vibration according to the paddle frequency of the unmanned aerial vehicle, wherein the frequency of the sweep frequency vibration is not greater than the paddle frequency of the unmanned aerial vehicle;
receiving horn response data and vibration source data of the vibration table sent by the data acquisition mechanism;
and processing the horn response data and the vibration source data of the vibration table to obtain vibration detection information of the unmanned aerial vehicle horn, wherein the vibration detection information comprises a natural frequency point, a bandwidth and a vibration mode of the natural frequency point.
9. The method of claim 8, wherein the step of processing the horn response data and the vibratory table vibration source data to obtain vibration detection information for the drone horn comprises:
analyzing the response data of the horn and the vibration source data of the vibration table to obtain triaxial acceleration data;
drawing the acceleration amplitude-frequency curve according to the triaxial acceleration data;
and obtaining the natural frequency point and the bandwidth of the unmanned aerial vehicle horn through the differentiated wave crests in the acceleration amplitude-frequency curve.
10. The method of claim 8, wherein the step of processing the horn response data and the vibratory table vibration source data to obtain vibration detection information for the drone horn comprises:
analyzing the response data of the horn and the vibration source data of the vibration table to obtain triaxial angular velocity data;
drawing an angular velocity amplitude-frequency curve according to the triaxial angular velocity data;
and obtaining the natural frequency point and the bandwidth of the unmanned aerial vehicle horn through the differentiated wave crests in the angular velocity amplitude-frequency curve.
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