CN113049215B - Quantitative assessment and test system for airflow interference resistance of rotor unmanned aerial vehicle position - Google Patents
Quantitative assessment and test system for airflow interference resistance of rotor unmanned aerial vehicle position Download PDFInfo
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Abstract
The invention relates to a quantitative evaluation and test system for the airflow interference resistance of a rotor unmanned aerial vehicle, which comprises an airflow interference generation system, an airflow interference simulation platform and an unmanned aerial vehicle airflow interference resistance experiment platform; the system establishes an accurate simulation model for various airflow disturbances and generates an airborne airflow disturbance module, accurate simulation analysis is carried out on the influence of the airflow disturbance on the unmanned aerial vehicle by using simulation software, and an experimental wind field simulation device is used for constructing an airflow disturbance flight environment of the unmanned aerial vehicle after a simulation test is correct to carry out an actual airflow disturbance environment flight test; the test platform can accurately quantify the size of airflow interference borne by the unmanned aerial vehicle, accurately depict and evaluate the boundary of the airflow interference resistance of the position of the unmanned aerial vehicle and carry out integrated design on the position interference resistance control of the unmanned aerial vehicle, verifies the effectiveness and the engineering practicability of the system, and is suitable for simulation analysis, quantitative evaluation test and actual flight verification test of the airflow interference resistance of the position of the unmanned aerial vehicle in the aerospace field.
Description
Technical Field
The invention relates to a quantitative evaluation and test system for airflow interference resistance of a rotor unmanned aerial vehicle, and belongs to the field of integrated design of the airflow interference resistance control of the unmanned aerial vehicle.
Background
Unmanned aerial vehicle is at the flight in-process, can receive ground effect disturbance, local wind changes the influence of other factors, it has the air current disturbance to lead to unmanned aerial vehicle flight area, and these air current disturbances can change the power effect of unmanned aerial vehicle oar, the upper and lower air current pressure differential of unmanned aerial vehicle paddle, the unordered atress of unmanned aerial vehicle for thereby atmospheric pressure meter measuring error increase etc. produces serious influence to unmanned aerial vehicle flight process, probably cause the unmanned aerial vehicle upset crash even when very serious.
The serious influence of airflow disturbance on the flight of the unmanned aerial vehicle must be solved through a proper control method and a proper strategy, the current control of the unmanned aerial vehicle on the airflow disturbance is to use the airflow disturbance as a system control error and carry out simple disturbance control by depending on a PID (proportion integration differentiation) parameter in an attitude position control ring of the unmanned aerial vehicle, the method is too simple, and after the airflow disturbance exceeds the PID parameter regulation range, the unmanned aerial vehicle cannot timely adjust the corresponding position attitude to cause the crash. At present, there are some researches on the anti-interference aspect of the unmanned aerial vehicle, for example, granted chinese patent N201810049761.4 "a method and a device for controlling the anti-wind interference position of the unmanned aerial vehicle", for example, accepted chinese patent CN202010586242.9 "a multi-rotor unmanned aerial vehicle PID debugging and anti-interference testing device", and the like, the control algorithms are all designed under simple disturbance in a small range, the anti-interference device has a relatively simple structure and relatively limited application, and the existing anti-wind interference devices are also designed under simple wind disturbance, and the capability of the position of the unmanned aerial vehicle against the air current interference can not be accurately and quantitatively evaluated, and the capability of the position of the unmanned aerial vehicle against the air current interference can not be tested and analyzed.
In recent years, the safe flight of the unmanned aerial vehicle is increasingly paid attention by companies, researchers, the public and countries in the field, and the external wind interference environment is always a research hotspot.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defect that the existing position control ring PID parameter setting of the unmanned aerial vehicle is only relied on to carry out simple disturbance control is overcome, the quantitative evaluation and test system for the air flow disturbance resistance of the position of the rotor wing unmanned aerial vehicle is provided, the shortage and the deficiency of the existing position control research on the air flow disturbance resistance of the unmanned aerial vehicle are made up, the characteristics of various air flow disturbance models are researched, an air flow disturbance simulation platform and an unmanned aerial vehicle air flow disturbance resistance experiment platform are built, the air flow disturbance that the unmanned aerial vehicle receives can be accurately quantified, the air flow disturbance resistance of the position of the unmanned aerial vehicle is accurately evaluated, and the integrated design of the position disturbance resistance control of the unmanned aerial vehicle is realized.
