CN113124915A - Many rotor unmanned aerial vehicle's flight control system and many rotor unmanned aerial vehicle - Google Patents
Many rotor unmanned aerial vehicle's flight control system and many rotor unmanned aerial vehicle Download PDFInfo
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- CN113124915A CN113124915A CN201911415346.7A CN201911415346A CN113124915A CN 113124915 A CN113124915 A CN 113124915A CN 201911415346 A CN201911415346 A CN 201911415346A CN 113124915 A CN113124915 A CN 113124915A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/10—Elements for damping the movement of parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/16—Elements for restraining, or preventing the movement of, parts, e.g. for zeroising
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
Abstract
The utility model relates to a compromise many rotor unmanned aerial vehicle's of damping effect and control performance flight control system and many rotor unmanned aerial vehicle, flight control system includes: a controller unit including a controller main body; the sensor unit is connected with the controller unit and acquires an excitation load frequency signal, wherein the low-frequency signal is a control signal required by the flight control system, and the high-frequency signal comprises an excitation load frequency signal applied to the flight control system by the rotor; the vibration damping unit comprises a vibration damping piece and a balancing weight, and the sensor unit is fixed on the balancing weight; the device comprises a limiting piece with elasticity, wherein the rigidity and the damping ratio of the limiting piece are smaller than those of a vibration damping piece, the limiting piece, a balancing weight and the vibration damping piece are positioned in a closed space of the flight control system and are sequentially stacked along the longitudinal direction, and adjacent two of the limiting piece, the balancing weight and the vibration damping piece are connected with each other; the damping piece and the balancing weight enable the natural frequency of the damping unit to be higher than the low-frequency signal and lower than the high-frequency signal, the amplification factor beta of the damping unit to the low-frequency signal is 1.0-1.2, and the amplification factor beta to the high-frequency signal is smaller than 0.5.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle field specifically, relates to a many rotor unmanned aerial vehicle's flight control system and many rotor unmanned aerial vehicle.
Background
The flight control system is a core system of the whole flight process of the unmanned aerial vehicle, such as takeoff, air flight, task execution, return recovery and the like. Unmanned aerial vehicle is at the in-process of flight, and flight control system can receive the effect of various excitation loads and produce the vibration, and these vibrations can make components and parts in the flight control system become flexible or even damage to influence flight control system's performance, this can make unmanned aerial vehicle's flight become uncontrollable, take place the fried phenomenon even. For example, for a multi-rotor drone, excitation loads include rotor excitation loads, excitation loads for engines and motors, etc., and excitation loads applied in the external flight environment, etc. The high-frequency vibration caused by the rotor excitation load is the main part of the high-frequency vibration to which the flight control system is subjected.
In the prior art, a vibration damping structure is usually designed in a flight control system to reduce vibration energy from the vibration isolation angle, and the vibration damping structure usually adopts a softer material to separate a sensor part in the flight control system and absorbs vibration energy through material deformation, so that the purpose of vibration damping is achieved.
However, the natural frequency of the vibration damping structure is low, so that the vibration damping structure not only has a vibration damping effect on low-frequency vibration (real low-frequency vibration required by the flight control system to play a role in control, navigation and the like), but also can reduce the stability of the flight control system structure, and external small disturbance can cause the flight control system to generate large correspondence (such as resonance phenomenon), which is very easy to cause the unmanned aerial vehicle to be out of control, so that a large potential safety hazard exists.
Disclosure of Invention
The utility model aims at providing a many rotor unmanned aerial vehicle's flight control system, this flight control system can compromise damping effect and control performance.
In order to realize above-mentioned purpose, this disclosure provides a many rotor unmanned aerial vehicle's flight control system, its characterized in that, flight control system includes:
the sensor unit is used for acquiring an excitation load frequency omega signal, wherein the signal acquired by the sensor unit comprises a low-frequency signal and a high-frequency signal, the low-frequency signal is a control signal required by the flight control system, and the high-frequency signal comprises a rotor excitation load frequency signal applied to the flight control system by a rotor of the multi-rotor unmanned aerial vehicle; the vibration damping unit consists of a vibration damping part and a counterweight block, and the sensor unit is fixed on the counterweight block; the limiting piece is elastic, and the rigidity and the damping ratio of the limiting piece are both smaller than those of the vibration damping piece; wherein the limiting member, the weight member and the vibration damping member are sequentially stacked in a longitudinal direction and adjacent two of them are connected to each other; wherein the vibration damper and the weight block are configured such that a natural frequency of the vibration damping unit is higher than the low-frequency signal and lower than the high-frequency signal, and an amplification factor β of the vibration damping unit for the low-frequency signal is 1.0 to 1.2, and an amplification factor β of the vibration damping unit for the high-frequency signal is less than 0.5.
