CN204631623U - A kind of many rotor wing unmanned aerial vehicles fly control debugging protective device - Google Patents
A kind of many rotor wing unmanned aerial vehicles fly control debugging protective device Download PDFInfo
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- CN204631623U CN204631623U CN201520269909.7U CN201520269909U CN204631623U CN 204631623 U CN204631623 U CN 204631623U CN 201520269909 U CN201520269909 U CN 201520269909U CN 204631623 U CN204631623 U CN 204631623U
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Abstract
The utility model is that a kind of many rotor wing unmanned aerial vehicles fly control debugging protective device, for debugging the self-stability of many rotor wing unmanned aerial vehicles flight control system, guarantees experimental safe simultaneously.The rigid dynamics principle that this utility model is flown based on many rotor wing unmanned aerial vehicles, comprise a tripod and 4 kinds removable fly control debugging module, by being limited the forms of motion of many rotor wing unmanned aerial vehicles by physical construction, can fly to control to unmanned plane the independence debugging carrying out rolling, pitching and course three single-degree-of-freedoms respectively, and the comprehensive debugging of Three Degree Of Freedom; Control response when running on protective device disparate modules by observing many rotor wing unmanned aerial vehicles, specifies the new technology of unmanned plane employing, the actual performance of new method; To the engineering management certainly surely carrying out function division, convenient research and development flying to control, can protect the debugging of unmanned plane again, avoid blindly taking a flight test the property loss that may cause, reduce the risk and difficulty researched and developed, promote the development of many rotor wing unmanned aerial vehicles industry.
Description
Technical field
The utility model relates to technical field of aerospace, is specifically related to a kind of many rotor wing unmanned aerial vehicles and flies control debugging protective device.
Background technology
Along with the development of technology, many rotor wing unmanned aerial vehicles have generally appeared in daily life.Especially in recent years, the development high activity of many rotor wing unmanned aerial vehicles industry, join the army use civilian, from image acquisition, intelligence reconnaissance to common photography and vedio recording, agricultural plant protection, logistics express delivery etc., many rotor wing unmanned aerial vehicles all can be rated as frontline technology, have great development potentiality and economic worth.Many rotor wing unmanned aerial vehicles technology of China is very advanced, many rotor wing unmanned aerial vehicles industry is very flourishing, there is large quantities of active enterprise, research that scientific research institutions are engaged in association area, have huge scientific research practitioner troop to provide sturdy technical foundation, and have multiple emerging brands worldwide with public's praise, occupy the dominant contribution in many rotor wing unmanned aerial vehicles market, the world, obtain praising highly of user at home and abroad.The realization of many rotor wing unmanned aerial vehicles technology, needs advanced electronics flight control technique, and the realization of this flight control technique, needs again advanced flying to control algorithm.Fly the quality controlling algorithm, directly determine the flight quality of many rotor wing unmanned aerial vehicles, also therefore can predict: can ensure that advanced person flies to control the fast development of algorithm, to the speed of development of many rotor wing unmanned aerial vehicles industry, there is material impact.
Current sphere of learning, the research flying to control algorithm about many rotor wing unmanned aerial vehicle advanced persons is very active.But form sharp contrast with it, in practical application area, new flies control algorithm development not rapidly, and the conversion of scientific payoffs is very slow.A large amount of FA algorithm is in theory after being suggested, because it is immature, unstable and delay to drop into practical application, many outstanding intention are are just laid aside and neglected after being suggested, and cannot further test, perfect, and therefore follow-up research work also can not launch.Trace it to its cause, be that unmanned plane is expensive and easily damaged equipment, many advanced persons fly control algorithm because its completeness is low, poor stability, once installation easily causes aircraft born impaired after taking a flight test, cause equipment to be destroyed, cause the participant of correlative study to suffer larger economic loss.And a kind of newly fly control algorithm from proposition to perfect, need again repeatedly to debug, researcher emits the risk suffered heavy losses to carry out the sortie of taking a flight test of huge number by having to, and just likely work is completed, research very risky.This, objectively significantly adding the novel control algorithm that flies in the R&D costs of application, has directly had influence on the speed that new theory is converted into new results.
