CN116380398A - Fixed-wing unmanned plane side wind effect aerodynamic wind tunnel test device and method thereof - Google Patents
Fixed-wing unmanned plane side wind effect aerodynamic wind tunnel test device and method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of pneumatic measurement, and particularly discloses a fixed-wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device and a method thereof, wherein the device comprises a wind tunnel device for providing side wind conditions and a turntable for supporting the unmanned aerial vehicle to perform experiments; the turntable is arranged between the wind tunnel contraction section and the wind tunnel diffusion section of the wind tunnel device; the turntable is provided with a hydraulic cylinder for adjusting the attack angle of the unmanned aerial vehicle wing; the unmanned aerial vehicle comprises a rotary table, a controller and a control unit, wherein the rotary table is used for driving the rotary table to rotate so as to adjust the horizontal angle of the unmanned aerial vehicle; and a pneumatic balance for measuring pneumatic characteristics is arranged between the turntable and the electric turntable. The invention can automatically realize aerodynamic force measurement of the unmanned aerial vehicle under the crosswind, does not need manual operation, has the characteristics of good stability, high precision and high test efficiency, and can simultaneously consider measurement of other physical quantities such as aerodynamic noise, speed field and the like.
Description
Technical Field
The invention belongs to the technical field of pneumatic measurement, and particularly relates to a fixed-wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device and a method thereof.
Background
Along with artificial intelligence and information technology energization, unmanned plane technology development is gradually changed. The fixed wing unmanned aerial vehicle has a large number of applications in the fields of national economy and national defense construction of China. When the unmanned aerial vehicle flies in complex wind environments such as wake flow of a large wind power plant, deep cut canyon of a mountain, tunnel outlet and the like, the unmanned aerial vehicle is extremely easy to suffer from influences such as crosswind (the wind direction is at a certain angle with the heading of the unmanned aerial vehicle), gust, wind shear and the like, and especially the crosswind can seriously threaten the flight safety of the unmanned aerial vehicle. The aerodynamic characteristics of the unmanned aerial vehicle under the crosswind condition are obtained through wind tunnel test measurement, so that references can be provided for optimally designing the aerodynamic shape of the unmanned aerial vehicle and improving the flight control algorithm of the unmanned aerial vehicle, the flight performance of the unmanned aerial vehicle is further improved, and the flight safety of the unmanned aerial vehicle is guaranteed.
Disclosure of Invention
The invention aims to provide a aerodynamic wind tunnel test device and a test method for a side wind effect of a fixed-wing unmanned aerial vehicle, which can automatically realize aerodynamic force measurement of the fixed-wing unmanned aerial vehicle under the side wind, do not need manual operation, have the characteristics of good stability, high precision and high test efficiency, and can simultaneously consider measurement of other physical quantities such as aerodynamic noise, speed field and the like.
In order to solve the technical problems, the invention adopts the following technical scheme: the aerodynamic wind tunnel test device for the side wind effect of the fixed wing unmanned aerial vehicle comprises a wind tunnel device for providing side wind conditions and a turntable for supporting the unmanned aerial vehicle to perform experiments; the wind tunnel device comprises a wind tunnel contraction section, an extension section connected to the rear end of the wind tunnel contraction section, and a wind tunnel diffusion section arranged at intervals with the wind tunnel contraction section; the wind tunnel contraction section, the extension section and the wind tunnel diffusion section are arranged on the same axis, and only one lower end plate extends out of the bottom of the extension section; the turntable is arranged between the wind tunnel contraction section and the wind tunnel diffusion section and is positioned on the same plane with the lower end plate, and a hydraulic cylinder for adjusting the attack angle of the unmanned aerial vehicle wing is arranged on the turntable; the unmanned aerial vehicle further comprises an electric turntable for driving the turntable to rotate so as to adjust the horizontal angle of the unmanned aerial vehicle, and a controller for controlling the electric turntable; a pneumatic balance for measuring pneumatic characteristics is arranged between the turntable and the electric turntable; the unmanned aerial vehicle is located in a core area of a flow field, wherein the height of the unmanned aerial vehicle on the turntable is 60% -80% of the height of an opening of the extension section.