Alternatively, the relationship between the ratio s of the excitation load frequency to the natural frequency of the vibration damping unit, the amplification factor β of the vibration damping unit, and the damping ratio ζ of the vibration damper satisfies the following formula:
wherein the natural frequency ranges from 60Hz to 70Hz, and the damping ratio zeta of the vibration damping piece ranges from 0.2 to 0.3.
Optionally, the relationship between the amplification factor β, the damping ratio ζ and the stiffness k of the vibration damping member, the mass m of the weight member, and the excitation load frequency ω satisfies the following formula:
the damping ratio zeta of the vibration damping piece ranges from 0.2 to 0.3, the stiffness of the vibration damping piece ranges from 1.1N/mm to 2.0N/mm, and the mass m of the balancing weight ranges from 8g to 10 g.
Optionally, the range of the low-frequency signal is 0-20 Hz, and the range of the high-frequency signal is 110-500 Hz.
Optionally, the damping ratio of the limiting member is not greater than 0.2 times of the damping ratio of the vibration damping member, and the stiffness of the limiting member is not greater than 0.15 times of the stiffness of the vibration damping member.
Optionally, the stop is configured as a spacer made of a foam material.
Optionally, the flight control system includes a controller unit, and the controller unit includes a controller main body and a housing, the controller main body is in communication connection with the controller main body and is suitable for being fixed to the fuselage or the frame of the multi-rotor unmanned aerial vehicle, the controller main body is formed with a base, the base and the housing define the enclosed space, the limiting member is in clearance fit in the housing, and the vibration damping member is connected to the base.
Optionally, the inner side wall of the shell is formed with an annular inner step structure, the inner step structure includes an inner table surface and an inner step surface which are angled to each other, the inner table surface defines a large inner diameter portion and a small inner diameter portion of the shell, the inner step surface corresponds to the small inner diameter portion, and the inner step surface is connected with the inner top wall of the shell to define a limiting groove, and a part of the limiting member is received in the limiting groove in a clearance fit manner.
Optionally, the base is formed with a receiving groove, a part of the vibration damping member is received in the receiving groove in an interference fit manner, and the second connecting surface of the vibration damping member is bonded to the bottom wall surface of the receiving groove.
Optionally, the sensor unit includes a PCB and a sensor assembly, the PCB has a front side and a back side, the sensor assembly is fixed to the front side of the PCB, the PCB is in communication connection with the controller unit, the PCB is fixed to the weight block, wherein a transverse dimension of the PCB is smaller than a transverse dimension of the weight block, and the transverse dimension of the weight block is smaller than a transverse dimension of the vibration damping member and smaller than a transverse dimension of the limiting member.
Optionally, the balancing weight has relative first stationary plane and second stationary plane each other, the locating part bond in first stationary plane, the front of PCB board with the second stationary plane of balancing weight is laminated mutually and is connected each other through the fastener, sensor assembly is located in the hole is dodged to the first of balancing weight or passes the first hole of dodging and being located the hole is dodged to the second of locating part, the second stationary plane of balancing weight with the first connection face bonding of piece that hinders shaking.
According to a second aspect of the present disclosure, the multi-rotor drone comprises a flight control system of a multi-rotor drone as described above.