Visible, if there is a kind of device can ensure the safety of taking a flight test of many rotor wing unmanned aerial vehicles, effectively can complete the debugging efforts that many rotor wing unmanned aerial vehicles fly to control, the correlated performance that research institute is needed is unaffected; The safety of aircraft can be protected again, make many rotor wing unmanned aerial vehicles test novel fly control time can not crash impaired, greatly can alleviate the trouble and worry of the sector scientific research personnel, to promoting that the fast development of many rotor wing unmanned aerial vehicles flight control technique is of great advantage.
The research that many rotor wing unmanned aerial vehicles fly to control has a lot of aspect, wherein the most basis be by 4 controlled degree of freedom, namely around aircraft carrier coordinate system X-axis rotation (i.e. rolling), the rotation (i.e. pitching) around Y-axis and the rotation (i.e. course) around Z axis and control unmanned plane move (as Fig. 1) at space 6DOF along the movement of carrier coordinate system Z axis.Because many rotor wing unmanned aerial vehicles are a kind of under-actuated systems, and be quiet unstable structure, wanted this manipulation, electronics flight control system must be relied on control increasing is carried out surely to the flight attitude of unmanned plane, also known as certainly steady.Increasing steady for realizing this control, first will adopt that the boat appearance of all kinds of boat appearance sensors to unmanned plane is resolved, filtering, and at least closed-loop control is carried out, i.e. course, pitching and rolling to wherein 3 degree of freedom.The every other function that unmanned plane flies to control all is launched based on from steady realization.Some fields related to this, the for example application of novel sensor, the data fusion of multisensor, the application of some advanced control technology, the control coupled problem of new configuration aircraft, and the analysis and synthesis etc. of nonlinear system, all in fast development, there are many new technologies to be urgently used, have many new theories urgently to be deepened.These new technologies, new theory, new algorithm finally all need installation to take a flight test, carry out verification experimental verification could be adopted and be developed, and this all needs a kind of debugging protective device to guarantee experimental safe.
Utility model content
The purpose of this utility model; be intended to for vast multi-rotor aerocraft researcher provides a kind of device; many rotor wing unmanned aerial vehicles can be protected to fly at it can not be born impaired when control is carried out from the debugging of steady (course, pitching and rolling) correlation function, test; thus ensure that up-to-date achievement in research, advanced theoretical input are tested by researchist with being without fear of an attack from the rear, guarantee that correlative study is able to application solutions.
The technical solution of the utility model is: a kind of many rotor wing unmanned aerial vehicles fly control debugging protective device, and this device is made up of tripod and the debugging module that detachably changes the outfit.Many rotor wing unmanned aerial vehicles are fixed on debugging module by binding strap, and are arranged on tripod top.The bottom of tripod supporting leg is provided with the spade of thread connection, in order to increase the contact area of tripod and ground, and can adjust the angles of tripod.The latter end of supporting leg is provided with draw-in groove, in order to lay weight set, is increased the stability of tripod placement by weight set, and the mode simultaneously by increasing mass of system reduces vibration when unmanned plane runs, and reduces ground resonance and controls the adverse effect of debugging to flying.Weight set is placed in supporting leg end can increase torque arm length, strengthens stablizing effect further.Be provided with height-adjustable strut between tripod and debugging module, in order to regulate unmanned plane lay height, to adapt to the rotor of different size, eliminate ground effect.
The above-mentioned debugging module detachably changed the outfit, totally 4 kinds, be respectively the debugging module only allowing course, pitching and rolling single dof mobility, and the comprehensive debugging module of 3DOF, its principle is: comprehensive debugging module is connected by a bulb joint bearing and strut, one end of bulb joint bearing is provided with The Cloud Terrace, and The Cloud Terrace is provided with air-bubble level and dovetail groove.Bulb joint bearing is provided with locking knob, when bulb joint bearing is not limited, they can around space coordinates three X-axis rotate, many rotor wing unmanned aerial vehicles are fixed on by binding strap and are installed to The Cloud Terrace on unmanned plane pallet, by dovetail groove and fixing, the 3DOF of many rotor wing unmanned aerial vehicles can be carried out from steady comprehensive debugging.When bulb joint bearing be locked knob spacing fixing after, The Cloud Terrace and tripod form rigid body, now unload lower tray by dovetail groove, installation single-degree-of-freedom debugging module.
