CN203870468U - Mechanical failure debugging device used for rotorcraft - Google Patents
Mechanical failure debugging device used for rotorcraft Download PDFInfo
- Publication number
- CN203870468U CN203870468U CN201420260219.0U CN201420260219U CN203870468U CN 203870468 U CN203870468 U CN 203870468U CN 201420260219 U CN201420260219 U CN 201420260219U CN 203870468 U CN203870468 U CN 203870468U
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- rotor
- arm
- rotor craft
- force
- pedestal
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Abstract
The utility model discloses a mechanical failure debugging device used for a rotorcraft, and the device can improve a debugging effect. The debugging device includes a pedestal which is supported through a telescopic foot stand, an upper surface of the pedestal is equipped with a spherical surface cardan joint, the spherical surface cardan joint is connected with an encoder and equipped with an arm of force fixing rack, each arm of force is equipped with a pressure sensor, and the debugging device also includes a control processing chip, a remote control signal adaptor and a display device. The debugging device can realize direction and stroke detection of all paths of signals of a remote controller, detects whether a sensor and a rotor of the rotorcraft work normally, and preliminarily detects whether deviation of the axis of rotation of the rotor is too large, and according to results of the abovementioned detection, a control system of the aircraft can be further debugged, influence of a mechanical installation error on control precision of the rotorcraft is reduced, and a debugging effect is relatively good. The mechanical failure debugging device used for the rotorcraft is suitable for popularization and application in the field of aircraft debugging equipment.
Description
Technical field
The utility model belongs to aircraft commissioning device field, is specifically related to a kind of mechanical fault debugging apparatus for rotor craft.
Background technology
Quadrotor is a kind of unmanned vehicle with four rotors (screw propeller).Its four rotors are cruciform or X-shaped decussate texture, and two relative rotors are one group, have identical sense of rotation; Rotor wing rotation direction is on the same group not different.Different from traditional helicopter, four-rotor helicopter can only be realized exercises by changing the speed of rotor (screw propeller).It can realize the flare maneuvers such as vertical takeoff and landing, hovering, advance and retreat, there is the features such as physical construction is simple, space flexibility is high, control simple, autonomy is good, in fields such as Aerial photography, environmental monitoring, geology remote measurement, safety monitoring, polling transmission lines, possessing application prospect widely, is the Disciplinary Frontiers of Research on Intelligent Robots in recent years.
The integrated navigation system that quadrotor relies on the sensors such as gyroscope, accelerometer, magnetometer, GPS to form is conventionally realized the measurement of attitude, position, and is resolved, by control algolithm, calculated attitude, position control signal again by flight controller (microprocessor); Flight controller output control signal is controlled respectively four electron speed regulators on rotor, drives four motors and rotor thereof to do the rotation of corresponding speed, realizes different sporting flyings.This aircraft is a typical Nonlinear Underactuated System, by four motors of four drivings (input) signal driver and rotor thereof, is rotated, and realizes pitching (advance and retreat), roll, lifting totally six flare maneuvers.
The Aerodynamics Model of quadrotor is comparatively simple, lower to the degree of dependence of atmospheric pressure and air-flow character in flight course.It,, possessing zonule, among a small circle in flexible motion advantage, being more easily subject to the impact of surrounding environment and self control device system failure, causes the even air crash accident of going off course at short notice.Six aspects such as four rotor flyings control that faults generally include that remote controller signal is lost, remote signal is unreasonable, sensor fault, motor servo dropout, motor servo state are unreasonable, mechanical erection fault.