Through above-mentioned technical scheme, in the flight control system of many rotor unmanned aerial vehicle that this disclosure provided, when the low frequency excitation transmits for the piece that shakes, can be reduced by basic through the cooperation of the piece that shakes with the balancing weight to transmit the sensor unit who is fixed in the balancing weight, thereby make the real flight situation (for example rock) that sensor unit perception unmanned aerial vehicle takes place, promptly: so that the signals of acceleration, angle and the like collected by the sensor unit are basically real. When high-frequency excitation is transmitted to the vibration resisting piece, the vibration frequency of the vibration resisting piece can be attenuated through the matching of the vibration resisting piece and the balancing weight, namely the vibration resisting piece can provide resistance and reduce vibration energy, so that the energy of vibration transmitted to the sensor unit is remarkably reduced, and the structural stability and the performance stability of the sensor unit are favorably maintained. In addition, the natural frequency of the vibration damping unit is designed to be higher than the low-frequency excitation and lower than the high-frequency excitation, for example, the natural frequency of the vibration damping unit is designed to be higher than the first frequency multiplication and lower than the second frequency multiplication of a rotor (also called a propeller) when the airplane hovers, so that the structure of the flight control system can not easily generate resonance, and the structural reliability and the performance stability of the sensor unit can be ensured. Based on this, the many rotor unmanned aerial vehicle that this disclosure provided has included above-mentioned flight control system, can fly steadily to make agile reaction.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic perspective view of one embodiment of a flight control system for a multi-rotor drone provided in accordance with the present disclosure;
fig. 2 is an exploded perspective view of one embodiment of a flight control system for a multi-rotor drone provided in accordance with the present disclosure;
fig. 3 is a schematic top view of an embodiment of a flight control system for a multi-rotor drone provided in accordance with the present disclosure;
FIG. 4 is a schematic cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is a cross-sectional exploded view taken along line A-A of FIG. 3;
FIG. 6 is a schematic cross-sectional view taken along line B-B of FIG. 3;
FIG. 7 is a cross-sectional exploded view taken along line B-B of FIG. 3;
fig. 8 is a vibration graph under one embodiment of a flight control system for a multi-rotor drone provided in accordance with the present disclosure.
Description of the reference numerals
1-a controller unit, 11-a controller body, 12-a base, 120-a receiving groove, 121-a fourth avoidance hole, 122-a bottom wall, 123-an outer table top, 124-an outer step surface, 125-a base peripheral surface, 13-a housing, 130-an inner top wall, 131-a housing opening end surface, 132-a housing opening inner wall surface, 133-an inner table top, 134-an inner step surface, and 135-a housing opening peripheral surface;
2-PCB board, 21-front side, 22-back side;
3-a vibration-damping member, 30-a third avoiding hole, 31-a first connecting surface, 32-a second connecting surface, 33-a first peripheral surface;
4-a balancing weight, 40-a first avoidance hole, 41-a first fixing surface and 42-a second fixing surface;
5-a limiting member, 50-a second avoiding hole, 51-a first mating surface, 52-a second mating surface, 53-a second peripheral surface.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, unless otherwise stated, the use of directional words such as "up and down" generally refers to up and down on the drawing plane of the corresponding drawings, and when the drone is in a flight state, "up and down" refers to up and down in the direction of gravity, and "inside and outside" refers to inside and outside with respect to the profile of each component itself. Moreover, the ordinal words "first", "second", and the like, used in this disclosure are used merely to distinguish between different elements and do not denote order or importance.
According to a specific embodiment of this disclosure, provide a many rotor unmanned aerial vehicle's flight control system, include: the sensor unit is used for acquiring an excitation load frequency omega signal, the signal acquired by the sensor unit comprises a low-frequency signal and a high-frequency signal, the low-frequency signal is a control signal required by the flight control system, and the high-frequency signal comprises a rotor excitation load frequency signal applied to the flight control system by a rotor of the multi-rotor unmanned aerial vehicle; the vibration reduction unit consists of a vibration resistance piece 3 and a balancing weight 4, and the sensor unit is fixed on the balancing weight 4; the limiting piece 5 is elastic, and the rigidity and the damping ratio of the limiting piece 5 are both smaller than those of the vibration damping piece; the limiting piece 5, the balancing weight 4 and the vibration resisting piece 3 are located in a closed space of the flight control system and are sequentially stacked along the longitudinal direction, and two adjacent limiting pieces are connected with each other; wherein the vibration damper 3 and the weight 4 are configured such that the natural frequency of the vibration damping unit is higher than the low frequency signal and lower than the high frequency signal, and the amplification factor β of the vibration damping unit for the low frequency signal is 1.0-1.2, and the amplification factor β of the vibration damping unit for the high frequency signal is less than 0.5.