3 kinds of single-degree-of-freedom debugging modules can carry out independent debugging to the course of many rotor wing unmanned aerial vehicles, pitching and roll unloads respectively; By the difference of bearing installation direction, make many rotor wing unmanned aerial vehicles only can a rotation in X-axis or Y-axis or Z axis, other two rotary freedoms be limited.The benefit done like this is: the problem relative complex studied due to many rotor wing unmanned aerial vehicles, system link are a lot, often still cannot the place of problem identificatioin after simple Flight goes wrong, can only carry out comprehensive investigation blindly, work repeats and wastes, and makes the carrying out of research very inconvenient.Adopt the completely isolated and independent debugging module that specific aim is clear and definite, can guarantee that the problem found is not confused once pinpoint the problems and be also convenient to investigate thoroughly source.If unmanned plane adopts new control algolithm simultaneously, new design of hardware and software, also can be split by such function, verification experimental verification can be carried out in time before not completing all-work, pinpoint the problems, allow researchist avoid detours, avoid manpower and temporal waste.
When UAS is respectively by above-mentioned 3 verification experimental verifications, be sure of that relevant art produces a desired effect, after the equal no problem of software and hardware, namely carry out system synthesis by comprehensive debugging module.There is certain researching value and difficulty in the synthtic price index of nonlinear system, carries out test blindly and be difficult to draw accurate quantized result.By adopting the independent debugging module of 3 single-degree-of-freedoms, the control problem of single-degree-of-freedom can be solved in advance, guarantee correctness and the stability of previous work, then carry out system synthesis correction, the research making nonlinear system comprehensive had specific aim definitely, to facilitate the investigation of problem.
When carrying out many rotor wing unmanned aerial vehicles and flying the debugging controlled, because many rotor wing unmanned aerial vehicles are fixed in the top of debugging apparatus, can not be impaired because crashing when can ensure that unmanned plane runs, can the safety of warranty test, avoid property loss and research risk.
Accompanying drawing explanation
Fig. 1 is whole structure figure of the present utility model;
Fig. 2 is one-piece construction decomposition view of the present utility model;
Fig. 3 is rolling debugging module exploded view;
Fig. 4 is rolling debugging module movement effects figure;
Fig. 5 is pitching debugging module exploded view;
Fig. 6 is pitching debugging module movement effects figure;
Fig. 7 is course debugging module exploded view;
Fig. 8 is course debugging module movement effects figure;
Fig. 9 is comprehensive debugging block motion design sketch;
Figure 10 is collapsed state schematic diagram of the present utility model.
In figure: rotor wing unmanned aerial vehicle more than 1, 2 The Cloud Terraces, 3 bulb joint bearings, 4 struts, 5 bases, 6 supporting legs, 7 spades, 8 weight set, 9 unmanned plane pallets, 10 binding straps, 11 bearings, threaded hole is locked on 12, locking knob on 13, 14 times locking knobs, 15 times locking screw pits, 16 air-bubble levels, 17 rolling adjustment and installation seats, 18 rolling debugging pallets, 19 pitching debugging pallets, 20 pitching adjustment and installation seats, 21 bearings, 22 course debugging pallets, 23 self-aligning bearings, 24 course adjustment and installation seats.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further illustrated:
The utility model is intended to carry out rolling, pitching, the independence debugging of 3 degree of freedom in course and the comprehensive debugging of 3DOF respectively to many rotor wing unmanned aerial vehicles flight control system; Its whole structure and unmanned plane carrier coordinate system are as Fig. 1.