The technical solution of the invention is as follows: the utility model provides a rotor unmanned aerial vehicle position air current interference resistance ability quantitative evaluation and test system, to various air current disturbance establish accurate simulation model, utilize configuration software to set up the size of the air current interference of different grade type accurately, utilize simulation software to carry out accurate simulation analysis and evaluation to unmanned aerial vehicle position air current interference resistance ability to utilize experimental wind field analog device to establish unmanned aerial vehicle air current disturbance flight environment, carry out actual air current disturbance environment flight experiment, realize the anti air current interference control integrated design in unmanned aerial vehicle position.
As shown in fig. 1, the system comprises an airflow interference generating system (19), an airflow interference simulation platform (10) and an unmanned aerial vehicle airflow interference resisting experiment platform (17); the three respectively from interfering with three aspects of production, interference simulation and actual interference experiment and constitute whole rotor unmanned aerial vehicle position anti air current interference ability quantitative evaluation and test system.
The airflow interference generating system (19) generates airflow interference of different types and intensities for the airflow interference simulation platform (10) and the unmanned aerial vehicle experiment platform (17), wherein the airflow interference comprises turbulent interference, gust interference, wind shear interference and custom interference, and the unmanned aerial vehicle position airflow interference resistance control research is carried out;
the airflow disturbance generating system (19) comprises a wind disturbance generating subsystem (18) and a simulated airflow disturbance generating subsystem (20); a wind disturbance generation subsystem (18) for true airflow disturbance generation; the simulation airflow interference generation subsystem (20) is used for simulating airflow interference generation; the wind disturbance signal for simulation generated by the simulated airflow disturbance generation subsystem (20) can be realized in the wind disturbance generation subsystem (18) by using real machine equipment, and the real airflow disturbance generated in the wind disturbance generation subsystem (18) is provided with a corresponding mathematical model and a built simulation module in the simulated airflow disturbance generation subsystem (20).
Airflow interference simulation platform (10) establishes in the close simulation environment of rotor unmanned aerial vehicle actual flight experiment, confirms various performance index when unmanned aerial vehicle flight receives the airflow interference influence of different grade type and intensity to for the anti airflow interference ability of quantitative evaluation rotor unmanned aerial vehicle position provides certain simulation research and theoretical analysis.
The unmanned aerial vehicle airflow interference resisting experiment platform (17) provides experiment environments and position airflow interference resisting capability test platforms for unmanned aerial vehicles flying under the influence of different types and strength airflow interference, achieves quantitative assessment of the position airflow interference resisting capability of the rotor unmanned aerial vehicle in a real environment, and can achieve integration of unmanned aerial vehicle position airflow interference resisting control.
The simulation airflow interference generation subsystem (20) is an important component of the airflow interference generation system (19) and a simulation airflow interference generation unit of the whole platform, and consists of a wind interference model (5) and wind interference configuration software (21); the wind interference model (5) comprises a gust interference model (1), a turbulence interference model (2), a wind shear interference model (3) and a custom wind interference model (4), an accurate mathematical model is established for four types of wind interference, a simulation model is built, model parameters including types, strength and the like are set in an interface of wind interference configuration software (21) according to actual requirements, and accordingly airflow interference signals with different sizes are generated, and the airflow interference signals are further compiled to generate an airflow interference module (6).
The wind disturbance generation subsystem (18) is an important component of the airflow disturbance generation system (19) and a real airflow disturbance generation unit of the whole platform, and consists of a fan (12), fan software (22) and an airflow disturbance control system control cabinet (11); the fan software (22) controls the running state of the fan (12), and the airflow disturbance control system control cabinet (11) sets and displays the running air speed of the fan (12), so that a real wind disturbance environment is created for an actual unmanned aerial vehicle position airflow disturbance resisting experiment. The invention selects 10 fans (12), the maximum rotating speed of each fan is 1400 revolutions per minute, wind interference with different sizes can be generated, wind speeds in three spatial dimensions of XYZ can be set through fan software (22), the number of running fans and the wind power of the fans can be changed, wind interference with different intensities can be generated in the actual flying environment, and the airflow interference resistance of the unmanned aerial vehicle position can be accurately and quantitatively evaluated; the wind interference with corresponding magnitude can be generated by inputting the numerical value between the wind speed parameter range 0-16383 corresponding to the range of the fan motor current 4-20MA on the touch screen of the airflow disturbance control system control cabinet (11), the wind interference with corresponding magnitude can be generated, the running speed of each fan can be displayed in real time, and the ground station (14) can accurately obtain the information of the three-dimensional wind field including the magnitude and the direction of the wind interference through the communication module.
