CN113306743A - Small-size six-degree-of-freedom deck motion simulation system - Google Patents
Small-size six-degree-of-freedom deck motion simulation system Download PDFInfo
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- CN113306743A CN113306743A CN202110616805.9A CN202110616805A CN113306743A CN 113306743 A CN113306743 A CN 113306743A CN 202110616805 A CN202110616805 A CN 202110616805A CN 113306743 A CN113306743 A CN 113306743A
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- 229910052742 iron Inorganic materials 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 11
- 238000012795 verification Methods 0.000 abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 238000002474 experimental method Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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- 230000007613 environmental effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- B64F5/60—Testing or inspecting aircraft components or systems
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle moving deck take-off and landing guide, and particularly relates to a small six-degree-of-freedom deck movement simulation system. The system comprises an unmanned vehicle chassis, a control module, a six-degree-of-freedom swing platform mechanism, a movable platform autonomous lifting guide system and an upper computer system, wherein the six-degree-of-freedom swing platform mechanism is arranged on the unmanned vehicle chassis; the movable platform autonomous lifting guide system is arranged on the six-degree-of-freedom swing platform mechanism; the control module is arranged on the chassis of the unmanned vehicle and is used for controlling the swinging attitude and the period of the six-degree-of-freedom swinging platform mechanism and the speed and the steering of the chassis of the unmanned vehicle; and the upper computer system is used for receiving the state information of the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis sent by the control module and sending instructions to the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis. The invention can conveniently realize the ship deck take-off and landing guide test on the sea or other water surfaces on land, and can greatly reduce the early verification flight test.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle moving deck take-off and landing guide, and particularly relates to a small six-degree-of-freedom deck movement simulation system.
Background
The movable platform autonomous take-off and landing guiding technology is an important component of the shipboard take-off and landing and aerial mother-son robot technology, and the autonomous release and recovery of the flying robot on the ground mobile robot are the core problems for realizing the mother-son robot system. Similarly, the deck area of the shipborne take-off and landing is small, the deck swings and rises along with sea waves, and disturbed airflow at the tail of a ship and disturbed airflow at the sea surface exist, which bring a serious challenge to the autonomous landing of the unmanned aerial vehicle. Therefore, there is a great experimental risk in implementing the autonomous take-off and landing experiment on the deck or a narrow moving platform, and especially there is a greater challenge in implementing the autonomous take-off and landing experiment in the marine deck environment, and some semi-physical simulation methods are often adopted to verify the logicality and the effectiveness of the control method. However, semi-physical simulation is only theoretical simulation, the set up environmental conditions are over-ideal, and the environment is greatly different from the real ocean or water surface deck environment. Therefore, a deck motion simulation system which is relatively close to a real environment is urgently needed to make up for the defects of the semi-physical simulation experiment.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a small six-degree-of-freedom deck motion simulation system, which can simulate six-degree-of-freedom deck motion, has a movable platform guidance system, is small and portable, is convenient to communicate with an unmanned aerial vehicle system, can establish an unmanned aerial vehicle-deck take-off and landing guidance verification test platform in a short time, and can perform real flight test data analysis and further simulation optimization control parameters and methods through data stored in controllers on an upper computer and a movable platform.
In order to achieve the purpose, the invention adopts the following technical scheme:
a small six-degree-of-freedom deck motion simulation system, comprising:
an unmanned vehicle chassis;
the six-degree-of-freedom swinging platform mechanism is arranged on the chassis of the unmanned vehicle and is used for simulating deck movement;
the movable platform autonomous take-off and landing guide system is arranged on the six-degree-of-freedom swing platform mechanism and has an unmanned aerial vehicle autonomous take-off and landing guide function;
the control module is arranged on the unmanned vehicle chassis and used for controlling the swinging posture and the period of the six-degree-of-freedom swinging platform mechanism and the speed and the steering of the unmanned vehicle chassis and sending the state information of the six-degree-of-freedom swinging platform mechanism and the unmanned vehicle chassis to the upper computer system;
and the upper computer system is used for receiving the state information of the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis sent by the control module and sending instructions to the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis.