The one-piece construction (to adopt comprehensive debugging module) of this utility model is as shown in Figure 2: The Cloud Terrace 2 is connected on strut 4 by bulb joint bearing 3, makes The Cloud Terrace 2 can carry out the rotation of 3DOF around the centre of sphere of bulb joint bearing 3.Strut 4 is installed on base 5, can move up and down to adjust setting height(from bottom).On base 5, annular is provided with three supporting legs 6, jointly forms tripod with strut 4, base 5.The latter end of supporting leg 6 is straight, in order to lay weight set 8; Supporting leg 6 tip has threaded hole in order to install spade 7.Spade 7 can adjust height, in order to adjust tripod placing attitude by thread connection.The Cloud Terrace 2 top is provided with dovetail groove, has dovetail groove slide block bottom unmanned plane pallet 9, is installed on The Cloud Terrace 2 by dovetail groove, by binding strap 10 (as VELCRO, band etc.), many rotor wing unmanned aerial vehicles 1 is fixed to unmanned plane pallet 9.
When adopting rolling debugging module, as shown in Figure 3: first use lower locking knob 14 by lower locking screw pit 15 by locked for strut 4.Then by the air-bubble level 16 on The Cloud Terrace 2 first by The Cloud Terrace 2 leveling, re-use locking knob 13 by upper locking threaded hole 12 by locked for bulb joint bearing 3, The Cloud Terrace 2 fixed.Rolling debugging module is debugged pallet 18 by rolling adjustment and installation seat 17, bearing 11 and rolling and is formed; Rolling is debugged the inner ring that pallet 18 is installed on bearing 11, again the outer shroud of bearing 11 is put into rolling adjustment and installation seat 17 i.e. comprising modules, by the dovetail groove slide block bottom rolling adjustment and installation seat 17 and the dovetail groove on The Cloud Terrace 2 module being installed and fixing, then now rolling debugging pallet 18 only can carry out the rolling movement around X-axis.Then many rotor wing unmanned aerial vehicles 1 are lashed on rolling debugging pallet 18 by binding strap 10, the independence debugging of rolling single-degree-of-freedom can be carried out.
The principle of work that the utility model is debugged rolling single-degree-of-freedom is as Fig. 4 (having concealed many rotor wing unmanned aerial vehicles 1 etc. for convenience of observing herein, identical below).
In like manner, when adopting pitching debugging module, its modular structure as shown in Figure 5: debug pallet 19 by pitching and be installed on bearing 21 inner ring, bearing 21 outer shroud is installed to pitching adjustment and installation seat 20, forms pitching debugging module.Be fixed on The Cloud Terrace 2 by the dovetail groove slide block on pitching adjustment and installation seat 20 by module, then the mechanical motion limited by modular structure is the luffing that only can rotate around Y-axis, can carry out the independent test of pitching single-degree-of-freedom.Its movement effects is as Fig. 6.
When adopting course debugging module, its modular structure is as Fig. 7: debug pallet 22 by course and be installed on self-aligning bearing 23 inner ring, self-aligning bearing 23 outer shroud is installed to course adjustment and installation seat 24, forms course debugging module.By the dovetail groove slide block on course adjustment and installation seat 24, module is fixed on The Cloud Terrace 2.Now course debugging pallet 22 only can carry out, around the rotation of Z axis and course motion, can carrying out the independent test of course single-degree-of-freedom.Its movement effects is as Fig. 8.
When above 3 degree of freedom debugging is complete, it is errorless to confirm, can system synthesis debugging be carried out, adopt comprehensive debugging module.As previously mentioned, comprehensive debugging module to be directly fixed on The Cloud Terrace 2 by dovetail groove by unmanned plane pallet 9 and to form, after unclamping locking knob 13, bulb joint bearing 3 can be made to carry out rolling, pitching, course three degree of freedom compound motion, thus carry out 3DOF comprehensive debugging.Its movement effects is as Fig. 9.
Above-mentioned 4 debugging modules can be taken off after debugging, and take off spade 7, weight set 8, supporting leg 6 is packed up, so that arrangement of the present utility model collection, as Figure 10.