The wind interference model (5) simulates important components of an airflow interference generation subsystem (20), and comprises a gust interference model (1), a turbulence interference model (2), a wind shear interference model (3) and a custom wind interference model (4); the gust interference mathematical model (1) is as follows:
parameter VmIs the gust amplitude, dmIs the gust length, x is the distance, VwindIs the airspeed increment produced at the body axis; the turbulent flow interference mathematical model (2) is as follows:
the parameters u upsilon omega are respectively axial velocity flow fields, and the parameters p q r are respectively generated rotating wind fields, V airspeed, b wingspan and LuLv LwRepresenting the turbulence scale, σuσvσwRepresenting the intensity of turbulence, pi is the circumferential rate, and s is a Laplace variable; the wind shear disturbance mathematical model (3) is as follows:
h is more than 3ft and less than 1000ft, parameter uwAs magnitude of wind shear, W20Is a wind force of 20ft, h is a height, z0Is a constant; the user-defined wind interference mathematical model (4) is as follows: the parameters of the wind disturbance can be defined in the developed wind disturbance configuration software (21) so as to generate a corresponding wind disturbance model.
The airflow interference simulation platform (10) is built by simulation software on a simulator, is an airflow interference simulation environment of a test platform, consists of a controller module (7), an unmanned aerial vehicle model module (8), an airflow disturbance module (6), upper computer software (22) and a picture output module (9), and has typical airflow disturbance simulation test capability and software in-loop simulation capability; the air flow disturbance module (6) and the controller (7) act on the unmanned aerial vehicle model module (8), and the flight condition of the unmanned aerial vehicle can be subjected to picture output (9) in real time by operating the upper computer software (22); various performance indexes of the unmanned aerial vehicle when the flight position is affected by airflow interference with different intensities can be accurately analyzed, and a certain basis is provided for the integrated design of the airflow interference resisting position control algorithm of the experiment platform; the airflow interference module (6) comprises simulation building of different wind interference models, generates wind interference signals of different types and strengths, acts on the unmanned aerial vehicle model module (8), and provides airflow interference for design and verification of an unmanned aerial vehicle position airflow interference resisting control algorithm; the controller module (7) is used for designing an unmanned aerial vehicle position control algorithm and an anti-wind interference algorithm, outputs a control signal to act on the unmanned aerial vehicle model module (8), and can directly transfer the designed control algorithm to a position controller of a ground station (14) in an unmanned aerial vehicle anti-airflow interference experiment platform (17) for actual flight test of the unmanned aerial vehicle; the unmanned aerial vehicle model module (8) builds an actual unmanned aerial vehicle dynamic model, so that simulation control similar to actual unmanned aerial vehicle control can be realized; the upper computer software (22) can set the simulated flight environment of the unmanned aerial vehicle into an actual physical environment, display the flight state of the unmanned aerial vehicle in the real environment in real time, and display various performance indexes related to the position of the unmanned aerial vehicle, and provide theoretical basis for designing and improving the anti-airflow interference position control algorithm.
The unmanned aerial vehicle airflow interference resisting experiment platform (17) is an airflow interference actual experiment environment of a test platform, consists of an optical positioning system (16), a data transmission module (13), a ground station (14), a rotor unmanned aerial vehicle (15) and a wind interference generating subsystem (18), and has airflow disturbance model online injection capacity, hardware in-loop simulation capacity and anti-interference airflow disturbance flight experiment test and verification capacity; wind disturbs and generates subsystem (18) and provide the air current for rotor unmanned aerial vehicle (15) flight and disturb, and the control signal that ground station (14) generated acts on rotor unmanned aerial vehicle (15), control unmanned aerial vehicle flight state, and position and the gesture information that optics positioning system (16) real-time detection rotor unmanned aerial vehicle (15) fly pass back through data transmission module (13) and give ground station (14) to design position control algorithm. The real flight environment of the unmanned aerial vehicle position anti-airflow interference experiment is built, and realization conditions are provided for the integrated design of the unmanned aerial vehicle anti-interference position controller. The ground station (14) and the data transmission module (13) adopt serial port communication to transmit the position and attitude data of the unmanned aerial vehicle; the wind interference generation subsystem (18) transmits a three-dimensional wind field signal to the ground station (14) through the serial data communication interface in real time, the ground station (14) receives the data, and generates a control signal after control algorithm and logic processing, and the control signal is transmitted to the rotor unmanned aerial vehicle (15) through the radio station, so that the position and the posture of the unmanned aerial vehicle are controlled. The optical positioning system (16) consists of a plurality of cameras and developed optical positioning system software (23), a plurality of rigid body models are created in the system software, so that the position and attitude information of the unmanned aerial vehicle can be captured in real time, and the data is transmitted to the ground station (14) through the data transmission module (13);
the operation flow of the optical positioning system software (23) is as follows:
(1) adjusting the angles and the heights of a plurality of cameras to ensure that the photographing area of the cameras can cover the whole experiment field;
(2) setting parameters of a plurality of cameras, including parameters of frame rate, exposure time, binarization threshold value, infrared brightness and the like of the cameras;
(3) removing background noise by covering and removing the reflecting object, and removing interference points in the field of view of the camera;
(4) continuously waving a T-shaped calibration rod in the field, collecting calibration parameters of the cameras and calculating the relative pose between each camera;
(5) placing the right-angle calibrator in the center of the field, setting an original point and the XY-axis direction, and calibrating and applying;
(6) storing the calibration result, and completing the camera calibration;
(7) placing the unmanned aerial vehicle with the reflection request into a field, and creating a rigid body on a software interface to capture the information of the unmanned aerial vehicle;
(8) and displaying the motion track of the rigid body in the three-dimensional space in real time on a software interface, and generating a rigid body track record file.