As an improvement, the lower end plate is provided with a hole, and the turntable is arranged in the hole.
As an improvement, the lower end plate and the turntable are marked with angle scale marks for calibrating the electric turntable.
As an improvement, the turntable is provided with a supporting rod perpendicular to the turntable, and the top end of the supporting rod is provided with a hinge piece used for being connected with the unmanned aerial vehicle; the sum of the height of the support rod and the height of the hinge piece is 60% -80% of the height of the opening of the extension section, so that the unmanned aerial vehicle is located in the core area of the flow field.
As an improvement, the hinge comprises a connection part for connecting with the strut and a bearing surface for bearing the unmanned aerial vehicle; when the unmanned aerial vehicle is mounted on the bearing surface, the unmanned aerial vehicle is pushed to rotate around the hinge part along the vertical direction by the push rod of the hydraulic cylinder, so that the attack angle of the unmanned aerial vehicle wing is adjusted. During the test, according to different target attack angles to be tested, the displacement of the hydraulic cylinder along the vertical direction is controlled through a corresponding program, so that the adjustment of different attack angles of the unmanned aerial vehicle wing is realized. For example, the displacement of the push rod along the vertical direction is calculated according to each target attack angle in the test in advance, so that the displacement corresponding to each target attack angle is obtained, and therefore, in the test, the controller can automatically control the displacement of the push rod according to the pre-stored current target attack angle according to the test requirement.
As an improvement, the supporting rod is externally wrapped with a guide cover; the cross-sectional shape of the air guide sleeve is consistent with that of the wing. By arranging the air guide sleeve, the aerodynamic resistance during test is reduced.
The invention also provides a method for testing the aerodynamic wind tunnel of the side wind effect of the fixed wing unmanned plane, which is applied to the aerodynamic wind tunnel testing device of the side wind effect and comprises the following steps:
s1, installing a dynamic aerodynamic force data acquisition system;
s2, pushing the angle of rotation of the unmanned aerial vehicle around the hinge piece along the vertical direction by controlling a push rod in the hydraulic cylinder, so that the wing attack angle of the unmanned aerial vehicle is adjusted to a target attack angle value;
s3, starting the wind tunnel, adjusting the speed and the pressure to the target value, and then, waiting for the wind speed to reach a preset value;
s4, controlling the rotation target angle of the electric turntable by a controller through control parameters, wherein the control parameters comprise the rotation speed, displacement and system waiting time of the electric turntable; wherein 90 degrees is more than or equal to the target angle > 0 degrees; preferably, the motorized turntable rotates through 90 ° at a speed of 1 °/s;
s5, acquiring aerodynamic force measurement data of the unmanned aerial vehicle through a dynamic aerodynamic force acquisition system;
s6, stopping the wind tunnel;
s7, acquiring aerodynamic lift, resistance and moment on the aerodynamic balance according to the aerodynamic balance calibration measurement data;
and S8, controlling a push rod in the hydraulic cylinder to push the unmanned aerial vehicle to rotate around the hinge part along the vertical direction so as to adjust the attack angle of the wing of the unmanned aerial vehicle, adjusting the wind speed of the wind tunnel device, and repeating the steps S2-S5 until the measurement is completed.
As an improvement, after the wing attack angle of the unmanned aerial vehicle is adjusted to the target attack angle value by the hydraulic cylinder, the formula is utilized
Correcting the attack angle of the unmanned aerial vehicle wing to obtain an equivalent attack angle, wherein,
in order to achieve an equivalent angle of attack,
is the geometric attack angle;
；
；
the chord length of the wing is represented,
representing the wind tunnel nozzle height.
As an improvement, the calibration is performed before the controller is used for controlling the rotation of the electric turntable, and the step of calibrating comprises:
setting displacement parameters of the electric turntable, and controlling the electric turntable to rotate according to the displacement parameters;
observing the actual rotation angle of the turntable through calibration scale marks on the turntable and the lower end plate;
and calibrating the displacement parameter according to the ratio of the displacement parameter to the actual rotation angle of the turntable.
As an improvement, the method for acquiring aerodynamic lift, resistance and moment on the aerodynamic balance according to the calibration measurement data of the aerodynamic balance comprises the following steps:
using the formula
the measurement data is calibrated, wherein,
for the balance calibration matrix,
in order to calibrate the coefficient matrix,
the voltage is output for the aerodynamic resistance output by the aerodynamic balance,
the voltage is output for the aerodynamic lift force output by the aerodynamic balance,
the pneumatic side force output voltage is output by the pneumatic balance,
the voltage is output for the aerodynamic resistance moment output by the aerodynamic balance,
the voltage is output for the aerodynamic lift force moment output by the aerodynamic balance,
the voltage is output for the pneumatic side force moment output by the aerodynamic balance,
is the axial force of the aerodynamic force,
is the normal force of the aerodynamic force,
is the lateral force of the aerodynamic force,
is the rolling moment of the aerodynamic moment,
the yaw moment being the aerodynamic moment,
the pitching moment, which is the aerodynamic moment.
The invention has the advantages that:
1. the dynamic aerodynamic force of the unmanned aerial vehicle under the crosswind condition is measured in the open wind tunnel by using the external balance, the force transmission path is clear, the measurement stability is good, the precision is high, and the obtained test data can provide basis for the aerodynamic shape design of the unmanned aerial vehicle and the optimization of the flight control algorithm.
2. The electric turntable controls the included angle between the heading of the fixed wing unmanned aerial vehicle and the direction of the air flow, the movement speed of the turntable can be freely controlled, the turntable movement and the data acquisition are synchronously carried out, and the real-time acquisition of dynamic aerodynamic data is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale. It will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the invention and that other drawings may be derived from these drawings without inventive faculty.
FIG. 1 is a schematic diagram of a fixed wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic perspective view of a aerodynamic wind tunnel test device for a side wind effect of the fixed wing unmanned aerial vehicle shown in FIG. 1;
FIG. 3 is a diagram of the composition of an electric turntable control system;
FIG. 4 is a schematic structural view of a hinge;
FIG. 5 is a flow chart of a fixed wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test according to an exemplary embodiment of the present invention.
In the figure: 1-a wind tunnel contraction section; 2-a wind tunnel diffusion section; 3-an extension; 4-a supporting rod; 5-a hinge; 6, wing; 7, a support flange; 8-a pneumatic balance; 9-an adapter plate; 10-an electric turntable; 11-supporting the table top; 12-supporting legs; 13, angle code; 14-a turntable; 15-a lower end plate; 16-a hydraulic cylinder; 51-connecting part; 52-bearing surface; 53-spindle.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In this document, suffixes such as "module", "component", or "unit" used to represent elements are used only for facilitating the description of the present invention, and have no particular meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.
The terms "upper," "lower," "inner," "outer," "front," "rear," "one end," "the other end," and the like herein refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted," "configured to," "connected," and the like, herein, are to be construed broadly as, for example, "connected," whether fixedly, detachably, or integrally connected, unless otherwise specifically defined and limited; the two components can be mechanically connected, can be directly connected or can be indirectly connected through an intermediate medium, and can be communicated with each other. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Herein, "and/or" includes any and all combinations of one or more of the associated listed items.
Herein, "plurality" means two or more, i.e., it includes two, three, four, five, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The applicant's prior application of China patent 202211092443.9 discloses an open wind tunnel unmanned wing type aerodynamic force measuring system, which comprises a supporting and fixing device for supporting an unmanned wing type, an angle adjusting device for adjusting an unmanned wing type attack angle and an aerodynamic force balance for measuring; an extension section is arranged on the supporting and fixing device; the extension section is tubular, the front end of the extension section is connected with the outlet of the wind tunnel contraction section, and the rear end of the extension section is connected with the air inlet end of the fixing device. The extension section is connected with the wind tunnel contraction section and the supporting and fixing device, so that the unmanned wing type is positioned in a core jet flow area of the wind tunnel. In order to ensure the measurement accuracy, the wing needs to be placed in the core area of the flow field, so that the wing is fixed through the upper end plate and the lower end plate, and meanwhile, the length of the vertically installed wing is consistent with the height of the extension section, so that the wing is ensured to be positioned in the core area of the flow field, but the flow field along the length direction of the wing is kept unchanged, namely the wing is actually positioned in the two-dimensional flow field.
