CN113492997B - Lift force and torque measuring device and measuring method for single rotor wing - Google Patents
Lift force and torque measuring device and measuring method for single rotor wing Download PDFInfo
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- CN113492997B CN113492997B CN202010195705.9A CN202010195705A CN113492997B CN 113492997 B CN113492997 B CN 113492997B CN 202010195705 A CN202010195705 A CN 202010195705A CN 113492997 B CN113492997 B CN 113492997B
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Abstract
The application discloses a lift force and torque measuring device and a measuring method for a single rotor, wherein the measuring device comprises a lever unit capable of rotating around a support, an adjusting unit is arranged at a first end of the lever unit, an angle adjusting device in the adjusting unit can adjust the inclination angle of a rotor shaft in a plane perpendicular to the lever unit, and a measuring unit is arranged at a second end of the lever unit, wherein the measuring unit comprises a first measuring device and a second measuring device, and the measuring direction of the first measuring device is perpendicular to the lever unit; therefore, the inclination angle of the rotor shaft is adjusted through the angle adjusting device, and then the lift force and the torque of the rotor at a preset rotating speed can be obtained according to the moment balance equation of the lever unit at the same rotating speed and different inclination angles; therefore, the technical problem that the lift force and torque measurement precision is poor due to the single posture of the rotor wing is solved, and the technical effect of improving the lift force and torque measurement precision of the rotor wing is achieved.
Description
Technical Field
The invention relates to the technical field of testing of aircrafts, in particular to a lifting force and torque measuring device and a measuring method suitable for a single rotor wing in an aircraft.
Background
The power system of the aircraft provides power support for the aircraft, influences the flight quality of the whole aircraft, and can be said that the performance test of the power system is a necessary link in the development process of the aircraft. In a rotorcraft, a rotor is a main power system, and lift force or thrust and torque provided by rotation of the rotor are main contributions, so in the prior art, lift force and torque of the rotor are often measured.
However, in the existing measuring device, measurement can be performed only for a single fixed attitude of the rotor, which results in a need for improvement of measurement accuracy.
Disclosure of Invention
The embodiment of the application provides a lift force and torque measuring device and a measuring method for a single rotor, wherein the measuring device comprises a lever unit capable of rotating around a support, an adjusting unit is arranged at a first end of the lever unit, an angle adjusting device in the adjusting unit can adjust the inclination angle of a rotor shaft in a plane perpendicular to the lever unit, and a measuring unit is arranged at a second end of the lever unit, wherein the measuring unit comprises a first measuring device and a second measuring device, and the measuring direction of the first measuring device is perpendicular to the lever unit; therefore, the inclination angle of the rotor shaft is adjusted through the angle adjusting device, and then the lift force and the torque of the rotor at a preset rotating speed can be obtained according to the moment balance equation of the lever unit at the same rotating speed and different inclination angles; therefore, the technical problem that the lift force and torque measurement precision is poor due to the single posture of the rotor wing is solved, and the technical effect of improving the lift force and torque measurement precision of the rotor wing is achieved.
The embodiment of the application provides a lift and torque measurement device for single rotor, measurement device includes:
the lever unit is provided with a first end and a second end, a support is arranged between the first end and the second end of the lever unit, and the lever unit can rotate around the support;
the adjusting unit is arranged at the first end of the lever unit, wherein the adjusting unit comprises an angle adjusting device, and a rotor wing assembly is fixedly connected to the angle adjusting device;
the measuring unit is arranged at the second end of the lever unit and comprises a first measuring device and a second measuring device which are vertically arranged;
wherein the angle adjusting device can adjust the inclination angle of the rotor shaft of the rotor assembly in a first plane, and the first plane is perpendicular to the lever unit; the measuring direction of the first measuring device and the measuring direction of the second measuring device form a second plane, and the second plane is perpendicular to the lever unit.
In an embodiment of the disclosure, a distance from the first end of the lever unit to the support is equal to a distance from the second end of the lever unit to the support.
In this disclosed embodiment, the adjustment unit still includes the montant, the first end of montant with the first end vertical rigid coupling of lever unit, the second end of montant is equipped with angle adjustment device.