Compared with the prior art, the invention has the advantages that:
(1) according to the invention, an accurate mathematical model is established for airflow interference, an airflow interference simulation module is established, and the simulation module has adjustable parameters such as airflow type and intensity, so that airflow interference of different types and intensities is provided for an unmanned aerial vehicle airflow interference resistance simulation experiment; 10 pieces of fan equipment are arranged in an experiment field, and each fan equipment has the maximum rotating speed of 1400 rpm, so that different types and intensities of wind disturbance are provided for the actual flight experiment of the unmanned aerial vehicle for resisting airflow disturbance; the system can accurately and quantitatively evaluate the airflow interference resistance of the position of the rotor unmanned aerial vehicle, and accurately depict the boundary of the airflow interference resistance of the position of the rotor unmanned aerial vehicle.
(2) According to the invention, an airflow interference simulation platform is established, a disturbance flight environment of the rotor unmanned aerial vehicle under a laboratory condition is established, an experimental platform is established, the simulation experiment is combined with an actual flight experiment, and theoretical analysis is combined with actual verification, so that the test system has completeness, and a platform is provided for researching the simulation, verification, iteration and optimization integrated design of a position airflow interference resistant control algorithm of the rotor unmanned aerial vehicle under a large-range airflow interference environment.
(3) According to the upper computer software group developed by the invention, researchers can accurately and conveniently set the interference type and the interference intensity, the running state of the unmanned aerial vehicle under wind interference can be more intuitively and conveniently observed, and the convenience in use of the invention is improved.
Drawings
FIG. 1 is a block diagram of a test system according to the present invention;
FIG. 2 is a software operation flow of the optical positioning system.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in figure 1, a rotor unmanned aerial vehicle position air flow interference resistance capacity quantitative evaluation and test system, its characterized in that: the system comprises an airflow interference generating system 19, an airflow interference simulation platform 10 and an unmanned aerial vehicle airflow interference resistance experiment platform 17; the three respectively from interfering with three aspects of production, interference simulation and actual interference experiment and constitute whole rotor unmanned aerial vehicle position anti air current interference ability quantitative evaluation and test system.
Further, the airflow interference generating system 19 generates airflow interferences of different types and intensities for the airflow interference simulation platform 10 and the unmanned aerial vehicle experiment platform 17, including turbulence interference, gust interference, wind shear interference and custom interference, and performs unmanned aerial vehicle position airflow interference resistance control research; the airflow disturbance generating system 19 comprises a wind disturbance generating subsystem 18 and a simulated airflow disturbance generating subsystem 20; the wind disturbance generation subsystem 18 is used for true airflow disturbance generation; the simulated airflow disturbance generation subsystem 20 is used for generating simulated airflow disturbance; the wind disturbance signal for simulation generated by the simulated airflow disturbance generation subsystem 20 can be realized in the wind disturbance generation subsystem 18 by using real machine equipment, and the real airflow disturbance generated in the wind disturbance generation subsystem 18 has a corresponding mathematical model and a built simulation module in the simulated airflow disturbance generation subsystem 20.
Further, airflow interference simulation platform 10 establishes the simulation environment similar to the actual flight experiment of rotor unmanned aerial vehicle, determines various performance indexes when the unmanned aerial vehicle flies and is influenced by the airflow interference of different types and intensity, and thereby provides certain simulation research and theoretical analysis for quantitatively evaluating the airflow interference resistance of the rotor unmanned aerial vehicle.
Further, unmanned aerial vehicle anti air current interference experiment platform 17 provides the experimental environment of unmanned aerial vehicle flight and the test platform of the anti air current interference ability in position under the influence of different grade type and intensity air current interference, realizes in real environment quantitative evaluation rotor unmanned aerial vehicle position anti air current interference ability to can realize the anti air current interference control integration in unmanned aerial vehicle position.