During the flight process of the unmanned aerial vehicle, under the action of various excitation loads, the unmanned aerial vehicle can shake and/or rock. Based on the control requirements of attitude, speed and the like and the navigation requirements of flight, a sensor unit in the flight control system needs to sense low-frequency excitation, acquire signals such as three-phase acceleration, three-phase angle and the like in the state of the sensor unit, transmit the signals to a controller unit 1 in the flight control system, and the controller unit 1 analyzes the current state of the unmanned aerial vehicle according to the signals, so that the next control operation is performed according to instructions. Therefore, the damping unit needs to transmit the low-frequency excitation to the sensor unit in a fidelity manner as much as possible, so that the flight control system can master the current real state of the unmanned aerial vehicle, the unmanned aerial vehicle can be accurately controlled, the unmanned aerial vehicle can fly stably, and meanwhile, quick response can be made to related operation instructions.
The damping unit in the flight control system of many rotor unmanned aerial vehicle that this disclosure provided just designs for this reason. In above-mentioned technical scheme, when low frequency excitation transmits to the piece 3 that shakes, can be reduced basically through the cooperation of the piece 3 that shakes with balancing weight 4 to transmit the sensor unit (refer to reference numeral 2) that is fixed in balancing weight 4, thereby make sensor unit perception unmanned aerial vehicle real flight situation (for example rock), promptly: so that the signals of acceleration, angle and the like collected by the sensor unit are basically real. When high-frequency excitation is transmitted to the vibration damper 3, the vibration frequency of the vibration damper 3 can be attenuated through the matching of the vibration damper 3 and the balancing weight 4, namely, the vibration damper 3 can provide resistance and reduce vibration energy, so that the energy of the vibration transmitted to the sensor unit is remarkably reduced, and the structural stability and the performance stability of the sensor unit are favorably maintained. In addition, the natural frequency of the vibration damping unit is designed to be higher than the low-frequency excitation and lower than the high-frequency excitation, for example, the natural frequency of the vibration damping unit is designed to be higher than the first frequency multiplication and lower than the second frequency multiplication of a rotor (also called a propeller) when the airplane hovers, so that the structure of the flight control system can not easily generate resonance, and the structural reliability and the performance stability of the sensor unit can be ensured.
In other words, in the above technical solution, the vibration damper 3 and the limiting member 5, and the weight block 4 and the sensor unit therebetween in the flight control system form a "sandwich" structure, in which the design of asymmetric damping and stiffness of the vibration damper 3 and the limiting member 5 and the amplification factor defined thereby enable the whole flight control system to obtain the required vibration damping effect for the sensor unit, i.e. reduce the low frequency and filter the high frequency, so that on one hand, the flight control system can grasp the real flight condition of the unmanned aerial vehicle, and on the other hand, the reliability of the structure of the flight control system itself can be ensured as much as possible. In addition, the structure design of the limiting part 5 and the vibration damping part 3, namely the structure design of one structure above the other, enables the whole sandwich structure to be stably kept in a closed space, and the limiting part can provide a collision-proof protection effect for the balancing weight and the sensor unit fixed on the balancing weight.
In the specific embodiment provided by the present disclosure, from the mechanical-vibration-theory analysis, the relationship between the ratio s of the excitation load frequency to the natural frequency of the vibration damping unit, the amplification factor β of the vibration damping unit, and the damping ratio ζ of the vibration damper satisfies the following formula:
the natural frequency ranges from 60Hz to 70Hz, and the damping ratio zeta of the vibration damping piece ranges from 0.2 to 0.3.
Wherein, the relation between the natural frequency s and the rigidity k of the vibration resisting piece 3 and the mass m of the balancing weight 4 can be known according to the mechanical vibration, namely, the natural frequency s can be adjusted by mutually matching the rigidity and the balancing weight. Therefore, in the embodiment of the present disclosure, the relationship between the amplification factor β, the damping ratio ζ of the vibration damper 3, the stiffness k, the mass m of the weight member 4, and the excitation load frequency ω satisfies the following formula:
wherein the damping ratio zeta of the vibration damping piece 3 ranges from 0.2 to 0.3. The rigidity design of the vibration damping piece 3 at least needs to meet the requirement that the weight block mass which is 2.5 times as small as the minimum weight block mass is pressed on the vibration damping piece and cannot be crushed, and the value range k of the vibration damping piece can be 1.1N/mm-2.0N/mm, for example. The mass m of the balancing weight 4 ranges from 8g to 10 g.