At present, it is only to debug for flight control system that malfunction test is controlled in the flight of rotor craft, do not consider the impact that the mechanical erection precision of rotor craft is brought, be that existing aircraft control malfunction test all carries out under fare-you-well based on aircraft mechanical erection precision, but, owing to being subject to the impact of various external conditions, perfect state when mechanical erection precision cannot reach design, will inevitably there is certain alignment error, even if the installation accuracy of aircraft is debugged after aircraft assembling, but, under normal conditions, the debugging place of aircraft installation accuracy and practical flight place are relatively far apart, in carrying process, also may there is rack construction deviation in the frame of having debugged, or wiring error, when the error of this mechanical erection precision can cause practical flight, the control accuracy of rotor craft is poor, and, existing aircraft malfunction test adopts model plane to carry out, when just requiring to debug, this not only need model plane to control experience, also need to be by computer, the instruments such as slide calliper rule carry out, very inconvenience.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of mechanical fault debugging apparatus for rotor craft that can improve debugging effect.
The utility model solves the technical scheme that its technical matters adopts: should be for the mechanical fault debugging apparatus of rotor craft, comprise pedestal, described pedestal supports by extension type foot rest, described pedestal upper surface is provided with sphere universal joint, on described sphere universal joint, be connected with for obtaining the scrambler of sphere universal joint 3 d pose data, on described sphere universal joint, arm of force fixed mount is installed, the arm of force quantity of described arm of force fixed mount is corresponding with the rotor number of holders of rotor craft, on described each arm of force, pressure transducer is all installed, when rotor craft is arranged on arm of force fixed mount, the pressure that described pressure transducer produces for detection of this place's rotor between the rotor support of the arm of force and rotor craft, also comprise control process chip, remote signal breakout box and display device, described remote signal breakout box, pressure transducer, scrambler, display device is connected with control process chip signal respectively.
Further, described extension type foot rest comprises sleeve, in described sleeve, is provided with support bar, on described sleeve, is provided with locking device.
Further, set nut is set on sleeve and forms described locking device.
Further, on described pedestal, be provided with level meter.
Further, the end of the described arm of force is connected with damping spring, and the other end of described damping spring is fixed on the upper surface of pedestal.
Further, described display device is LCD display.
The beneficial effects of the utility model are: the mechanical fault debugging apparatus for rotor craft described in the utility model can be realized telepilot each road sense and stroke detection, detect the sensor of rotor craft, whether rotor is working properly, and whether the axis of rotation of Preliminary detection rotor departs from excessive, detect each pid control parameter under each axle floating state of rotor craft whether within certain zone of reasonableness, whether detect rotor craft load center of gravity in rotor craft rotation center, operating personnel can further debug flight control according to the result of above-mentioned detection, reduce the impact of mechanical erection error on rotor craft control accuracy, can improve the control accuracy of aircraft, debugging effect is better, and, this mechanical fault debugging apparatus for rotor craft in use, only need first utilize extension type foot rest that base supports is lived and leveling, and regulate sphere universal joint to make it in equilibrium position, then rotor craft is fixed on arm of force fixed mount, then make rotor craft do different attitude actions, can complete above-mentioned detection, whole process operation is very convenient, without commissioning staff, having model plane experience can complete.
Accompanying drawing explanation
Fig. 1 is that the utility model is for the three-dimensional structure schematic diagram of the mechanical fault debugging apparatus of rotor craft;
Description of reference numerals: pedestal 1, extension type foot rest 2, sleeve 201, support bar 202, sphere universal joint 3, scrambler 4, arm of force fixed mount 5, pressure transducer 6, control process chip 7, remote signal breakout box 8, display device 9, level meter 10, damping spring 11.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is further described.