However, unlike aerodynamic force measurement of the wing, for measurement of the fixed wing unmanned aerial vehicle side wind effect, not only the fixed wing unmanned aerial vehicle needs to be located in a core area of a flow field, but also the fixed wing unmanned aerial vehicle needs to be located in a three-dimensional flow field along the unmanned aerial vehicle wing, namely when the coordinate system is constructed by taking the center of the unmanned aerial vehicle wing as an origin of the coordinate system, taking the length direction of the unmanned aerial vehicle wing as an X axis, the width direction as a Y axis and the height direction as a Z axis, airflow blown to the unmanned aerial vehicle wing needs to be changed in all three directions. It is clear that the measuring system disclosed in the above-mentioned patent is not applicable.
In order to facilitate measurement of a fixed wing unmanned aerial vehicle side wind effect, as shown in fig. 1-2, the invention discloses a fixed wing unmanned aerial vehicle side wind effect wind tunnel measurement device, which comprises: a wind tunnel device for providing crosswind conditions, a turntable 14 for supporting the unmanned aerial vehicle for experiments;
the wind tunnel device comprises a wind tunnel contraction section 1, an extension section 3 connected to the rear end of the wind tunnel contraction section 1, and a wind tunnel diffusion section 2 arranged at intervals with the wind tunnel contraction section 1; the wind tunnel contraction section 1, the extension section 3 and the wind tunnel diffusion section 2 are arranged on the same axis;
the turntable 14 is arranged between the wind tunnel contraction section 1 and the wind tunnel diffusion section 2; and the turntable 14 is provided with a hydraulic cylinder 16 for adjusting the attack angle of the unmanned aerial vehicle wing 6; the unmanned aerial vehicle further comprises an electric turntable 10 for driving the turntable 14 to rotate so as to adjust the horizontal angle of the unmanned aerial vehicle, and a controller for controlling the electric turntable 10; wherein an air balance 8 for measuring the air characteristics is arranged between the turntable 14 and the electric turntable 10.
In order to include the unmanned aerial vehicle in the core area of the flow field, and also to make the wing in the three-dimensional flow field, the extension section 3 is extended with only one lower end plate 15, and the lower end plate 15 and the turntable 14 are located on the same plane. Specifically, the lower end plate 15 is provided with a hole, and the turntable 14 is mounted in the hole. The fact that only one lower end plate 15 is arranged means that the upper end plate is not arranged at the opening of the extension section 3, the left end plate and the right end plate are not arranged, and the unmanned aerial vehicle is located at 60% -80% of the height of the extension section 3. The air flow blown out from the extension section 3 is diffused above (i.e. in the height direction) and left and right (i.e. in the length direction) as well as front and back (i.e. in the width direction) of the unmanned aerial vehicle wing 6, i.e. the unmanned aerial vehicle wing is in a three-dimensional flow field. In the prior art, the height of the wing is equal to the height of the extension section, and due to the combined action of the upper end plate and the lower end plate, the flow field in the Z-axis direction is unchanged, namely the wing is in a two-dimensional flow field, and the test condition of the invention cannot be achieved.
When the crosswind test is carried out, the unmanned aerial vehicle needs to rotate by 0-90 degrees. In the prior art, the angle of the turntable is changed by manually adjusting the worm gear. The above adjustment mode of the present invention is not applicable, however, the angle adjustment in the prior art is limited to about 15 °, and the angle range to be adjusted in the present invention is larger than 0 ° -90 °, especially sometimes needs to be adjusted to 90 °, and because the wing is in the three-dimensional flow field, the rotation speed needs to be considered: if the rotation speed is too high, interference can be caused by the rotation inertia, for example, unmanned aerial vehicle vibration and the like in the rotation process; if the rotation speed is too small, the test period is prolonged, and the power consumption of the whole test of the wind tunnel is huge, so that the test cost is increased.
Therefore, the electric turntable 10 is adopted to realize the rotation of the unmanned aerial vehicle, and the rotation angle and the rotation speed of the unmanned aerial vehicle are automatically controlled by the controller, for example, the unmanned aerial vehicle is driven to rotate at the rotation speed of 1 DEG/s. Specifically, as shown in fig. 3, the electric turntable 10 is connected to a driver, a controller, and an upper computer. The control program is programmed by the upper computer and sent to the controller, and then the electric turntable is driven to rotate by the driver.
However, the electric turntable 10 lacks in accuracy of rotation, and therefore, calibration is required before each test. The lower end plate 15 and the turntable 14 are marked with angle graduation marks for calibration. The number of the graduation lines of the turntable is 1, the graduation lines of the lower end plate are multiple, for example, -15 degrees to 15 degrees, and the graduation lines are spaced at intervals of 1 degree. Thus, the calibration can be performed through the ratio between the rotation angle of the electric turntable and the actual rotation angle. Specific calibration methods are described in detail below.
In order to enable the unmanned aerial vehicle to be located in the core area of the flow field, the unmanned aerial vehicle needs to be located at a position of 60% -80% of the height of the extension section. In order to meet the above conditions, the turntable 14 is provided with a strut 4 perpendicular to the turntable 14, and in order to enable automatic adjustment of the wing attack angle of the unmanned aerial vehicle, a hinge 5 is further provided at the top end of the strut 4, so that the unmanned aerial vehicle rotates around the top end of the strut via the hinge 5; the sum of the height of the supporting rod 4 and the height of the hinge piece 5 is 60% -80% of the height of the opening of the extension section 3. Thus, when the unmanned aerial vehicle is mounted on the hinge 5, the unmanned aerial vehicle is located in the core area of the flow field, so that subsequent measurement work is facilitated.
The strut 4 is generally cylindrical or square cylindrical for convenience of processing. For other areas of support, the shape described above does not have a negative impact. However, since the strut 4 is also positioned in the flow field in the present invention, the shape of the strut may cause turbulence in the flow field, thereby affecting the test results.
To avoid this problem, the strut 4 is covered with a guide cover in the present invention; the cross-sectional shape of the pod is consistent with that of an airfoil, for example, the airfoil NACA0015, so that the windage of the strut 4 can be greatly reduced.
Further, in order to facilitate the adjustment of the height of the unmanned aerial vehicle, the supporting rod adopts an electric telescopic rod with adjustable height, or an air cylinder or the like, specifically, a controller of the supporting rod and an upper computer of the test device can carry out wireless data communication, so that the height of the supporting rod is adjusted by receiving a height adjustment instruction (comprising a specific height target value) sent by the upper computer, and further the height adjustment of the unmanned aerial vehicle is realized.
In the invention, the attack angle of the fixed wing of the unmanned aerial vehicle is required to be adjusted for a plurality of groups of tests. As shown in fig. 2 and 4, the angle of attack is adjusted by means of the hinge 5 and the hydraulic cylinder 16. The hinge 5 in the present invention comprises a connection 51 for connection with the strut 4, and a bearing surface 52 for bearing the unmanned aerial vehicle (preferably, the bearing surface 52 is shaped to conform to the shape of the unmanned aerial vehicle bottom so that when the unmanned aerial vehicle is mounted on the bearing surface, the unmanned aerial vehicle is wing symmetrical on both sides, and the wing angle of attack is 0 °); when the unmanned aerial vehicle is mounted on the bearing surface 52, the unmanned aerial vehicle is pushed in the vertical direction by the push rod of the hydraulic cylinder 16, so that the unmanned aerial vehicle rotates at a fixed angle around the hinge 5 (specifically, the hydraulic cylinder drives the unmanned aerial vehicle to rotate, the unmanned aerial vehicle drives the bearing surface to rotate around a rotating shaft 53 connected between the unmanned aerial vehicle and the connecting part 51, and the rotating shaft 53 is parallel to the connecting line between the two ends of the unmanned aerial vehicle wing or parallel to the horizontal plane), thereby adjusting the attack angle of the unmanned aerial vehicle wing. For example, in the initial state, the bearing surface 52 is parallel to the horizontal plane, and when the hydraulic cylinder pushes the unmanned aerial vehicle to rotate, the bearing surface 52 also rotates counterclockwise around the rotation shaft 53, and the rotation angle is the attack angle of the unmanned aerial vehicle wing 6. During the test, according to different target attack angles to be tested, the vertical displacement of the hydraulic cylinder 16 is automatically controlled through a program, so that the automatic adjustment of different attack angles of the unmanned aerial vehicle wing is realized, and the trouble of manual adjustment is avoided. Specifically, the hinge 5 includes the connection portion 51, and a bearing portion hinged to the connection portion, on which a bearing surface for bearing the unmanned aerial vehicle is disposed, where the connection portion 51 includes two connecting rods vertically connected, one connecting rod is fixedly connected to the top of the strut, and the other connecting rod is hinged to the bearing portion.