In an embodiment of the disclosure, the first measuring device is a horizontal force sensor, and the first measuring device is used for measuring horizontal stress of the second end of the lever unit; the second measuring device is a vertical force sensor and is used for measuring the vertical stress of the second end of the lever unit.
In the embodiment of the disclosure, the second end of the lever unit is provided with a counterweight adjusting device.
The embodiment of the application also provides a method for measuring the lift force and the torque of the single rotor wing, which is applied to the device for measuring the lift force and the torque of the single rotor wing, wherein the method for measuring the lift force and the torque of the single rotor wing comprises the following steps:
the angle adjusting device adjusts the inclination angle of the rotor shaft of the rotor assembly to enable the rotor shaft of the rotor assembly to incline at a plurality of preset angles respectively;
when the rotating speed of the rotor wing assembly is increased from zero to a preset rotating speed, a first reading change value of the first measuring device corresponding to each preset angle and a second reading change value of the second measuring device corresponding to each preset angle are obtained;
and when the rotating speed of the rotor wing assembly is a preset rotating speed, obtaining a lift force value and a torque value of the rotor wing assembly according to moment balance equations of the lever units under a plurality of preset angles.
In an embodiment of the disclosure, in the measuring device, the first measuring device is a horizontal force sensor, and the first measuring device is used for measuring horizontal stress of the second end of the lever unit; the second measuring device is a vertical force sensor and is used for measuring the vertical stress of the second end of the lever unit; and, in addition, the processing unit,
in the measuring method, the moment balance equation of the lever unit comprises a horizontal moment balance equation and a vertical moment balance equation.
In the embodiment of the disclosure, the torque balance equation does not include a friction torque of the support to the lever unit; and, in addition, the processing unit,
the step of obtaining the lift value and the torque value of the rotor assembly according to the moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
according to a horizontal moment balance equation and a vertical moment balance equation of the lever unit under each preset angle, respectively obtaining a lift force value and a torque value of the rotor wing assembly corresponding to each preset angle, and respectively calculating average values of the lift force value and the torque value.
In an embodiment of the disclosure, the moment balance equation includes a friction moment of the support to the lever unit; and, in addition, the processing unit,
the step of obtaining the lift value and the torque value of the rotor assembly according to the moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
and obtaining a lift force value and a torque value of the rotor wing assembly according to a horizontal moment balance equation and a vertical moment balance equation of the lever unit under any two preset angles.
In an embodiment of the disclosure, the second end of the lever unit is further provided with a weight adjusting device, and in the measuring method,
the step of obtaining a first reading variation value of the first measuring device corresponding to each predetermined angle and a second reading variation value of the second measuring device corresponding to each predetermined angle respectively includes:
and acquiring a first display value of the first measuring device corresponding to each preset angle and a second display value of the second measuring device corresponding to each preset angle.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
in the embodiment of the application, the first end of the lever unit is provided with the adjusting unit, and the angle adjusting device in the adjusting unit can adjust the inclination angle of the rotor shaft in the plane vertical to the lever unit; then, a measuring unit is arranged at the second end of the lever unit, the measuring unit comprises a first measuring device and a second measuring device which are vertically arranged, and the measuring directions of the first measuring device and the second measuring device are vertical to the lever unit; thus, when the rotation speed of the rotor is increased from zero to a preset rotation speed and the lever unit is in a balanced state, the reading change values of the first measuring device and the second measuring device can reflect the lift force and the torque of the rotor at the preset rotation speed;
meanwhile, as the angle adjusting device can adjust the inclination angle of the rotor shaft, when the rotating speed of the rotor is a preset rotating speed, the lift force value and the torque value corresponding to each preset inclination angle can be respectively solved through the moment balance equation of the lever unit, and then the lift force value and the torque value corresponding to different inclination angles are respectively averaged, so that the lift force and the torque of the rotor at the preset rotating speed can be obtained;
that is, since the lift force and the torque obtained by the embodiment of the application are obtained by averaging the lift force and the torque of the rotor shaft under different tilt angles, the system error or other errors of the rotor shaft in a single fixed tilt attitude can be avoided, so that the measurement accuracy of the lift force and the torque is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a lift and torque measuring device for a single rotor according to an embodiment of the present application.