The six-degree-of-freedom swing platform mechanism comprises a six-degree-of-freedom swing platform, a mounting bottom plate and three groups of linear driving mechanisms arranged between the six-degree-of-freedom swing platform and the mounting bottom plate, wherein the mounting bottom plate is connected with the chassis of the unmanned aerial vehicle, and the automatic lifting guide system of the movable platform is arranged on the six-degree-of-freedom swing platform; and the three groups of linear driving mechanisms are used for driving the six-freedom-degree swinging platform to perform six-freedom-degree motion.
The six-degree-of-freedom swing platform is made of an iron plate with a square structure.
Three groups of linear driving mechanisms are uniformly distributed along the circumferential direction.
The linear driving mechanism comprises a servo motor and an electric pushing cylinder which are connected with each other, wherein the servo motor is electrically connected with the control module; the bottom of the electric pushing cylinder is connected with the mounting bottom plate through a lower universal joint, and the output end of the electric pushing cylinder is connected with the six-degree-of-freedom swinging platform through an upper universal joint.
The control module comprises a controller, a motor driver and a power supply unit, wherein the motor driver is connected with the servo motor; the controller is used for controlling the speed and the steering of the unmanned vehicle chassis.
The unmanned vehicle chassis comprises a vehicle body frame, two steering wheels and two driving wheels, wherein the two steering wheels and the two driving wheels are arranged at the bottom of the vehicle body frame; the control module is arranged at the bottom of the vehicle body frame.
The upper computer system comprises upper computer software.
The invention has the advantages and beneficial effects that:
1. the invention can truly simulate the six-degree-of-freedom ship deck motion situation on land, has the function of automatic take-off and landing guide of the movable platform, can conveniently realize the take-off and landing guide test of ship decks on sea surfaces or other water surfaces on land, and can greatly reduce the early verification flight test compared with the real sea surfaces and lake surfaces.
2. The movable platform take-off and landing guide system has rich communication interfaces, can carry out communication and transplantation by arbitrary open source flight control, and can greatly reduce the development period; and a secondary development interface is reserved, so that the estimation algorithm of the related deck attitude can be further optimized and verified, and the learning and the early-stage experimental verification of the project are facilitated.
3. The six-degree-of-freedom swinging platform is carried on a chassis of an unmanned vehicle capable of bearing 200kg, free movement of the six-degree-of-freedom swinging platform can be controlled, transportation is convenient, an attitude speed measuring sensor required by deck attitude estimation is configured, and static and dynamic deck estimation experiments can be carried out.
Drawings
FIG. 1 is a schematic structural diagram of a small six-degree-of-freedom deck motion simulation system according to the present invention;
FIG. 2 is a schematic structural view of a chassis of the unmanned vehicle;
FIG. 3 is a schematic structural diagram of a six-DOF rocking platform mechanism according to the present invention;
fig. 4 is a working flow chart of the small six-degree-of-freedom deck motion simulation system of the present invention.
In the figure: the automatic lifting platform comprises a six-degree-of-freedom swinging platform 1, an unmanned vehicle chassis 2, a vehicle body frame 21, a steering wheel 22, a driving wheel 23, a control module 3, an automatic platform lifting guide system 4, an upper computer system 5, a servo motor 6, an electric pushing cylinder 7, an installation bottom plate 8, an upper universal joint 9 and a lower universal joint 10.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the small six-degree-of-freedom deck motion simulation system provided by the invention comprises an unmanned vehicle chassis 2, a control module 3, a six-degree-of-freedom swing platform mechanism, a movable platform autonomous take-off and landing guide system 4 and an upper computer system 5, wherein the six-degree-of-freedom swing platform mechanism is arranged on the unmanned vehicle chassis 2 and is used for simulating deck motion; the moving platform autonomous take-off and landing guide system 4 is arranged on the six-degree-of-freedom swing platform mechanism and has an unmanned aerial vehicle autonomous take-off and landing guide function; the control module 3 is arranged on the unmanned vehicle chassis 2 and is used for controlling the swinging posture and the period of the six-degree-of-freedom swinging platform mechanism and the speed and the steering of the unmanned vehicle chassis 2 and sending the state information of the six-degree-of-freedom swinging platform mechanism and the unmanned vehicle chassis 2 to the upper computer system 5; the upper computer system 5 is used for receiving the state information of the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis 2 sent by the control module 3 and sending instructions to the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis 2.