Further, the simulated airflow disturbance generating subsystem 20 is an important component of the airflow disturbance generating system 19 and a simulated airflow disturbance generating unit of the whole platform, and is composed of a wind disturbance model 5 and corresponding wind disturbance configuration software 21; the wind interference model 5 comprises a gust interference model 1, a turbulent interference model 2, a wind shear interference model 3 and a custom wind interference model 4, an accurate mathematical model is established for four types of wind interference, a simulation model is built, model parameters including types, strength and the like are set in an interface of wind interference configuration software 21 according to actual requirements, so that airflow interference signals with different sizes are generated, and the airflow interference signals are further compiled to generate an airflow disturbance module 6.
Further, the wind disturbance generation subsystem 18 is an important component of the airflow disturbance generation system 19 and a real airflow disturbance generation unit of the whole platform, and is composed of a fan 12, fan software 22 and an airflow disturbance control system control cabinet 11; the fan software 22 controls the running state of the fan 12, and the airflow disturbance control system control cabinet 11 sets and displays the running air speed of the fan 12, so that a real wind disturbance environment is created for an airflow disturbance resisting experiment of the actual unmanned aerial vehicle position. The maximum rotating speed of each fan 12 is 1400 revolutions per minute, wind interference with different intensities can be generated, wind speeds in three spatial dimensions of XYZ can be set through fan software 22, the number of running fans and the wind power of the fans can be changed, wind interference with different intensities can be generated in an actual flight environment, and accordingly the air flow interference resistance of the position of the unmanned aerial vehicle can be accurately and quantitatively evaluated; the numerical value between the wind speed parameter range 0-16383 corresponding to the fan motor current range 4-20MA is input on the touch screen of the airflow disturbance control system control cabinet 11, the fan running speed is changed, wind disturbance with corresponding magnitude can be generated, meanwhile, the running speed of each fan is displayed in real time, and the ground station 14 can accurately obtain the information of the three-dimensional wind field including the magnitude and the direction of the wind disturbance through the communication module.
Further, the wind interference model 5 is an important component of the simulated airflow interference generation subsystem 20, and includes a gust interference model 1, a turbulence interference model 2, a wind shear interference model 3, and a custom wind interference model 4; the gust interference mathematical model 1 is as follows:
the turbulent flow interference mathematical model (2) is as follows:
Further, the airflow interference simulation platform 10 is built by simulation software on a simulator, is an airflow interference simulation environment of the test platform, is composed of a controller module 7, an unmanned aerial vehicle model module 8, an airflow disturbance module 6, upper computer software 22 and a picture output module 9, and has typical airflow disturbance simulation test capability and software in-loop simulation capability; the airflow disturbance module 6 and the controller 7 act on the unmanned aerial vehicle model module 8, and the flight condition of the unmanned aerial vehicle can be subjected to picture output 9 in real time by operating the upper computer software 22; various performance indexes of the unmanned aerial vehicle when the flight position is affected by airflow interference with different intensities can be accurately analyzed, and a certain basis is provided for the integrated design of the airflow interference resisting position control algorithm of the experiment platform; the airflow interference module 6 comprises simulation building of different wind interference models, generates wind interference signals of different types and strengths, acts on the unmanned aerial vehicle model module 8, and provides airflow interference for design and verification of an unmanned aerial vehicle position airflow interference resisting control algorithm; the controller module 7 is used for designing an unmanned aerial vehicle position control algorithm and a wind interference resistance algorithm, outputs a control signal to act on the unmanned aerial vehicle model module 8, and can directly transfer the designed control algorithm to a position controller of a ground station 14 in an unmanned aerial vehicle airflow interference resistance experiment platform 17 for actual flight test of the unmanned aerial vehicle; the unmanned aerial vehicle model module 8 builds a dynamic model of an actual unmanned aerial vehicle, so that simulation control similar to actual unmanned aerial vehicle control can be realized; the upper computer software 22 can set the flight environment of the unmanned aerial vehicle into an actual physical environment, display the flight state of the unmanned aerial vehicle in the real environment in real time, and display various performance indexes related to the position of the unmanned aerial vehicle, and provide a theoretical basis for designing and improving an anti-airflow interference position control algorithm.