As shown in Figure 1, should be for the mechanical fault debugging apparatus of rotor craft, comprise pedestal 1, described pedestal 1 supports by extension type foot rest 2, described pedestal 1 upper surface is provided with sphere universal joint 3, on described sphere universal joint 3, be connected with for obtaining the scrambler 4 of sphere universal joint 33 d pose data, on described sphere universal joint 3, arm of force fixed mount 5 is installed, the arm of force quantity of described arm of force fixed mount 5 is corresponding with the rotor number of holders of rotor craft, on described each arm of force, pressure transducer 6 is all installed, when rotor craft is arranged on arm of force fixed mount 5, the pressure that described pressure transducer 6 produces for detection of this place's rotor between the rotor support of the arm of force and rotor craft, also comprise and control process chip 7, remote signal breakout box 8 and display device 9, described remote signal breakout box 8, pressure transducer 6, scrambler 4, display device 9 is connected with control process chip 7 signals respectively.Mechanical fault debugging apparatus for rotor craft described in the utility model can be realized telepilot each road sense and stroke detection, detect the sensor of rotor craft, whether rotor is working properly, and whether the axis of rotation of Preliminary detection rotor departs from excessive, detect each pid control parameter under each axle floating state of rotor craft whether within certain zone of reasonableness, whether detect rotor craft load center of gravity in rotor craft rotation center, operating personnel can further debug flight control according to the result of above-mentioned detection, reduce the impact of mechanical erection error on rotor craft control accuracy, can improve the control accuracy of aircraft, debugging effect is better, and, this mechanical fault debugging apparatus for rotor craft in use, only need first utilize extension type foot rest 2 that pedestal 1 is supported and leveling, and regulate sphere universal joint 3 to make it in equilibrium position, then rotor craft is fixed on arm of force fixed mount 5, then make rotor craft do different attitude actions, can complete above-mentioned detection, whole process operation is very convenient, without commissioning staff, having model plane experience can complete.
In the above-described embodiment, described extension type foot rest 2 can adopt existing various structure, as long as can realize the object that length is passable, as preferred mode, be: described extension type foot rest 2 comprises sleeve 201, in described sleeve 201, be provided with support bar 202, on described sleeve 201, be provided with locking device, the extension type foot rest 2 of this structure, when regulating, open locking device, then regulate the extension elongation of support bar 202, after its adjusting is put in place, with locking device, support bar 202 is locked again, adjustment process is convenient and swift.Further, described locking device can adopt existing various fastener, as preferably: set nut is set on sleeve 201 and forms described locking device.
In order to observe intuitively and to understand whether leveling of pedestal 1, on described pedestal 1, be provided with level meter 10.
For the ease of rotor craft being arranged on arm of force fixed mount 5, the end of the described arm of force is connected with damping spring 11, the other end of described damping spring 11 is fixed on the upper surface of pedestal 1, it is for the arm of force can not rocked that damping spring 11 is set, and when rotor craft is installed, can achieve a butt joint fast.
For the ease of observing, described display device 9 is LCD display.
This use procedure for the mechanical fault debugging apparatus of rotor craft is as follows:
The first step, the preliminary work before mechanical fault debugging of carrying out:
1, first pedestal 1 is fixed on to earth's surface by extension type foot rest 2, and regulate extension type foot rest 2 according to level meter 10, guarantee that pedestal 1 is steady, then by scrambler 4, obtain sphere universal joint 33 d poses, and to regulate sphere universal joint 3 to make it be that the angle of pitch, roll angle, course angle are 0 ° in equilibrium position, now rotor craft is also horizontal;
2, rotor craft is fixed on arm of force fixed mount 5, and each arm of force of each rotor arm and arm of force fixed mount 5 is fixed together, meanwhile, by LCD display, observe pressure transducer 6 readings and guarantee that pressure transducer 6 normally works, remote signal breakout box 8 is arranged between remote controller signal receiver and rotor flying controller, makes remote signal first through remote signal breakout box 8, enter again flight controller.
Second step, carry out mechanical fault diagnosis:
1, detect telepilot each road sense and stroke.In testing process, remote signal breakout box 8 enters locking mode, be that remote signal breakout box 8 receives remote signals but is not delivered to the flight controller of rotor craft, remote signal breakout box 8 gathers current remote signal value and flows to controls process chip 7, control process chip 7 according to current remote signal, through type a calculates corresponding state of flight, and on LCD display screen, shows the flight trend of rotor craft under coordinate system, the i.e. course angle of rotor craft
pitching angle theta, roll angle ρ, finally judge that for operator whether current telepilot setting is correct.
Rotary-wing flight state comprises course angle
pitching angle theta, roll angle ρ, with corresponding San road remote signal PPM (i) i=1,2,3, the relation between course, pitching, roll signal of representing is respectively suc as formula shown in a.