As shown in fig. 2, in the embodiment of the present invention, the chassis 2 of the unmanned vehicle includes a vehicle body frame 21, and two steering wheels 22 and two driving wheels 23 disposed at the bottom of the vehicle body frame 21; the control module 3 is provided at the bottom of the vehicle body frame 21. The vehicle body frame 21 is also provided with a motor driver and a 48V rechargeable battery pack.
As shown in fig. 3, in the embodiment of the present invention, the six-degree-of-freedom swing platform mechanism includes a six-degree-of-freedom swing platform 1, a mounting base plate 8, and three sets of linear driving mechanisms disposed between the six-degree-of-freedom swing platform 1 and the mounting base plate 8, wherein the mounting base plate 8 is connected to an unmanned vehicle chassis 2, and a moving platform autonomous lifting guide system 4 is disposed on the six-degree-of-freedom swing platform 1; the three groups of linear driving mechanisms are used for driving the six-freedom-degree swing platform 1 to carry out six-freedom-degree motion.
Specifically, the six-degree-of-freedom swing platform 1 is made of an iron plate with a square structure. In this embodiment, the six-degree-of-freedom swing platform 1 is a square mesh platform with a size of 1 m × 1 m.
Further, three groups of linear driving mechanisms are uniformly distributed along the circumferential direction.
As shown in fig. 3, in the embodiment of the present invention, the linear driving mechanism includes a servo motor 6 and an electric pushing cylinder 7 connected to each other, wherein the servo motor 6 is electrically connected to the control module 3 as a power component for the linear movement of the electric pushing cylinder 7; the bottom of the electric pushing cylinder 7 is connected with the mounting bottom plate 8 through a lower universal joint 10, and the output end of the electric pushing cylinder 7 is connected with the six-degree-of-freedom swing platform 1 through an upper universal joint 9.
In the embodiment of the invention, the control module 3 comprises a controller, a motor driver and a power supply unit, wherein the motor driver is connected with the servo motor 6 and is used for controlling the swinging attitude and the period of the six-degree-of-freedom swinging platform 1; the controller is used for controlling the running speed and the steering of the unmanned vehicle chassis 2.
The movable platform independent take-off and landing guide system 4 is fixedly connected with the six-freedom-degree swing platform 1, the attitude of the platform is measured, the three-axis speed is measured, and the unmanned aerial vehicle can be guided to land on a 1 m x 1 m square platform by providing guiding landing position information for the unmanned aerial vehicle. The automatic take-off and landing guide system 4 of the movable platform has rich communication interfaces, comprises communication protocols such as Mavlin and the like, can be conveniently communicated with various open-source flight control systems, and can easily build the automatic take-off and landing guide unmanned aerial vehicle-deck experiment platform.
The upper computer system 5 comprises a set of upper computer software running on a PC computer, and mainly sends a swinging instruction to the six-freedom-degree swinging platform 1, and simultaneously returns and stores data such as the state, the posture, the speed and the like of the six-freedom-degree swinging platform 1 and the movable platform autonomous take-off and landing guide system 4, so that the upper computer system can be used for later experimental data processing, simulation and autonomous take-off and landing guide flight tests.