Further, the unmanned aerial vehicle airflow disturbance resisting experiment platform 17 is an airflow disturbance actual experiment environment of the test platform, is composed of an optical positioning system 16, a data transmission module 13, a ground station 14, an unmanned aerial vehicle 15 and a wind disturbance generation subsystem 18, and has airflow disturbance model online injection capability, hardware in-loop simulation capability and anti-disturbance airflow disturbance flight experiment test and verification capability; wind disturbance generates subsystem 18 and provides the air current interference for rotor unmanned aerial vehicle 15 flight, and the control signal that ground station 14 generated acts on rotor unmanned aerial vehicle 15, control unmanned aerial vehicle flight state, and optical positioning system 16 real-time detection rotor unmanned aerial vehicle 15 position and the attitude information of flying and pass back for ground station 14 through data transmission module 13 to design position control algorithm. The real flight environment of the unmanned aerial vehicle position airflow interference resistance experiment is built, and an implementation condition is provided for the integrated design of the unmanned aerial vehicle interference resistance position controller;
further, serial port communication is adopted between the ground station 14 and the data transmission module 13, so that the position and attitude data of the unmanned aerial vehicle are transmitted; the wind interference generation subsystem 18 transmits three-dimensional wind field signals to the ground station 14 in real time through the serial data communication interface, the ground station 14 receives the data, and generates control signals after control algorithm and logic processing, and the control signals are transmitted to the rotor unmanned aerial vehicle 15 through the radio station, so that the position and the posture of the unmanned aerial vehicle are controlled. The optical positioning system 16 consists of a plurality of cameras and developed optical positioning system software 23, and can capture the position and attitude information of the unmanned aerial vehicle in real time by creating a plurality of rigid body models in the system software and transmit the data to the ground station 14 through the data transmission module 13;
furthermore, the optical positioning system 16 is an important component of the unmanned aerial vehicle airflow interference resistance experiment platform 17, and consists of a plurality of cameras and developed optical positioning system software 23, a three-dimensional capturing space is constructed through calibration of the positioning system, two-dimensional information of a rigid body is synchronously captured through the plurality of cameras, and position and posture information of the rigid body is calculated by using a trigonometry; the three-dimensional space generated by the calibration of the positioning system is a millimeter-scale dynamic capture space, the generated effective capture area can be checked in system software, the motion track of the rigid body can be formed when the rigid body moves in the three-dimensional space, the motion track of the rigid body can be displayed in real time on a software interface, and a rigid body track record file can be generated.
As shown in fig. 2, the optical positioning system software 23 operates as follows:
(1) adjusting the angles and the heights of a plurality of cameras to ensure that the photographing area of the cameras can cover the whole experiment field;
(2) setting parameters of a plurality of cameras, including parameters of frame rate, exposure time, binarization threshold value, infrared brightness and the like of the cameras, wherein in general, the frame rate is 120Hz, the exposure time is 1000ms, the binarization threshold value is 150, 0 candela per square meter is selected when the infrared brightness is active, and 15 candela per square meter is selected when the infrared brightness is passive;
(3) removing background noise by covering and removing the reflecting object, and removing interference points in the field of view of the camera;
(4) continuously waving a T-shaped calibration rod in the field, collecting calibration parameters of the cameras and calculating the relative pose between each camera;
(5) placing the right-angle calibrator in the center of the field, setting an original point and the XY-axis direction, and calibrating and applying;
(6) storing the calibration result, and completing the camera calibration;
(7) placing the unmanned aerial vehicle with the reflection request into a field, and creating a rigid body on a software interface to capture the information of the unmanned aerial vehicle;
(8) and displaying the motion track of the rigid body in the three-dimensional space in real time on a software interface, and generating a rigid body track record file.
In a word, the method can accurately quantify the size of airflow interference borne by the unmanned aerial vehicle, accurately depict and evaluate the boundary of the airflow interference resistance of the position of the unmanned aerial vehicle and carry out integrated design on the position interference resistance control of the unmanned aerial vehicle, verifies the effectiveness and engineering practicability of quantitative evaluation and test platform of the airflow interference resistance of the position of the flight control system of the rotor unmanned aerial vehicle, and is suitable for simulation analysis, quantitative evaluation test and actual flight verification test of the airflow interference resistance of the position of the unmanned aerial vehicle in the aerospace field.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art may occur without departing from the principles of the present invention and should be considered as within the scope of the present invention. Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (6)
1. The utility model provides a rotor unmanned aerial vehicle position anti air current interference ability quantitative evaluation and test system which characterized in that: the method comprises the following steps: the system comprises an airflow interference generating system (19), an airflow interference simulation platform (10) and an unmanned aerial vehicle airflow interference resistance experiment platform (17);
the airflow interference generating system (19) generates airflow interference with different types and intensities for the airflow interference simulation platform (10) and the unmanned aerial vehicle experiment platform (17), and generates airflow interference with different types and intensities for controlling the unmanned aerial vehicle position to resist airflow interference, wherein the airflow interference with different types and intensities comprises turbulent flow interference, gust interference, wind shear interference and custom wind interference; the airflow disturbance generating system (19) comprises a wind disturbance generating subsystem (18) and a simulated airflow disturbance generating subsystem (20); the wind disturbance generation subsystem (18) is used for generating real airflow disturbance, and the simulated airflow disturbance generation subsystem (20) is used for generating simulated airflow disturbance; the wind disturbance signal for simulation generated by the simulated airflow disturbance generating subsystem (20) can be realized in the wind disturbance generating subsystem (18) by using actual fan equipment, and the real airflow disturbance generated in the wind disturbance generating subsystem (18) also has a corresponding mathematical model and a built simulation module in the simulated airflow disturbance generating subsystem (20);
the airflow interference simulation platform (10) establishes a simulation environment similar to an actual flight experiment of the rotor unmanned aerial vehicle, has the capability of an atmospheric environment digital simulation environment, and can determine various performance indexes when the unmanned aerial vehicle is influenced by airflow interference of different intensities, types and intensities, thereby providing simulation research and theoretical analysis for quantitatively evaluating the airflow interference resistance of the rotor unmanned aerial vehicle;
the unmanned aerial vehicle airflow interference resisting experiment platform (17) provides test environments and position airflow interference resisting capability of unmanned aerial vehicle flying under the influence of different types and strength airflow interference, is used for quantitatively evaluating the position airflow interference resisting capability of the rotor unmanned aerial vehicle in a real environment, and realizes integration of unmanned aerial vehicle position airflow interference resisting control.
2. The quantitative assessment and testing system for the airflow interference resistance of a rotorcraft position according to claim 1, wherein: the simulated airflow disturbance generation subsystem (20) comprises: a wind interference model (5) and wind interference configuration software (21); the wind interference model (5) establishes an accurate mathematical model through four types of wind interference of gust wind interference, turbulent flow interference, wind shear interference and custom wind interference, and builds a simulation model, wherein the wind interference model (5) comprises a gust wind interference model (1), a turbulent flow interference model (2), a wind shear interference model (3) and a custom wind interference model (4); according to actual requirements, model parameters including types and intensities are set in an interface of wind interference configuration software (21), so that airflow interference signals with different sizes are generated, and an airflow disturbance module (6) is further compiled and generated.
3. The quantitative assessment and testing system for the airflow interference resistance of a rotorcraft position according to claim 1, wherein: the wind disturbance generation subsystem (18) comprises: a fan (12), fan software (22) and an airflow disturbance control system control cabinet (11); the fan software (22) controls the running state of the fan (12), and the airflow disturbance control system control cabinet (11) sets and displays the running air speed of the fan (12) to create a real wind disturbance environment for an airflow disturbance resisting experiment of the actual unmanned aerial vehicle position;
the system comprises a plurality of fans (12), wherein each fan (12) generates wind interference with different sizes at 1400 rpm, wind speeds in three spatial dimensions of XYZ are set through fan software (22), the number of running fans and the wind power of the fans are changed, the wind interference with different intensities is generated in an actual flight environment, and the airflow interference resistance of the unmanned aerial vehicle position is accurately quantitatively evaluated; the method comprises the steps of changing the running speed of the fan by inputting a numerical value between a wind speed parameter range 0-16383 corresponding to a fan motor current range of 4-20MA on a touch screen of an airflow disturbance control system control cabinet (11), generating wind interference with corresponding magnitude, displaying the running speed of each fan in real time, and accurately obtaining three-dimensional wind field information including the magnitude and direction of the wind interference by a ground station (14) through a communication module.
4. The quantitative assessment and testing system for the airflow interference resistance of a rotorcraft position according to claim 2, wherein: the gust interference mathematical model (1) is as follows:
parameter VmIs the gust amplitude, dmIs the length of the gust of wind,
x is a distance, VwindIs the airspeed increment produced at the body axis;
the turbulent disturbance mathematical model (2) is as follows:
the parameters u upsilon omega are respectively axial velocity flow fields, and the parameters p q r are respectively generated rotating wind fields, V airspeed, b wingspan and Lu LvLwRepresenting the turbulence scale, σu σv σwRepresenting the intensity of turbulence, pi is the circumferential rate, and s is a Laplace variable;
the wind shear disturbance mathematical model (3) is as follows:
parameter uwAs magnitude of wind shear, W20Is a wind force of 20ft, h is a height, z0Is a constant;
the user-defined wind interference mathematical model (4) is as follows: and (3) self-defining each parameter of the wind interference in wind interference configuration software (21) to generate a corresponding wind interference model.