First manipulator is allocated to maximum, minimum point by each road signal of telepilot, to obtain the mid point of corresponding each road signal, is mid (i) i=1, and 2,3.
2, whether sensor, the rotor of detection rotor craft be working properly, and whether the axis of rotation of Preliminary detection rotor departs from excessive.Pedestal 1 is placed in to wind sheltering environment, in testing process, remote signal breakout box 8 enters locking mode, be that remote signal breakout box 8 receives remote signals but is not delivered to the flight controller of rotor craft, control process chip 7 and by remote signal breakout box 8, throttle signal is sent to the flight controller of rotor craft, other three roads attitude signal pitching, roll, course remain on equilibrium position, make rotor craft on pedestal 1, control voluntarily Equilibrium, its fuselage is remained in stable plane.Afterwards, by scrambler 4, obtain the three-dimensional perspective of current sphere universal joint 3, if the pressure being subject on four pressure transducers 6 is evenly or when being zero, three-dimensional perspective and equilibrium position angle are that the angle of pitch, roll angle, course angle are and between 0 °, have obvious, constant error, there is biased error in the sensor that shows rotor craft, need to again calibrate, by the LCD display screen output calibration information corresponding with this error; If three-dimensional perspective and equilibrium position angle are the angle of pitch, roll angle, course angle be between 0 ° exist obviously, periodic error, show that the axis of rotation of rotor craft rotor and original position depart from excessively, by lcd screen, export corresponding rotor numbering and Axle alignment information;
Meanwhile, whether the lift that each rotor that inspection pressure sensor 6 obtains produces under constant servosignal is constant, if the pressure transducer 6 of rotor continues to detect high-frequency jitter signal on certain axle, at LCD display screen, report rotor or electron speed regulator fault.
3, detect each pid control parameter under each axle floating state of rotor craft whether within certain zone of reasonableness.Pedestal 1 is placed in to wind sheltering environment, in testing process, remote signal breakout box 8 enters locking mode, be that remote signal breakout box 8 receives remote signals but is not delivered to the flight controller of rotor craft, control process chip 7, by remote signal breakout box 8, throttle signal is greater than to the flight controller that 1/3 throttle stroke sends to rotor craft, other three roads attitude signal pitching, roll, course remain on equilibrium position, make rotor craft on pedestal 1, control voluntarily Equilibrium, its fuselage is remained in stable plane.By the attitude angle of change rotor craft pitching or roll axle, and keep this angle constant.By sphere universal joint 3, detect the attitude angle of current flight device, and record this rear corresponding Si of axle attitude angle change road servosignal by fluctuating to the parameter value of stabilization sub stage; Maximal value and the gap between stationary value of Ruo Mou road servo parameter are greater than 15% of stationary value, by LCD, export P parameter and cross large-signal; Ruo Mou road servosignal time to steady state (SS) after angle change is greater than 7s, by LCD, exports suggestion and turns down integral time.
4, whether detect rotor craft load center of gravity in rotor craft rotation center.Pedestal 1 is placed in to wind sheltering environment, in testing process, remote signal breakout box 8 enters locking mode, be that remote signal breakout box 8 receives remote signals but is not delivered to the flight controller of rotor craft, control that process chip 7 sends throttle signals by remote signal breakout box 8 and attitude signal comprises that pitching, roll, course are to rotary-wing flight controller.Throttle signal remains on a certain steady state value, and periodically-varied pitching or roll signal synchronization only change a wherein road signal, and another road signal remains on equilibrium point, makes aircraft in certain plane, do periodically to-and-fro movement.According to pitching or roll sense is contrary, amplitude is identical corresponding two group coding device 4 angle values of signal, as remote signal opposite direction but the corresponding angle value of the identical signal of amplitude is different, show angle value less one to stress the heart excessive, to lcd screen, report the less motor of angle value and number and export centre of gravity adjustment suggestion.