In order to make the whole test device more stable, the electric turntable 10 is arranged on the supporting table top 11, the supporting table top 11 is provided with the supporting feet 12, and the supporting feet 12 are fixedly connected with the supporting table top 11 through the corner brackets 13 to avoid shaking. The feet 12 may also be fixedly connected to the ground.
In addition, the electric turntable 10 is connected with the pneumatic balance 8 through the adapter plate 9, the pneumatic balance 8 is provided with a support flange 7, and the turntable 14 is fixed on the support flange 7. It is foreseen that the electric turntable 10, the pneumatic balance 8, the turntable 14 should be coaxially arranged, and the error should not exceed 0.1mm, in order to guarantee the accuracy of the experiment.
As shown in fig. 5, the invention further provides a method for measuring a crosswind effect wind tunnel of a fixed wing unmanned aerial vehicle, which is based on the crosswind effect wind tunnel measuring device and comprises the following steps:
s1, a dynamic aerodynamic force data acquisition system is installed.
The pneumatic balance adopts a JR3 company 45E15A4 six-component balance, the pneumatic balance is connected with an NI company PCI6221 dynamic data acquisition card through a special data line, the data acquisition card is installed in a computer case, and Labview data acquisition software is installed on a computer (namely an upper computer).
S2, adjusting the wing attack angle of the unmanned aerial vehicle to a target attack angle value through a hydraulic cylinder and a hinge piece.
The height of the strut is set, then the hinge is fixed on top of the strut and the drone is mounted on the hinge. For example, the initial angle of attack of the unmanned aircraft wing is 0.
Due to the airflow bending effect of the open wind tunnel, the attack angle of the unmanned aerial vehicle wing must be corrected for comparison with the test data of the closed wind tunnel.
In the present invention, the formula is used:
correcting the attack angle of the unmanned aerial vehicle wing to obtain an equivalent attack angle, wherein,
in order to achieve an equivalent angle of attack,
in order to achieve a geometric angle of attack,
，
，
the chord length of the wing is shown as,
representing the wind tunnel nozzle height.
S3, starting the wind tunnel, adjusting the speed and the pressure to the target value, and then, waiting for the wind speed to reach a preset value; in the present invention, the rapid pressure is adjusted to 968, and after a certain period of time, the wind speed is stabilized at 40m/s.
And S4, the controller controls the electric turntable to rotate by 90 degrees through control parameters, wherein the control parameters comprise the rotating speed, the displacement and the system waiting time of the electric state.
In some embodiments of the present invention, preferably, the electric turntable is driven by a stepper motor with a gear ratio of 180:1, i.e. the motor rotates 1 turn, the table rotates 2 °. Setting the current value of the driver to be 1A, and programming an electric turntable controller:
1 SPEED A// controlling the SPEED of the electric turntable;
2 G_LenB// controlling the displacement of the electric turntable;
3 DELAY C// system latency;
4 END。
wherein A, B, C is a control parameter, and the movement speed of the turntable, the angle of single rotation and the like can be controlled by adjusting A, B, C values in a program. For example, in order to turn the turntable at a speed of 1 °/s through 90 °, the values of the parameters are a=1000, b=90000, and c=1000, when the turntable is in place and then waits for 1 s.
In addition, since the rotation of the stepper motor is actually biased, the present invention also includes a calibration step prior to testing. The step of calibrating includes:
s41, setting displacement parameters of the electric turntable, and controlling the electric turntable to rotate according to the displacement parameters; the setting method is as described above, and will not be described here again. For example, the rotation angle is set to 10 °.
S42, observing the actual rotation angle of the turntable through the scale marks on the turntable and the lower end plate, wherein the turntable is rotated by 10.01 degrees.
S43, calibrating the displacement parameter according to the ratio of the displacement parameter to the actual rotation angle of the turntable. Ratio of displacement parameter to actual rotation angle of turntable
Then by
Correcting displacement parameter of electric turntable
I.e.
。
S5, acquiring aerodynamic force measurement data of the unmanned aerial vehicle through a dynamic aerodynamic force acquisition system; the six-component aerodynamic voltage data of the fixed-wing unmanned aerial vehicle are obtained by controlling a data acquisition card through self-organized Labview software.
S6, stopping the wind tunnel;
s7, acquiring aerodynamic lift, resistance and moment on the aerodynamic balance according to the aerodynamic balance calibration measurement data; the method comprises the following steps:
the measurement data is calibrated, wherein,
for the balance calibration matrix,
for the calibration coefficient matrix, the value is an empirical value (which can be set according to actual needs),
-
the voltage is output for the aerodynamic resistance output by the aerodynamic balance,
the voltage is output for the aerodynamic lift force output by the aerodynamic balance,
the pneumatic side force output voltage is output by the pneumatic balance,
the voltage is output for the aerodynamic resistance moment output by the aerodynamic balance,
the voltage is output for the aerodynamic lift force moment output by the aerodynamic balance,
the voltage is output for the pneumatic side force moment output by the aerodynamic balance,
is aerodynamic (including axial force
Lateral force
And normal force
），
Is aerodynamic moment (including rolling moment
Yaw moment
Pitching moment
）。
And S8, controlling a push rod in the hydraulic cylinder to push the unmanned aerial vehicle to rotate around the hinge part along the vertical direction so as to adjust the attack angle of the wing of the unmanned aerial vehicle and the wind speed of the wind tunnel device, repeating the steps S2-S5, and completing aerodynamic force measurement of the fixed wing unmanned aerial vehicle under all wind speeds and attack angles according to the test working condition table.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (10)
1. The utility model provides a fixed wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device which characterized in that: the unmanned aerial vehicle experimental device comprises a wind tunnel device for providing crosswind conditions and a turntable for supporting the unmanned aerial vehicle to perform experiments; the wind tunnel device comprises a wind tunnel contraction section, an extension section connected to the rear end of the wind tunnel contraction section, and a wind tunnel diffusion section arranged at intervals with the wind tunnel contraction section; the wind tunnel contraction section, the extension section and the wind tunnel diffusion section are arranged on the same axis, and only one lower end plate extends out of the bottom of the extension section; the turntable is arranged between the wind tunnel contraction section and the wind tunnel diffusion section and is positioned on the same plane with the lower end plate, and a hydraulic cylinder for adjusting the attack angle of the unmanned aerial vehicle wing is arranged on the turntable; the unmanned aerial vehicle further comprises an electric turntable for driving the turntable to rotate so as to adjust the horizontal angle of the unmanned aerial vehicle, and a controller for controlling the electric turntable; a pneumatic balance for measuring pneumatic characteristics is arranged between the turntable and the electric turntable;
the unmanned aerial vehicle is located in a core area of a flow field, wherein the height of the unmanned aerial vehicle on the turntable is 60% -80% of the height of an opening of the extension section.
2. The fixed-wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device according to claim 1, wherein: the lower end plate is provided with a hole, and the turntable is arranged in the hole.
3. The fixed-wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device according to claim 2, wherein: the lower end plate and the turntable are marked with angle scale marks for calibrating the electric turntable.
4. The fixed-wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device according to claim 1, wherein: the rotary table is provided with a supporting rod perpendicular to the rotary table, and the top end of the supporting rod is provided with a hinge part used for being connected with the unmanned aerial vehicle; the sum of the height of the support rod and the height of the hinge piece is 60% -80% of the height of the opening of the extension section, so that the unmanned aerial vehicle is located in the core area of the flow field.