5. The quantitative assessment and testing system for the airflow interference resistance of a rotorcraft position according to claim 1, wherein: the airflow interference simulation platform (10) comprises a controller (7), an unmanned aerial vehicle model module (8), an airflow disturbance module (6), upper computer software (22) and a picture output (9), and has typical airflow disturbance simulation test capability and software in-loop simulation capability; the air flow disturbance module (6) and the controller (7) act on the unmanned aerial vehicle model module (8), and the flight condition of the unmanned aerial vehicle is subjected to picture output (9) in real time by operating the upper computer software (22);
the airflow disturbance module (6) comprises simulation building of different wind disturbance models, can generate wind disturbance signals with different types and strengths and acts on the unmanned aerial vehicle model module (8), and provides airflow disturbance for design and verification of an unmanned aerial vehicle position airflow disturbance resisting control algorithm; meanwhile, theoretical basis is provided for applying wind disturbance to an unmanned aerial vehicle anti-airflow disturbance flight experiment platform (17);
the controller (7) can design an unmanned aerial vehicle position control algorithm and an anti-wind interference algorithm, and outputs a control signal to the unmanned aerial vehicle model module (8) to research the anti-wind interference control of the unmanned aerial vehicle position; after the test is finished, the position control algorithm and the wind interference resistance algorithm of the unmanned aerial vehicle can be directly transferred to a ground station (14) in an unmanned aerial vehicle airflow interference resistance experiment platform (17) for actual flight test of the unmanned aerial vehicle;
the unmanned aerial vehicle model module (8) builds an actual unmanned aerial vehicle dynamic model to realize the simulation control of the unmanned aerial vehicle; the upper computer software (22) can set the simulated flight environment of the unmanned aerial vehicle into an actual physical environment, display the flight state of the unmanned aerial vehicle in the real environment and various performance indexes related to the position of the unmanned aerial vehicle in real time, and provide theoretical basis for designing and improving the anti-airflow interference position control algorithm.
6. The quantitative assessment and testing system for the airflow interference resistance of a rotorcraft position according to claim 1, wherein: unmanned aerial vehicle resists air current and disturbs experiment platform (17) and include: the system comprises an optical positioning system (16), a rotor unmanned aerial vehicle (15), a wind disturbance generation subsystem (18), a ground station (14) and a data transmission module (13), and has the online injection capability of an airflow disturbance model, the hardware-in-the-loop simulation capability and the anti-interference airflow disturbance flight experiment test and verification capability; the wind disturbance generating subsystem (18) provides airflow disturbance for the flight of the rotor unmanned aerial vehicle (15), a control signal generated by the ground station (14) acts on the rotor unmanned aerial vehicle (15) to control the flight state of the rotor unmanned aerial vehicle, and the optical positioning system (16) detects the flight position and attitude information of the rotor unmanned aerial vehicle (15) in real time and transmits the flight position and attitude information back to the ground station (14) through the data transmission module (13) so as to design a position control algorithm;
the ground station (14) and the data transmission module (13) adopt serial port communication to transmit the position and attitude data of the unmanned aerial vehicle; the wind interference generation subsystem (18) transmits a three-dimensional wind field signal to the ground station (14) through the serial data communication interface in real time, the ground station (14) receives the data, generates a control signal after control algorithm and logic processing, and transmits the control signal to the rotor unmanned aerial vehicle (15) through the radio station so as to control the position and the posture of the unmanned aerial vehicle;
the optical positioning system (16) consists of a plurality of cameras and optical positioning system software (23), the optical positioning system software (23) is used for calibrating the cameras to construct a three-dimensional capturing space, the cameras are used for capturing two-dimensional information of the rigid body synchronously, the position and posture information of the rigid body is calculated by using a trigonometry method, and the data is transmitted to the ground station (14) through the data transmission module (13); the operation flow of the optical positioning system software (23) is as follows: firstly, adjusting the angles and heights of a plurality of cameras of a test system, setting frame rates, exposure time, binarization threshold values and infrared light brightness parameters of the cameras, enabling a visual field to cover the whole experiment platform, removing interference points if the visual field of the cameras contains the interference points, then acquiring calibration parameters of the cameras, calculating relative poses of the cameras, then placing a right-angle calibrator in the center of the field, setting an original point and coordinates XY directions, calibrating and applying, and storing calibration results; the three-dimensional space generated by calibration is a millimeter-scale dynamic capture space, the generated effective capture area is checked in optical positioning system software (23), the motion track of the rigid body in the three-dimensional space is displayed in real time on a software interface by creating the rigid body and capturing the information of the rigid body, and a rigid body track record file is generated.
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