In the embodiment that this disclosure provided, the value space of the value interval of low frequency signal and high frequency signal is relevant with unmanned aerial vehicle's overall structure design. For example, in the embodiment that the natural frequency of the vibration damping unit is 60-70 Hz, the range of the low-frequency signal can be 0-20 Hz, and the range of the high-frequency signal can be 110-500 Hz.
Fig. 8 shows a vibration curve diagram of an embodiment of the flight control system of the multi-rotor unmanned aerial vehicle provided by the present disclosure, wherein the natural frequency of the vibration damping unit is 65Hz, and the damping ratio ζ of the vibration damping member 3 is 0.2. Referring to fig. 8, it can be seen that the amplification factor of the damping unit is about 1 to 1.2 in the low frequency signal of 0 to 20Hz, which indicates that the damping unit has little effect on the low frequency excitation and can actually transmit it to the sensor unit. The amplification factor of the vibration reduction unit in the high-frequency signal of 115 Hz-120 Hz is less than 0.5, which shows that the vibration reduction effect is obvious.
In the specific embodiment that this disclosure provided, the flight control system includes controller unit 1, and this controller unit 1 includes controller main part 11, controller main part 11 with controller main part 11 communication connection and be suitable for being fixed in many rotor unmanned aerial vehicle's fuselage or frame. Based on this, in order to improve the reliability of the structure, as shown in fig. 1 and 2, the controller main body 11 is formed with a base 12, and the control unit includes a housing 13, wherein the base 12 and the housing 13 define the closed space described above, and as shown in fig. 4 and 6, the stopper 5 is clearance-fitted in the housing 13, and the vibration damper 3 is attached to the base 12. Therefore, in the closed space provided by the base 11 and the housing 13, an integral structure is formed by the limiting part 5, the balancing weight 4, the vibration damping part 3 and the sensor unit fixed on the balancing weight 4, the integral structure is fixed on the base 12 at the lower end through the vibration damping part 3, the limiting part is in clearance fit with the housing at the upper end, and the integral structure can obtain better stability at the upper side and the lower side through the matching structure, so that the stability of the vibration damping unit can be ensured. From the viewpoint of both the mounting operation and the limit function, the upper limit member 5 is clearance-fitted in the housing 13, and it is possible to prevent the limit member 5 from being compressed in the assembling operation to affect the natural frequency of the vibration damping unit.
Wherein, in order to reduce or even avoid the influence of the natural frequency of the vibration damping unit as much as possible, the limiting member 5 is designed not to need to have the vibration damping and buffering function, and optionally, the limiting member 5 is constructed as a spacer made of a foam material, and the rigidity and the damping ratio of the foam material are both smaller than those of the vibration damping member 3. In some embodiments provided by the present disclosure, the vibration damping member 3 may be configured as a cushion block made of another different foam material, and then the foam material used for the vibration damping member 5 is softer or even much softer than the foam material used for the vibration damping member 3, and optionally, the foam material used for the vibration damping member 5 has a damping ratio not greater than 0.2 times of the damping ratio of the foam material used for the vibration damping member 3 and a rigidity not greater than 0.15 times of the rigidity of the foam material used for the vibration damping member 3, for example, if the foam material used for the vibration damping member 3 has a damping ratio of 0.2 to 0.3 and a rigidity of 1.1N/mm to 2.0N/mm, then the foam material used for the vibration damping member 5 has a damping ratio of 0.04 to 0.06 and a rigidity of 0.1N/mm to 0.3N/mm.
In the embodiments provided in the present disclosure, the fitting structure between the limiting member 5 and the housing 13 may be configured in any suitable manner. Alternatively, referring to fig. 5 and 7, the inner sidewall of the housing 13 is formed with an annular inner step structure including an inner step surface 133 and an inner step surface 134 which are angled with respect to each other, the inner step surface 133 defines a large inner diameter portion and a small inner diameter portion of the housing 13, the inner step surface 134 corresponds to the small inner diameter portion, and the inner step surface 134 is connected with the inner top wall of the housing 13 to define a stopper groove in which a part of the stopper 5 is received with a clearance fit. Through the cooperation of the limiting piece 5 and the limiting groove, the relation with the housing 13 can be established on the upper side of the integral structure, which is beneficial to maintaining the reliability of the integral structure. Furthermore, the limiting member 5 is not entirely accommodated in the limiting groove so as not to laterally limit and constrain the weight 4 and the sensor unit at the upper side, considering that the excitation load also causes the weight 4 and the sensor unit to move in the lateral direction. Here, in order to avoid the influence on the natural frequency of the damper unit, it is desirable that the upper surface of the stopper 5 (i.e., the first engagement surface 51) and the inner ceiling wall 130 of the housing cover 13 are in close contact with each other when the excitation load is zero.
In the specific embodiments provided by the present disclosure, the mating structure between the baffle 3 and the base 12 may be configured in any suitable manner. Alternatively, as shown in fig. 5 and 7, the base 12 is formed with a receiving groove 120, a part of the vibration damper 3 is received in the receiving groove 120 in an interference fit manner, and the second connection surface 32 of the vibration damper 3 is adhered to a bottom wall surface of the receiving groove 120. By the vibration damper 3, it is also only necessary to partially interference fit in the accommodation groove 120 for mounting and fixing, and it is necessary to allow the movement of the weight 4 and the sensor unit in the lateral direction through the portion exposed to the accommodation groove 120. The "interference fit" here may be embodied in that the outer circumferential surface of the vibration damper 3, i.e., the first outer circumferential surface 33, is interference-fitted with the side wall of the receiving groove 120, as shown in fig. 5 to 7.
In the specific embodiments provided by the present disclosure, the sensor unit may be configured in any suitable manner. Alternatively, as shown in fig. 4 to 7, the sensor unit may include a PCB board 2 and a sensor assembly, the PCB board 2 has a front surface 21 and a back surface 22, the sensor assembly is fixed to the front surface of the PCB board 2, the PCB board 2 is in communication with the controller unit 1, and the PCB board 2 is fixed to the weight block 4. In order to avoid the counterweight block and the sensor unit from impacting the housing 13 during the lateral movement, the lateral dimension of the PCB board 2 needs to be smaller than the lateral dimension of the counterweight block 4, and the lateral dimension of the counterweight block 4 needs to be smaller than the lateral dimension of the vibration damping member 3 and smaller than the lateral dimension of the limiting member.
In the specific embodiments provided by the present disclosure, the connections between the above-described integral structures may be configured in a suitable manner. Alternatively, in order to ensure the reliability of the connection between the weight block 4 and the limiting member 5, the weight block 4 has a first fixing surface 41 and a second fixing surface 42 opposite to each other, and the limiting member 5 is adhered to the first fixing surface 41. The second fixing surface 42 of the weight member 4 is bonded to the first connecting surface 31 of the vibration damper 3. The two parts are connected by bonding instead of other connecting pieces, so that the weight of the whole flight control system is reduced. Here, the stopper 5 may have a lower surface, i.e., a second mating surface 52, and as shown in fig. 5 to 7, the second mating surface 52 is surface-fittingly adhered to the first fixing surface 41, thereby increasing a connection area, thereby increasing connection strength and reliability.
Here, the reliable connection between the PCB 2 and the weight 4 may be achieved by other connecting members, and alternatively, the front surface 21 of the PCB 2 and the second fixing surface 42 of the weight 4 are attached to each other by a fastening member. Wherein, in order to avoid causing the structure to interfere to the sensor package on the PCB board 2, first hole 40 of dodging has been seted up at the center of balancing weight 4, second hole 50 of dodging has been seted up at the center of locating part 5, and some are shorter sensor package can be located in the first hole 40 of dodging of balancing weight 4, some are higher sensor package can pass first hole 40 of dodging and being located in the second hole 50 of dodging.
Depending on the specific assembly of the vibration damper, holes may be formed in the vibration damper 3 and the base 12 to connect the PCB board and the controller main body. Referring to fig. 4 to 5, the vibration damper 3 is formed with a third avoiding hole 30, a fourth avoiding hole 121 has been opened in the bottom wall 122 of the accommodating groove 120, the PCB 2 is located in the third avoiding hole 30, the third avoiding hole 30 and the fourth avoiding hole 121 are adapted to be connected to the PCB 2 and the wire between the controller main bodies 11 passes through, and are also beneficial to miniaturization and lightweight design. It should be noted that the fourth avoiding hole 121 formed in the base 12 is illustrated as a groove in the drawings, but is understood to be a through hole structure communicating with the inside of the controller main body 11.
Furthermore, the manner of engagement between the base 12 and the cover 13 may also be configured in any suitable manner in the particular embodiments provided by the present disclosure. Alternatively, after the above-described integral structure is assembled to the base 12, the cover 13 is covered over the base 12 in a manner of surrounding packaging. Referring to fig. 5 and 7, an annular outer step structure is formed on the outer peripheral surface 125 of the base 12, and includes an outer step surface 123 and an outer step surface 124 which are angled to each other, the outer step surface 124 extends into the cover opening of the housing cover 13, the cover opening end surface 131 of the housing cover 13 abuts against the outer step surface 123, and the cover opening inner wall surface 132 of the housing cover 13 abuts against the outer step surface 124. Here, referring to fig. 5 and 7, the outer peripheral surface of the stopper 5, i.e., the second outer peripheral surface 53, is clearance-fitted to the cover opening inner wall surface 132.
The outer cover 13 may be fixed to the base 12 in any suitable manner, for example, by fastening members (e.g., screws) or clipping, and optionally, the outer table surface 123 is bonded to the cover opening end surface 131, and the outer step surface 124 is bonded to the cover opening inner wall surface 132, which may avoid the weight increase problem caused by the use of fastening members.
In addition, the base outer peripheral surface 125 and the shell outer peripheral surface 135 of the shell 13 are smoothly transited at the joint of the cover opening end surface 131 and the outer table surface 123, which is beneficial to weight control, material residue avoidance and appearance attractiveness.
In addition, although the shapes of the components are shown as square in the drawings, the shapes of the components are not limited in the embodiments provided in the present disclosure, and the shapes of the components may be designed according to actual needs.
On above-mentioned technical scheme's basis, this disclosure still provides a many rotor unmanned aerial vehicle, and this many rotor unmanned aerial vehicle includes foretell many rotor unmanned aerial vehicle's flight control system. Based on the accurate perception of the flight control system to low-frequency excitation, the multi-rotor unmanned aerial vehicle can fly stably and the flying condition can be controlled accurately, and the change of speed and/or attitude and/or height and the like can be responded swiftly.
In some embodiments, in order to maintain the balance of the aircraft, the flight control system is installed in the center of the fuselage of the multi-rotor unmanned aerial vehicle.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (12)
1. The utility model provides a many rotor unmanned aerial vehicle's flight control system which characterized in that, flight control system includes:
the sensor unit is used for acquiring an excitation load frequency omega signal, wherein the signal acquired by the sensor unit comprises a low-frequency signal and a high-frequency signal, the low-frequency signal is a control signal required by the flight control system, and the high-frequency signal comprises a rotor excitation load frequency signal applied to the flight control system by a rotor of the multi-rotor unmanned aerial vehicle;
the vibration reduction unit consists of a vibration resistance piece (3) and a balancing weight (4), and the sensor unit is fixed on the balancing weight (4); and the number of the first and second groups,
the limiting piece (5), the limiting piece (5) has elasticity, and the rigidity and damping ratio of the limiting piece (5) are smaller than the vibration damping piece;
the limiting piece (5), the balancing weight (4) and the vibration resisting piece (3) are located in a closed space of the flight control system and are sequentially stacked along the longitudinal direction, and the two adjacent limiting pieces, the balancing weight and the vibration resisting piece are connected with each other;
wherein the vibration damper (3) and the weight (4) are configured such that the natural frequency of the vibration damping unit is higher than the low-frequency signal and lower than the high-frequency signal, and the amplification factor β of the vibration damping unit for the low-frequency signal is 1.0-1.2 and the amplification factor β of the vibration damping unit for the high-frequency signal is less than 0.5.