Figure 2 is a flow chart of a lift and torque measurement method for a single rotor as described in an embodiment of the present application.
FIG. 3 is a schematic diagram of the system of FIG. 1 in a stressed condition.
Wherein, the reference numerals:
10-lever unit
11-support
21-angle adjusting device
22-motor shaft
23-vertical rod
30 measuring unit
31-first measuring device
32 second measuring device
40-counterweight adjusting device
Detailed Description
In order that the above-recited aspects may be better understood, a detailed description of exemplary embodiments of the present application will be presented below with reference to the drawings, it being apparent that the described embodiments are only a subset of the embodiments of the present application and not all of the embodiments of the present application, it being understood that the present application is not limited by the exemplary embodiments described herein.
SUMMARY
For an aircraft with a rotor as main power, the lift and torque properties of the rotor directly affect the flight performance of the aircraft, wherein it can be appreciated that the rotor, when rotating, provides lift, which in turn acts on the aircraft fuselage, and that the rotor, while rotating, is subjected to the reactive forces of the surrounding air or air flow, which are reflected in the torque effect on the rotor, which in turn acts on the fuselage, and in this case the effect of counteracting this torque needs to be considered; therefore, it is necessary to measure the lift and torque of the rotor at a predetermined rotational speed in order to obtain the operating parameters of the rotor.
In the prior art, a rotor assembly is fixed on a measuring device in a certain position posture, and then the lift force and torque of the rotor under a preset rotating speed are solved by using a mechanical balance equation of the measuring device;
however, in the above-mentioned scheme, the rotor assembly is fixed, for example, the rotor shaft of the rotor assembly is set at a certain fixed inclination angle, which can only be repeatedly measured in a single posture, and cannot eliminate systematic errors and the like caused by the inclination angle position of the rotor shaft, for example, so that the measurement accuracy is not high, and the working parameters of the rotor shaft cannot be comprehensively reflected.
Based on the above-mentioned problems, the embodiment of the application provides a lift and torque measuring device and a measuring method for a single rotor, wherein in the measuring device, one end of a lever unit is provided with an angle adjusting device, and the angle adjusting device can adjust the inclination angle of a rotor shaft in a plane perpendicular to the lever unit, so that the lift and torque corresponding to different inclination angles can be obtained respectively by using a mechanical balance equation of the lever unit when different inclination angles are utilized, and further, the average value is obtained, namely, the average value of the lift or torque can eliminate the system error brought by different inclination angle positions of the rotor shaft, thereby solving the problems, improving the measuring precision and comprehensively reflecting the working parameters of the rotor shaft.
Fig. 1 is a schematic structural diagram of a lift force and torque measuring device for a single rotor wing according to an embodiment of the present application, and as shown in fig. 1, the measuring device includes a lever unit 10, an adjusting unit and a measuring unit 30, where the lever unit 10 has a first end a and a second end B, a support 11 is disposed between the first end a and the second end B of the lever unit 10, the lever unit 10 can rotate around the support 11, and an O point represents a fulcrum of the support to the lever unit; an adjusting unit is provided at a first end of the lever unit 10, the adjusting unit includes an angle adjusting device 21, and then a rotor assembly is fixedly connected to the angle adjusting device 21, the rotor assembly includes, for example, a motor and a rotor mounted on a motor shaft 22, such that the motor shaft 22 is a rotor shaft; at the second end of the lever unit 10, a measuring unit 30 is provided, the measuring unit 30 comprising a first measuring means 31 and a second measuring means 32 arranged vertically;
wherein the angle adjustment device can adjust the tilt angle of the rotor shaft of the rotor assembly in a first plane, which is perpendicular to the lever unit, that is, the angle adjustment device can adjust the tilt angle of the rotor shaft of the rotor assembly relative to the vertical direction; the measuring direction of the first measuring device and the measuring direction of the second measuring device form a second plane, which is perpendicular to the lever unit.
Specifically, referring to fig. 1, x, y, and z represent coordinate axes, θ is an inclination angle of the motor shaft 22, D represents an action point of lift force and torque, and the directions of the lift force F and the torque T are the same or opposite according to the actual rotation direction; the lever unit 10 is rotatable about a support 11, it being understood that the lever unit 10 is rotatable about the support 11 in both horizontal and vertical dimensions, and that the support 11 is axially fixed relative to the lever unit 10, for example, the support 11 may be a U-shaped hinge support; at the first end of the lever unit 10, the angle adjusting device 21 is fixedly connected with a rotor wing assembly (not specifically shown), and the angle adjusting device 21 can enable the motor shaft 22 to rotate in a d_xz plane, namely, adjust the inclination angle of the motor shaft 22 relative to the lever unit, wherein the d_xz plane is the first plane; it can be appreciated that the angle adjustment device 21 may comprise, for example, a mounting plate, under which one or more driving devices are disposed to drive the mounting plate to tilt, so as to achieve the purpose of adjusting the tilt angle of the rotor shaft in the d_xz plane; then, at the second end of the lever unit 10, the first measuring device 31 and the second measuring device 32 measure the stress conditions of the second end B of the lever unit in two perpendicular directions, respectively.
It can be appreciated that in this embodiment, on one hand, a balance lever is constructed, so that the lift and torque of the rotor wing can be obtained by using the mechanical balance equation of the lever; on the other hand, the rotor wing assembly is fixedly connected to the angle adjusting device, so that lever mechanical balance equations under different inclination angles can be respectively constructed through adjustment of the angle adjusting device, lift force and torque of the rotor wing under the same rotation speed and different inclination angles are obtained, the lift force and the torque are averaged, and measurement accuracy is improved.
In the embodiment of the application, the first end of the lever unit is provided with the adjusting unit, and the angle adjusting device in the adjusting unit can adjust the inclination angle of the rotor shaft in the plane vertical to the lever unit; then, a measuring unit is arranged at the second end of the lever unit, the measuring unit comprises a first measuring device and a second measuring device which are vertically arranged, and the measuring directions of the first measuring device and the second measuring device are vertical to the lever unit; thus, when the rotation speed of the rotor is increased from zero to a preset rotation speed and the lever unit is in a balanced state, the reading change values of the first measuring device and the second measuring device can reflect the lift force and the torque of the rotor at the preset rotation speed;
meanwhile, as the angle adjusting device can adjust the inclination angle of the rotor shaft, when the rotating speed of the rotor is a preset rotating speed, the lift force value and the torque value corresponding to each preset inclination angle can be respectively solved through the moment balance equation of the lever unit, and then the lift force value and the torque value corresponding to different inclination angles are respectively averaged, so that the lift force and the torque of the rotor at the preset rotating speed can be obtained;
that is, since the lift force and the torque obtained by the embodiment of the application are obtained by averaging the lift force and the torque of the rotor shaft under different tilt angles, the system error or other errors of the rotor shaft in a single fixed tilt attitude can be avoided, so that the measurement accuracy of the lift force and the torque is greatly improved.
In a possible embodiment, the distance from the first end of the lever unit to the abutment is equal to the distance from the second end of the lever unit to the abutment.
That is, the support is located in the middle of the lever unit, and it can be understood that in this way, the force arms stressed at the two ends of the lever unit are equal, and the operation can be simplified.
In one possible implementation manner, the adjusting unit further comprises a vertical rod, a first end of the vertical rod is vertically and fixedly connected with a first end of the lever unit, and an angle adjusting device is arranged at a second end of the vertical rod.
Specifically, referring to fig. 1, a vertical rod 23 is vertically disposed at a first end of the lever unit 10, and then an angle adjusting device 21 and a rotor assembly are disposed on the vertical rod 23, that is, the vertical rod 23 increases the vertical distance between the rotor of the rotor assembly and the lever unit along the DZ axis direction.
In this way, on the one hand, the rotor wing can be prevented from touching the lever when rotating, or the balance of the lever is influenced by the air flow caused by the rotor wing; on the other hand, the adjustment range of the rotor shaft inclination angle is increased.
In a possible embodiment, the first measuring device 31 is a horizontal force sensor, and the first measuring device is used for measuring horizontal stress of the second end of the lever unit; the second measuring device is a vertical force sensor and is used for measuring the vertical stress of the second end of the lever unit.
It can be understood that, with reference to fig. 1, the horizontal force sensor can measure the force applied to the second end of the lever unit in the horizontal direction, i.e., the force applied to the Dx axis in the positive or negative direction, and the vertical force sensor can measure the force applied to the second end of the lever unit in the vertical direction, i.e., the force applied to the Dz axis in the positive or negative direction; specifically, for example, the horizontal force sensor can measure the force applied to the second end of the lever unit in the positive direction along the Dx axis when the second end of the lever unit presses the horizontal force sensor, and can measure the force applied to the second end of the lever unit in the negative direction along the Dx axis when the second end of the lever unit stretches the horizontal force sensor.
In this embodiment, the first measuring device measures the stress in the horizontal direction, and the second measuring device measures the stress in the vertical direction, so that the mechanical balance equation of the lever unit is simplified, and the efficiency is improved.
In a possible embodiment, the second end of the lever unit 10 is provided with a weight adjusting device 40; the balance weight adjusting device can adjust the balance of the lever at different positions on the OB section of the lever unit, or the balance weight adjusting module can adjust the balance by adding and subtracting weight at a certain fixed position.
In this embodiment, when the rotor rotational speed is zero, adjust counter weight adjusting device, can make the second end of lever unit just contact and do not have the interact power with above-mentioned horizontal force sensor and vertical force sensor, like this, the reading change value of convenient calculation horizontal force sensor and vertical force sensor simplifies the mechanical balance equation of lever unit, raises the efficiency.
The measuring device is essentially described above and is further described below in connection with a measuring method applied to the measuring device.
The embodiment of the application provides a method for measuring lift force and torque of a single rotor, which is applied to the device for measuring lift force and torque of a single rotor, wherein, in combination with fig. 2, the method comprises the following steps:
s1, the angle adjusting device adjusts the inclination angle of the rotor shaft of the rotor assembly, so that the rotor shaft of the rotor assembly is inclined at a plurality of preset angles respectively;
s2, when the rotating speed of the rotor wing assembly is increased from zero to a preset rotating speed, a first reading change value of the first measuring device corresponding to each preset angle and a second reading change value of the second measuring device corresponding to each preset angle are obtained;
and S3, when the rotating speed of the rotor wing assembly is a preset rotating speed, obtaining a lift force value and a torque value of the rotor wing assembly according to moment balance equations of the lever units under a plurality of preset angles.
Specifically, in S1, in combination with the above measurement device and referring to the following table 1, a plurality of predetermined angles θ may be set, so that the angle adjustment device adjusts the rotor shaft of the rotor assembly to tilt at a plurality of predetermined angles, respectively; for example, a plurality of predetermined angles θ1, θ2, θ3 … … θm, etc. are set; it will be appreciated that the predetermined angles θ may be determined according to actual needs, and may be uniformly spaced, for example, 10 degrees, 20 degrees, 30 degrees, etc., or may be unevenly spaced.
Specifically, in S2, the rotor shaft is adjusted by the angle adjustment device at a certain predetermined angle, and then the rotation speed of the rotor assembly is increased from zero to a predetermined rotation speed, at this time, a first reading variation value Fsx of the first measurement device corresponding to the predetermined angle is obtained, and a second reading variation value Fsz of the second measurement device corresponding to the predetermined angle is also obtained; then, under other preset angles, the same operations are respectively carried out;
it can be understood that referring to table 1 below, at this time, each predetermined angle θ corresponds to a first reading variation value Fsx and a second reading variation value Fsz; wherein, the first and second readings of change Fsx and Fsz reflect the lift force F and torque T of the rotor assembly at a predetermined rotational speed corresponding to the predetermined angle.
Specifically, for example, when the angle adjustment device adjusts the rotor shaft at a certain predetermined angle θn, the rotation speed of the rotor assembly is zero and the lever unit is stationary, the first measurement device and the second measurement device have initial readings respectively; then, maintaining the predetermined angle unchanged, increasing the rotational speed to a predetermined rotational speed and the lever unit is at rest, wherein the first measuring device and the second measuring device have respective stop readings; it can be appreciated that, before and after the two processes, for the lever unit, the mechanical condition of the first end of the lever unit changes to increase the lift force F and the torque T, and the mechanical condition of the second end of the lever unit changes to increase the first reading change value Fsx and the second reading change value Fsz, so that the first reading change value and the second reading change value reflect the lift force and the torque condition of the rotor assembly at the predetermined rotation speed according to the mechanical balance equation of the lever unit.
Specifically, in S3, at each predetermined angle θ, a moment balance equation F (F, T) =0 of a lever unit may be obtained; referring to table 1 below, for example, corresponding to a predetermined angle θ1, when the rotor speed is the predetermined speed, a moment balance equation F1 (F1, T1) =0 of the lever units may be listed, and then, lift and torque of the rotor assembly at the predetermined speed may be obtained according to the moment balance equations of the m lever units; wherein, the lever balance equation F (F, T) =0 may be a vector equation or a scalar equation.
TABLE 1 Condition Table corresponding to predetermined Angle θ and first, second, and moment balance values Fsx, fsz
In the lift force and torque measuring method of the embodiment, the lift force and torque of the rotor assembly at the preset rotating speed are obtained by a plurality of moment balance equations of the rotor shaft at different dip angles, the lift force and the torque eliminate system errors caused by a certain fixed dip angle, and the measuring precision of the lift force and the torque is improved.
In one possible implementation manner, in the measuring device, the first measuring device is a horizontal force sensor, and the first measuring device is used for measuring horizontal stress of the second end of the lever unit; the second measuring device is a vertical force sensor and is used for measuring the vertical stress of the second end of the lever unit; in the measuring method, the moment balance equation of the lever unit comprises a horizontal moment balance equation and a vertical moment balance equation.
Referring to fig. 3, fig. 3 shows the stress condition of the lever unit in the measuring device, wherein the x-axis is along the horizontal direction, the z-axis is along the vertical direction, and the y-axis is along the axial direction of the lever unit; F. t respectively represents the lift force and torque of the rotor wing at a preset rotating speed, and the directions of F, T are the same or opposite; tx, tz are the components of T in the x-axis and z-axis; fsx and Fsz respectively represent the forces of the first measuring device and the second measuring device on the point B of the lever unit when the lever unit is inclined at a preset angle, and the forces are equal to the readings of the sensor; mfx and Mfz represent components of friction torque of the support to the lever unit in the x axis and the z axis respectively; fx, fy, fz represent the supporting force of the holder to the lever unit, respectively.
That is, in this embodiment, for convenience of calculation, the measurement direction of the first measurement device may be made to be in the horizontal direction, as the horizontal force sensor, and the measurement direction of the second measurement device may be made to be in the vertical direction, as the vertical force sensor; then, the moment balance equation F (F, T) =0 of the lever unit described above is decomposed into a horizontal moment balance equation and a vertical moment balance equation, that is, forces and moments are decomposed in both the x-axis direction and the z-axis direction.
The two cases will be described below, since the support has a friction moment on the lever unit.
In one possible embodiment, in the moment balance equation F (F, T) =0, if the friction moment of the support to the lever unit is not considered, the step S3 includes:
s311, respectively obtaining a lift force value and a torque value of the rotor wing assembly corresponding to each preset angle according to a horizontal torque balance equation and a vertical torque balance equation of the lever unit under each preset angle, and respectively calculating average values of the lift force value and the torque value.
Specifically, the moment balance equation may be decomposed into a horizontal moment balance equation and a vertical moment balance equation corresponding to each predetermined angle, that is:
fcosθ×l1+tsnθ= Fsz ×l2, formula 1
Fsin θ×l1+fsx×l2=tcos θ formula 2
The above formulas 1 and 2 form a binary once-through equation set, wherein θ, fsz, fsx, l1, l2 are all known, and lift force F and torque T corresponding to a predetermined angle can be obtained; that is, corresponding to m predetermined angles, m lifting forces F and m torque T can be obtained, and then, average values are respectively obtained, so that the lifting force value and the torque value of the rotor wing at the predetermined rotation speed can be obtained.
In this embodiment, under the circumstances of not considering friction moment, according to the lever moment balance equation of the rotor wing at different inclination angles under the same rotation speed, the average value of the lift value and the torque value is obtained through multiple measurements, so that the systematic error or other errors of the rotor wing shaft in a single fixed inclination posture can be avoided, and the measurement accuracy of the lift force and the torque is greatly improved.
In this embodiment, further, the distance from the first end of the lever unit to the support is equal to the distance from the second end of the lever unit to the support; i.e. l1 is equal to l2, which simplifies the operation.
In one possible embodiment, in the moment balance equation F (F, T) =0, if the friction moment of the support to the lever unit is considered, the step S3 includes:
s321, obtaining a lift force value and a torque value of the rotor wing assembly according to a horizontal moment balance equation and a vertical moment balance equation of the lever unit under any two preset angles.
Specifically, as shown in fig. 3, the components of the friction torque in the x-axis and the z-axis are Mfx and Mfz, respectively, and then, similarly, the torque balance equation may be decomposed into a horizontal torque balance equation and a vertical torque balance equation corresponding to each predetermined angle, that is:
fcosθ×l1+tsnθ= Fsz ×l2+ Mfx, formula 3
Fsin θ×l1+fsx×l2=tcos θ+ Mfz equation 4
In the above formulas 3 and 4, there are four parameters to be solved for F, T, mfx, mfz, at this time, F and T can be set to be the same at different predetermined angles (the motor rotation speed is the same, the test environment is the same, and F and T can be considered to be unchanged in size at different angles), and Mfx and Mfz are set to be unchanged in size at different predetermined angles, so that, among a plurality of predetermined angles, two predetermined angles θ1 and θ2 can be arbitrarily selected, there are:
fcos θ1×l1+tsin θ1= Fsz1×l2+ Mfx, formula 5
Fcos θ2×l1+tsin θ2= Fsz2×l2+ Mfx, formula 6
Fsin θ1×l1+fsx1×l2=tcos θ1+mfz equation 7
Fsin θ2l1+fsx2 l2=tcos θ2+mfz equation 8
Further, the following equations 5 and 6 are obtained:
fχl1 (cos θ1-cos θ2) +t (sin θ1-sin θ2) = (Fsz 1-Fsz) l2 equation 9
The values are obtained by formulas 7 and 8:
fl1 (sin θ1-sin θ2) + (Fsx 1-Fsx 2) l2=t (cos θ1-cos θ2) formula 10
Thus, equations 9 and 10 above constitute a binary system of primary equations, where θ1, θ2, fsz1, fsz2, fsx1, fsx2, l1, l2 are known, and lift F and torque T are obtained.
In this embodiment, by using any two moment balance equations with different inclination angles, the lift force and torque of the rotor wing when the friction moment is considered can be calculated, so that the measurement accuracy is improved.
In this embodiment, further, the distance from the first end of the lever unit to the support is equal to the distance from the second end of the lever unit to the support; i.e. l1 is equal to l2, which simplifies the operation.
In one possible implementation manner, the second end of the lever unit is further provided with a weight adjusting device, and in step S2 of the measuring method, the step of obtaining the first reading change value of each predetermined angle corresponding to the first measuring device and the second reading change value of each predetermined angle corresponding to the second measuring device respectively includes:
and acquiring a first display value of the first measuring device corresponding to each preset angle and a second display value of the second measuring device corresponding to each preset angle.
Specifically, a weight adjusting device is disposed at the second end, OB end, of the lever unit, so that when the angle adjusting device adjusts the tilt angle of the rotor shaft to θ, the lever is adjusted to be horizontal by the weight adjusting device, at this time, the second end of the lever unit just contacts the first measuring device and the second measuring device, and there is no interaction, that is, initial readings of the first measuring device and the second measuring device can be adjusted to be zero by the weight adjusting device, and thus, suspension display readings of the first measuring device and the second measuring device are the first reading change value and the second reading change value, which is convenient to calculate.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.
The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof are intended to be included within the scope of the invention.
Claims (10)
1. A lift and torque measurement device for a single rotor, the measurement device comprising:
the axis of the lever unit is a straight line, the lever unit is provided with a first end and a second end, a support is arranged between the first end and the second end of the lever unit, and the lever unit can rotate around the support;
the adjusting unit is arranged at the first end of the lever unit, wherein the adjusting unit comprises an angle adjusting device, and a rotor wing assembly is fixedly connected to the angle adjusting device;
the measuring unit is arranged at the second end of the lever unit and comprises a first measuring device and a second measuring device which are vertically arranged;
wherein the angle adjusting device can adjust the inclination angle of the rotor shaft of the rotor assembly in a first plane, and the first plane is perpendicular to the lever unit; the measuring direction of the first measuring device and the measuring direction of the second measuring device form a second plane, and the second plane is perpendicular to the lever unit.
2. The measurement device of claim 1, wherein a distance from the first end of the lever unit to the support and a distance from the second end of the lever unit to the support are equal.
3. The measuring device according to claim 1, wherein the adjusting unit further comprises a vertical rod, a first end of the vertical rod is vertically fixedly connected with the first end of the lever unit, and a second end of the vertical rod is provided with an angle adjusting device.
4. The measuring device of claim 1, wherein the first measuring device is a horizontal force sensor, and the first measuring device is configured to measure a horizontal force applied to the second end of the lever unit; the second measuring device is a vertical force sensor and is used for measuring the vertical stress of the second end of the lever unit.
5. The measuring device of claim 1, wherein the second end of the lever unit is provided with a weight adjusting device.
6. A lift and torque measurement method for a single rotor, characterized in that the measurement method is applied to the lift and torque measurement device for a single rotor according to any one of claims 1 to 5, wherein the measurement method comprises:
the angle adjusting device adjusts the inclination angle of the rotor shaft of the rotor assembly to enable the rotor shaft of the rotor assembly to incline at a plurality of preset angles respectively;
when the rotating speed of the rotor wing assembly is increased from zero to a preset rotating speed, a first reading change value of the first measuring device corresponding to each preset angle and a second reading change value of the second measuring device corresponding to each preset angle are obtained;
and when the rotating speed of the rotor wing assembly is a preset rotating speed, obtaining a lift force value and a torque value of the rotor wing assembly according to moment balance equations of the lever units under a plurality of preset angles.
7. The method of measuring according to claim 6, wherein,
in the measuring device, the first measuring device is a horizontal force sensor and is used for measuring horizontal stress of the second end of the lever unit; the second measuring device is a vertical force sensor and is used for measuring the vertical stress of the second end of the lever unit; and, in addition, the processing unit,
in the measuring method, the moment balance equation of the lever unit comprises a horizontal moment balance equation and a vertical moment balance equation.
8. The measurement method according to claim 7, wherein the torque balance equation does not include a friction torque of the mount to the lever unit; and, in addition, the processing unit,
the step of obtaining the lift value and the torque value of the rotor assembly according to the moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
according to a horizontal moment balance equation and a vertical moment balance equation of the lever unit under each preset angle, respectively obtaining a lift force value and a torque value of the rotor wing assembly corresponding to each preset angle, and respectively calculating average values of the lift force value and the torque value.
9. The measurement method according to claim 7, wherein the moment balance equation includes a friction moment of the mount against the lever unit; and, in addition, the processing unit,
the step of obtaining the lift value and the torque value of the rotor assembly according to the moment balance equations of the lever units under a plurality of preset angles comprises the following steps:
and obtaining a lift force value and a torque value of the rotor wing assembly according to a horizontal moment balance equation and a vertical moment balance equation of the lever unit under any two preset angles.
10. The measuring method according to claim 6, wherein the second end of the lever unit is further provided with a weight adjusting device, wherein in the measuring method,
the step of obtaining a first reading variation value of the first measuring device corresponding to each predetermined angle and a second reading variation value of the second measuring device corresponding to each predetermined angle respectively includes:
and acquiring a first display value of the first measuring device corresponding to each preset angle and a second display value of the second measuring device corresponding to each preset angle.
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