5. The stationary vane unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device of claim 4, wherein: the hinge comprises a connecting part connected with the supporting rod and a bearing surface for bearing the unmanned aerial vehicle; when the unmanned aerial vehicle is mounted on the bearing surface, the unmanned aerial vehicle is pushed to rotate around the hinge part along the vertical direction by the push rod of the hydraulic cylinder, so that the attack angle of the unmanned aerial vehicle is adjusted.
6. The stationary vane unmanned aerial vehicle side wind effect aerodynamic wind tunnel test device of claim 4, wherein: the supporting rod is externally wrapped with a guide cover; the cross-sectional shape of the air guide sleeve is consistent with that of the wing.
7. A method for testing a side wind effect aerodynamic wind tunnel of a fixed wing unmanned plane, which is applied to the side wind effect aerodynamic wind tunnel testing device of any one of claims 1-6, and is characterized by comprising the following steps:
s1, installing a dynamic aerodynamic force data acquisition system;
s2, pushing the angle of rotation of the unmanned aerial vehicle around the hinge piece along the vertical direction by controlling a push rod in the hydraulic cylinder, so that the wing attack angle of the unmanned aerial vehicle is adjusted to a target attack angle value;
s3, starting the wind tunnel, adjusting the rapid pressure to a target rapid pressure value, and then, waiting for the wind speed to reach a preset value;
s4, the controller controls the electric turntable to rotate to a target angle through control parameters, wherein the control parameters comprise the rotating speed and displacement of the electric turntable; wherein 90 degrees is more than or equal to the target angle > 0 degrees;
s5, acquiring aerodynamic force measurement data of the unmanned aerial vehicle through a dynamic aerodynamic force acquisition system;
s6, stopping the wind tunnel;
s7, acquiring aerodynamic lift, resistance and moment on the aerodynamic balance according to the aerodynamic balance calibration measurement data;
and S8, controlling a push rod in the hydraulic cylinder to push the unmanned aerial vehicle to rotate around the hinge part along the vertical direction so as to adjust the attack angle of the wing of the unmanned aerial vehicle, adjusting the wind speed of the wind tunnel device, and repeating the steps S2-S5 until the measurement is completed.
8. The fixed-wing unmanned aerial vehicle side wind effect aerodynamic wind tunnel test method of claim 7, wherein the method comprises the following steps of: after the wing attack angle of the unmanned aerial vehicle is adjusted to the target attack angle value through the hydraulic cylinder, a formula is utilized
Correcting the attack angle of the unmanned aerial vehicle wing to obtain an equivalent attack angle,
wherein,,
for equivalent angle of attack>
For geometric attack angle>
，/>
，
Representing wing chord length, +.>
Representing the wind tunnel nozzle height.
9. The method of claim 7, wherein the step of calibrating is performed before the controller is used to control the rotation of the electric turntable, the step of calibrating comprising:
setting displacement parameters of the electric turntable, and controlling the electric turntable to rotate according to the displacement parameters;
observing the actual rotation angle of the turntable through calibration scale marks on the turntable and the lower end plate;
and calibrating the displacement parameter according to the ratio of the displacement parameter to the actual rotation angle of the turntable.
10. The method for testing the aerodynamic wind tunnel of the side wind effect of the fixed wing unmanned aerial vehicle according to claim 7, wherein the step of acquiring aerodynamic lift, resistance and moment on the aerodynamic balance according to the calibration measurement data of the aerodynamic balance comprises the following steps:
using the formula
Wherein->
；
The measurement data is calibrated, wherein,
for balance calibration matrix>
For calibrating coefficient matrix>
Output voltage for aerodynamic resistance output of aerodynamic balance, +.>
Output voltage for aerodynamic lift force output by aerodynamic balance, < +.>
Pneumatic side force output voltage for outputting aerodynamic balance，/>
Output voltage for aerodynamic drag torque output by aerodynamic balance, < +.>
Output voltage of aerodynamic lift force moment for aerodynamic balance>
Pneumatic side force moment output voltage for pneumatic balance>
Axial force for aerodynamic force +.>
Is the normal force of aerodynamic force, +.>
Lateral force for aerodynamic force, ++>
Is the rolling moment of the aerodynamic moment,
yaw moment, which is the aerodynamic moment, +.>
The pitching moment, which is the aerodynamic moment.
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