2. The flight control system of a multi-rotor drone according to claim 1, characterized in that the relationship between the ratio s of the excitation load frequency to the natural frequency of the damping unit, the amplification factor β of the damping unit and the damping ratio ζ of the damping member satisfies the following formula:
the natural frequency ranges from 60Hz to 70Hz, and the damping ratio zeta of the vibration damping piece ranges from 0.2 to 0.3.
3. The flight control system of a multi-rotor drone according to claim 1, characterized in that the relation between the amplification factor β, the damping ratio ζ, the stiffness k of the vibration-resistant member (3), the mass m of the counterweight (4) and the excitation load frequency ω satisfies the following formula:
the value range of the damping ratio zeta of the vibration damping piece (3) is 0.2-0.3, the value range k of the rigidity of the vibration damping piece (3) is 1.1N/mm-2.0N/mm, and the value range of the mass m of the balancing weight (4) is 8 g-10 g.
4. The flight control system of a multi-rotor unmanned aerial vehicle of claim 1, wherein the low frequency signal ranges from 0 to 20Hz, and the high frequency signal ranges from 110 to 500 Hz.
5. The flight control system of a multi-rotor unmanned aerial vehicle according to claim 1, wherein the damping ratio of the limiting member (5) is not greater than 0.2 times the damping ratio of the vibration damping member (3), and the stiffness of the limiting member (5) is not greater than 0.15 times the stiffness of the vibration damping member (3).
6. The flight control system of a multi-rotor drone according to claim 1, characterized in that the limit piece (5) is configured as a spacer made of a foam material.
7. The flight control system of a multi-rotor unmanned aerial vehicle according to any one of claims 1 to 6, comprising a controller unit (1), wherein the controller unit (1) comprises a controller body (11) and a housing (13), the controller body (11) is in communication with the controller body (11) and is adapted to be fixed to a fuselage or a frame of the multi-rotor unmanned aerial vehicle, the controller body (11) is formed with a base (12), the base (12) and the housing (13) define the enclosed space, the limiting member (5) is clearance-fitted in the housing (13), and the vibration damper (3) is connected to the base (12).
8. The flight control system of a multi-rotor unmanned aerial vehicle according to claim 7, wherein the inner side wall of the housing (13) is formed with an annular inner step structure including an inner land (133) and an inner step surface (134) which are angled to each other, the inner land (133) defining a large inner diameter portion and a small inner diameter portion of the housing (13), the inner step surface (134) corresponding to the small inner diameter portion, and the inner step surface (134) being connected with an inner top wall of the housing (13) to define a limit groove in which a part of the limit piece (5) is received with a clearance fit.
9. The flight control system of a multi-rotor unmanned aerial vehicle according to claim 7, wherein the base (12) is formed with a receiving groove (120), a part of the vibration damper (3) is received in the receiving groove (120) with an interference fit, and the second connection face (32) of the vibration damper (3) is bonded to a bottom wall face of the receiving groove (120).
10. The flight control system of a multi-rotor unmanned aerial vehicle according to claim 7, wherein the sensor unit comprises a PCB (2) and a sensor assembly, the PCB (2) having a front side (21) and a back side (22), the sensor assembly being fixed to the front side of the PCB (2), the PCB (2) being in communication connection with the controller unit (1), the PCB (2) being fixed to the counterweight (4),
the transverse size of the PCB (2) is smaller than that of the balancing weight (4), and the transverse size of the balancing weight (4) is smaller than that of the vibration damping piece (3) and smaller than that of the limiting piece.
11. The flight control system of a multi-rotor unmanned aerial vehicle of claim 10, wherein the weight block 94 has a first fixing surface (41) and a second fixing surface (42) opposite to each other, the limiting member (5) is bonded to the first fixing surface (41), the front surface of the PCB board (2) is attached to the second fixing surface (42) of the weight block (4) and connected to each other by a fastener, the sensor assembly is located in the first avoiding hole (40) of the weight block (4) or passes through the first avoiding hole (40) and is located in the second avoiding hole (50) of the limiting member (5), and the second fixing surface (52) of the weight block (4) is bonded to the first connecting surface (31) of the vibration blocking member (3).
12. A multi-rotor drone, characterized in that it comprises a system of flight of a multi-rotor drone according to any one of claims 1 to 11.
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