Claims (1)
1. rotor wing unmanned aerial vehicle more than a kind flies control debugging protective device, include a tripod and four removable fly control debugging module, four modules are respectively rolling, the independent debugging module of pitching and course three single-degree-of-freedoms and a comprehensive debugging module, wherein comprehensive debugging modular character is: The Cloud Terrace (2) is installed to strut (4) top by bulb joint bearing (3), and form spherical pair, unmanned plane pallet (9) is installed on The Cloud Terrace (2) by dovetail groove, during test, many rotor wing unmanned aerial vehicles (1) are lashed to unmanned plane pallet (9) by binding strap (10), many rotor wing unmanned aerial vehicles (1) can be made to carry out Three Degree Of Freedom compound motion and protected unlikely born impaired, rolling debugging module is characterized as: after air-bubble level (16) leveling The Cloud Terrace (2), by upper locking knob (13) and upper locking threaded hole (12), bulb joint bearing (3) is locked, debugging pallet (18) by rolling is installed on rolling adjustment and installation seat (17) through bearing (11), fixed by the dovetail groove on the dovetail groove slide block on rolling adjustment and installation seat (17) and The Cloud Terrace (2) again, binding strap (10) is finally used to be lashed to by many rotor wing unmanned aerial vehicles (1) in rolling debugging pallet (18), many rotor wing unmanned aerial vehicles (1) can be made to carry out rolling single dof mobility, pitching debugging module is characterized as: pitching debugging pallet (19) is installed on pitching adjustment and installation seat (20) through bearing (21), be installed to by the dovetail groove slide block bottom pitching adjustment and installation seat on the The Cloud Terrace (2) fixed, use binding strap (10) many rotor wing unmanned aerial vehicles (1) to be lashed to pitching debugging pallet (19), many rotor wing unmanned aerial vehicles (1) can be made to carry out pitching single dof mobility, course debugging module is characterized as: course debugging pallet (22) is installed on course adjustment and installation seat (24) through self-aligning bearing (23), and be installed on the The Cloud Terrace (2) that fixes by the dovetail groove slide block bottom the adjustment and installation seat of course, use binding strap (10) many rotor wing unmanned aerial vehicles (1) to be lashed to course debugging pallet (22), many rotor wing unmanned aerial vehicles (1) can be made to carry out course single dof mobility, above four module actings in conjunction can make the flight control system of many rotor wing unmanned aerial vehicles (1) carry out under the premise that security is guaranteed from steady required three degree of freedom independence and comprehensive debugging.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520269909.7U CN204631623U (en) | 2015-04-24 | 2015-04-24 | A kind of many rotor wing unmanned aerial vehicles fly control debugging protective device |
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| CN201520269909.7U CN204631623U (en) | 2015-04-24 | 2015-04-24 | A kind of many rotor wing unmanned aerial vehicles fly control debugging protective device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104793628A (en) * | 2015-04-24 | 2015-07-22 | 西北农林科技大学 | Flight control debugging protecting device of multi-rotor-wing unmanned plane |
| CN107063235A (en) * | 2017-04-27 | 2017-08-18 | 上海交通大学 | A kind of unmanned plane debugs platform |
| CN107219856A (en) * | 2016-03-21 | 2017-09-29 | 波音公司 | Unmanned vehicle flight control system |
-
2015
- 2015-04-24 CN CN201520269909.7U patent/CN204631623U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104793628A (en) * | 2015-04-24 | 2015-07-22 | 西北农林科技大学 | Flight control debugging protecting device of multi-rotor-wing unmanned plane |
| CN107219856A (en) * | 2016-03-21 | 2017-09-29 | 波音公司 | Unmanned vehicle flight control system |
| CN107063235A (en) * | 2017-04-27 | 2017-08-18 | 上海交通大学 | A kind of unmanned plane debugs platform |
| CN107063235B (en) * | 2017-04-27 | 2023-07-21 | 上海交通大学 | Unmanned aerial vehicle debugging platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150909 Termination date: 20160424 |