The six-degree-of-freedom swinging platform 1 provides a fixed platform for the unmanned aerial vehicle to take off and land, the total weight does not exceed 15kg, and an iron plate with the thickness of 5mm is selected because an electromagnet-assisted landing mode is adopted. Three groups of servo motors 6 and electric pushing cylinders 7 are sleeved, 220V power supply is adopted, 100kg of carriers are guaranteed, the three electric pushing cylinders 7 are controlled to realize six-degree-of-freedom motion of the six-degree-of-freedom swing platform 1, the rolling angle range (-20 degrees and +20 degrees), the pitch angle range (-20 degrees and +20 degrees) and the lifting amplitude of the three electric pushing cylinders is 0-150mm (not including the motion fluctuation height of the unmanned vehicle). The speed is 60 degrees/s, the acceleration is 0.5g, and the sinking and floating speed is 0-500 mm/s.
Further, the unmanned vehicle chassis 2 adopts a Yunle NWD01 unmanned vehicle chassis, and the unmanned vehicle chassis 2 can bear a 200kg carrier, so the deck motion simulation system can bear a rotor wing or fixed wing unmanned vehicle with the dead weight of less than 50kg to perform ship-borne or movable platform take-off and landing guide flight test verification. The unmanned vehicle chassis 2 is provided with a controller, and the motion control of the unmanned vehicle chassis can be realized by controlling the running speed, turning and other instructions through an interface. In addition, in the embodiment, the length, width and height of the unmanned vehicle chassis 2 are 1608 x 800 x 510mm, the wheelbase is 900mm, the wheelbases in front and rear are 686mm and 692mm respectively, the total weight of the chassis is 90kg, the motor power is 800w (single) x 2, and the driving mode is front-turning rear-driving. The chassis has the working temperature of-20-60 ℃, the vertical load of 200kg, the running speed of 0-50km/h, the maximum climbing angle of 20 degrees, the battery of 10Ah/48v, the endurance mileage of 45km, the manual charging of a charger and the charging time of less than 6 h.
Further, the control module 3 is a control unit of the whole small-sized six-degree-of-freedom deck motion simulation system and is used for controlling the swinging posture and period of the six-degree-of-freedom swinging platform 1, the running speed and direction of the unmanned vehicle chassis 2 and the like; the control mode can select an automatic mode or a manual operation mode. The controller mainly receives instructions, including six-freedom-degree swing period and amplitude control instructions for controlling the swing platform and forward, backward, steering, speed and other instructions of the ground unmanned vehicle chassis. Thereby controlling the advancing, retreating, turning speed and the like of the double-drive four-wheel vehicle, and better simulating the movement effect of a deck on the sea or on the water surface on the land.
The working principle of the small six-degree-of-freedom deck motion simulation system provided by the invention is as follows:
after the small six-degree-of-freedom deck motion simulation system provided by the invention is electrified to operate, the initialization success indicator lamp is lightened, the system is in communication connection with the upper computer system 5 in a wireless mode, after the system is in normal state operation, the six-degree-of-freedom motion control of the swing platform is started according to task requirements and the specified amplitude and period of the task, and the chassis of the unmanned vehicle is controlled to move forwards or backwards or to steer according to the task requirement driving speed. Specifically, as shown in fig. 4, the upper computer system 5 sends a swing amplitude and period command to the small six-degree-of-freedom deck motion simulation system, controls the small six-degree-of-freedom deck motion simulation system to operate according to the task track, and simultaneously returns system state information to the upper computer system 5. The unmanned aerial vehicle carries out the processes of collecting a carrier landing target, tracking the deck, descending the deck, and finally descending, and the unmanned aerial vehicle descends on the six-degree-of-freedom swinging platform 1.
The invention can better simulate the motion state of the deck of the surface ship, can provide a powerful experimental platform for various flight experiments such as shipborne take-off and landing of the unmanned aerial vehicle (comprising a rotor wing and a fixed wing), take-off and landing of a movable platform and the like, and can carry out the take-off and landing verification test of the movable platform in a quasi-real environment. The invention has the advantages that the six-degree-of-freedom ship deck motion condition can be truly simulated on land, the automatic platform taking-off and landing guiding function is realized, the ship deck taking-off and landing guiding test on sea surface or other water surfaces can be conveniently realized on land, and the early verification flight test risk can be greatly reduced compared with the real sea surface and lake surface. Moreover, the mobile platform take-off and landing guide system has rich communication interfaces, can be communicated and transplanted with any open source flight control, and can greatly reduce the development period. And a secondary development interface is reserved, so that the estimation algorithm of the related deck attitude can be further optimized and verified, and the learning experiment and the early-stage experiment verification of the project are facilitated. In addition, the six-degree-of-freedom swinging platform is carried on an unmanned vehicle chassis capable of bearing 200kg, free movement of the six-degree-of-freedom swinging platform can be controlled, transportation is convenient, an attitude speed measuring sensor required by deck attitude estimation is configured, and static and dynamic deck estimation experiments can be carried out.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. A small-sized six-freedom deck motion simulation system is characterized by comprising:
an unmanned vehicle chassis (2);
the six-degree-of-freedom swinging platform mechanism is arranged on the unmanned vehicle chassis (2) and is used for simulating deck motion;
the moving platform autonomous take-off and landing guide system (4) is arranged on the six-degree-of-freedom swing platform mechanism and has an unmanned aerial vehicle autonomous take-off and landing guide function;
the control module (3) is arranged on the unmanned vehicle chassis (2) and is used for controlling the swinging posture and the period of the six-degree-of-freedom swinging platform mechanism and the speed and the steering of the unmanned vehicle chassis (2) and sending the state information of the six-degree-of-freedom swinging platform mechanism and the unmanned vehicle chassis (2) to the upper computer system (5);
and the upper computer system (5) is used for receiving the state information of the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis (2) sent by the control module (3) and sending instructions to the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis (2).
2. The small six-degree-of-freedom deck motion simulation system according to claim 1, wherein the six-degree-of-freedom swing platform mechanism comprises a six-degree-of-freedom swing platform (1), a mounting base plate (8) and three groups of linear driving mechanisms arranged between the six-degree-of-freedom swing platform (1) and the mounting base plate (8), wherein the mounting base plate (8) is connected with the unmanned vehicle chassis (2), and the movable platform autonomous take-off and landing guide system (4) is arranged on the six-degree-of-freedom swing platform (1); the three groups of linear driving mechanisms are used for driving the six-freedom-degree swinging platform (1) to carry out six-freedom-degree motion.
3. The small six-degree-of-freedom deck motion simulation system according to claim 2, characterized in that the six-degree-of-freedom swing platform (1) is made of iron plate with square structure.
4. The small six-degree-of-freedom deck motion simulation system according to claim 2, wherein three sets of the linear drive mechanisms are circumferentially equispaced.
5. The small six-degree-of-freedom deck motion simulation system according to claim 2, characterized in that the linear drive mechanism comprises a servo motor (6) and an electric push cylinder (7) which are connected with each other, wherein the servo motor (6) is electrically connected with the control module (3); the bottom of the electric pushing cylinder (7) is connected with the mounting bottom plate (8) through a lower universal joint (10), and the output end of the electric pushing cylinder (7) is connected with the six-degree-of-freedom swinging platform (1) through an upper universal joint (9).
6. The small six-degree-of-freedom deck motion simulation system according to claim 5, characterized in that the control module (3) comprises a controller, a motor driver and a power supply unit, wherein the motor driver is connected with the servo motor (6); the controller is used for controlling the speed and the steering of the unmanned vehicle chassis (2).
7. The small six-degree-of-freedom deck motion simulation system according to claim 1, wherein the unmanned vehicle chassis (2) comprises a vehicle body frame (21) and two steering wheels (22) and two driving wheels (23) arranged at the bottom of the vehicle body frame (21); the control module (3) is arranged at the bottom of the vehicle body frame (21).
8. The system for small six degree-of-freedom deck motion simulation according to claim 1, characterized in that the upper computer system (5) comprises upper computer software.
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| CN114486149A (en) * | 2022-01-19 | 2022-05-13 | 山东交通学院 | Wind field simulation generation device and method based on unmanned aerial vehicle test |
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