Claims (6)
1. for the mechanical fault debugging apparatus of rotor craft, it is characterized in that: comprise pedestal (1), described pedestal (1) supports by extension type foot rest (2), described pedestal (1) upper surface is provided with sphere universal joint (3), on described sphere universal joint (3), be connected with for obtaining the scrambler (4) of sphere universal joint (3) 3 d pose data, arm of force fixed mount (5) is installed on described sphere universal joint (3), the arm of force quantity of described arm of force fixed mount (5) is corresponding with the rotor number of holders of rotor craft, pressure transducer (6) is all installed on described each arm of force, when rotor craft is arranged on arm of force fixed mount (5), the pressure that described pressure transducer (6) produces for detection of this place's rotor between the rotor support of the arm of force and rotor craft, also comprise and control process chip (7), remote signal breakout box (8) and display device (9), described remote signal breakout box (8), pressure transducer (6), scrambler (4), display device (9) is connected with control process chip (7) signal respectively.
2. the mechanical fault debugging apparatus for rotor craft as claimed in claim 1, it is characterized in that: described extension type foot rest (2) comprises sleeve (201), in described sleeve (201), be provided with support bar (202), described sleeve is provided with locking device on (201).
3. the mechanical fault debugging apparatus for rotor craft as claimed in claim 2, is characterized in that: set nut is set on sleeve (201) and forms described locking device.
4. the mechanical fault debugging apparatus for rotor craft as claimed in claim 3, is characterized in that: on described pedestal (1), be provided with level meter (10).
5. the mechanical fault debugging apparatus for rotor craft as claimed in claim 4, is characterized in that: the end of the described arm of force is connected with damping spring (11), and the other end of described damping spring (11) is fixed on the upper surface of pedestal (1).
6. the mechanical fault debugging apparatus for rotor craft as claimed in claim 5, is characterized in that: described display device (9) is LCD display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420260219.0U CN203870468U (en) | 2014-05-20 | 2014-05-20 | Mechanical failure debugging device used for rotorcraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420260219.0U CN203870468U (en) | 2014-05-20 | 2014-05-20 | Mechanical failure debugging device used for rotorcraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203870468U true CN203870468U (en) | 2014-10-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420260219.0U Withdrawn - After Issue CN203870468U (en) | 2014-05-20 | 2014-05-20 | Mechanical failure debugging device used for rotorcraft |
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| Country | Link |
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| CN (1) | CN203870468U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103984339A (en) * | 2014-05-20 | 2014-08-13 | 西南交通大学 | Mechanical failure debugging device for rotor craft |
| CN105620737A (en) * | 2016-02-26 | 2016-06-01 | 厦门大学嘉庚学院 | Voice remote control system used for helicopter type aircraft and helicopter type remote control aircraft |
| CN114489139A (en) * | 2022-02-08 | 2022-05-13 | 浙江极客桥智能装备股份有限公司 | Unmanned aerial vehicle automatic rising and falling control method, system, terminal and medium |
-
2014
- 2014-05-20 CN CN201420260219.0U patent/CN203870468U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103984339A (en) * | 2014-05-20 | 2014-08-13 | 西南交通大学 | Mechanical failure debugging device for rotor craft |
| CN103984339B (en) * | 2014-05-20 | 2016-08-24 | 西南交通大学 | Mechanical breakdown debugging apparatus for rotor craft |
| CN105620737A (en) * | 2016-02-26 | 2016-06-01 | 厦门大学嘉庚学院 | Voice remote control system used for helicopter type aircraft and helicopter type remote control aircraft |
| CN114489139A (en) * | 2022-02-08 | 2022-05-13 | 浙江极客桥智能装备股份有限公司 | Unmanned aerial vehicle automatic rising and falling control method, system, terminal and medium |
| CN114489139B (en) * | 2022-02-08 | 2024-02-02 | 浙江极客桥智能装备股份有限公司 | Unmanned aerial vehicle automatic landing control method, system, terminal and medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141008 Effective date of abandoning: 20160824 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |