CN205150265U - Unmanned aerial vehicle attitude control testing arrangement - Google Patents
Unmanned aerial vehicle attitude control testing arrangement Download PDFInfo
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- CN205150265U CN205150265U CN201520850651.XU CN201520850651U CN205150265U CN 205150265 U CN205150265 U CN 205150265U CN 201520850651 U CN201520850651 U CN 201520850651U CN 205150265 U CN205150265 U CN 205150265U
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Abstract
The utility model provides an unmanned aerial vehicle attitude control testing arrangement, joint, slide bar, the above joint of two -degree -of -freedom, installing module, unmanned aerial vehicle module and simulation software module more than base, three degrees of freedom, wherein: the base is fixed in ground or table surface, through being connected in joint more than three degrees of freedom between slide bar and the base, is connected through two -degree -of -freedom above joint between installing module and the slide bar, and the unmanned aerial vehicle module is installed on installing module to make the unmanned aerial vehicle module possess around the rotational degree of freedom of X, Y, the three direction of Z axle and the movement freedom who follows X, Y, the three direction of Z axle, amount to six degrees of freedom. Dynamic response when moving on this device unmanned aerial vehicle adjusts control strategy and relevant parameter in real time, makes things convenient for scientific research personnel and engineer to carry out development and debugging work that unmanned aerial vehicle flew to control the product, simultaneously can carry out safe debugging indoor, reduce the unmanned aerial vehicle product development degree of difficulty, promote the unmanned aerial vehicle trade to develop rapidly.
Description
Technical field
The utility model relates to technical field of aerospace, is specifically related to a kind of UAV Attitude and controls proving installation.
Background technology
Robot airplane is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the process controller provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.
From development prospect, the development prospect of unmanned plane is immeasurable.Taking photo by plane, express delivery, post-disaster search and rescue, the field such as data acquisition, unmanned plane is all shown up prominently.Although in aspects such as supervision, Development of UAV still exists bottleneck, at present, unmanned plane industrial chain flourish has been undisputable fact.Unmanned plane+sector application is the real firm need of unmanned plane.At present taking photo by plane, agricultural plant protection, the field such as mapping application, expanded the purposes of unmanned plane itself greatly.
Along with the continuous progress of unmanned air vehicle technique, its performance is become better and better, and the function of realization becomes increasingly abundant.Meanwhile, the development cost of unmanned plane is also more and more higher, when the natural environment of dangerous complexity, has paid great cost.The safety of each airborne equipment of Unmanned Aircraft Systems (UAS), reliability cause the concern of people day by day, therefore build a set of comprehensive unmanned aerial vehicle comprehensive test platform more and more important and urgent.
There are some outstanding problems in the test equipment of current China unmanned plane, as lacked unified planning, function singleness, normalisation, seriation and generalization degree are low.This just requires that modern unmanned plane comprehensive performance testing system can meet and more fully tests needs: at unmanned plane development phase, can carry out actv. detection and assessment to UAV Flight Control rate; In the flight preparation stage, convenience and comprehensive functional detection can be carried out to flight control system; After flight terminates, ex-post analysis, simulation and fault zero can be carried out to aloft fault; In follow-up development, can test amended flight control system and verify.
Utility model content
The purpose of this utility model, be intended to for the developer of unmanned plane provides a kind of UAV Attitude to control proving installation, this device can make the debugging efforts of unmanned plane become convenient, efficient, safety, and can make the attitude of unmanned plane in debug process, have required space six degree of freedom (pitching, driftage, roll, all around, lifting), thus promote the process of flight control system exploitation.
The technical solution adopted in the utility model is:
The utility model provides a kind of UAV Attitude to control proving installation, described device comprises base, sliding bar, three degree of freedom with upper joint, installation module, two degrees of freedom with upper joint and unmanned plane module, wherein: described base is fixed on ground or work top; Be connected with upper joint by described three degree of freedom between described sliding bar with described base, thus make described sliding bar have around X, Y, Z axis rotary freedom and the lifting degree of freedom along Z-direction; Be connected with upper joint by described two degrees of freedom between described installation module with described sliding bar, thus described installation module is had based on described two degrees of freedom with the rotary freedom around X, Y, Z axis three directions of upper joint; Described unmanned plane module is installed on described installation module; By above-mentioned connection mode, described unmanned plane module has around the rotary freedom in X, Y, Z axis three directions and the one-movement-freedom-degree along X, Y, Z axis three directions, amounts to six spatial degrees of freedom, i.e. pitching, driftage, roll, all around, lifting.
Preferably, described three degree of freedom is realized by universal-joint, bearing combination or spherical hinge mode with upper joint, has the one-movement-freedom-degree along X, Y, Z axis direction, i.e. all around and lifting at permission sliding bar.
Preferably, described two degrees of freedom take upper joint as universal-joint, bearing combination or spherical hinge structure.
Preferably, described installation module is installed on two degrees of freedom with the end of upper joint, thus makes installation module have rotary freedom around X, Y, Z axis three directions.
The utility model is when building, the combined action of described installation module and described base will ensure the safety of unmanned plane module, make it the flight debugging carrying out flight control system in rational claimed range, ensure the personal safety of commissioning staff, make debugging efforts can carry out low-level flight in indoor simultaneously, avoid the Complicated Flow of outdoor debugging and it is to the rigors of meteorological conditions, and the generation of air crash accident can be avoided, reduce R&D costs.
Compared with prior art, the utility model has following beneficial effect:
The utility model is based on mechanical six degree of freedom Design of Mechanical Structure principle, the pitching of fuselage, driftage, rolling three rotary freedoms are realized by end unmanned plane being fixed on device, and all around, lifting three one-movement-freedom-degrees, amount to the comprehensive simulating of omnidirectional's flight attitude of six-freedom degree.Dynamic response during by running on this device unmanned plane, adjustment control policy that can be real-time and correlation parameter, facilitate scientific research personnel and engineer's (especially lacking the developer of flight manipulation experience) to carry out exploitation and debugging efforts that unmanned plane flies control products; Meanwhile, this device can carry out safe debugging in indoor, and the property damage brought due to air crash when decreasing outdoor flight and fatal accident, reduce the research and development difficulty of unmanned plane product, promote developing rapidly of unmanned plane industry.
Accompanying drawing explanation
Fig. 1 is the integrated stand composition of the utility model one embodiment;
Fig. 2 is the unmanned plane during flying attitude instruction diagram of the utility model one embodiment,
In figure: 1 base, 2 three degree of freedom with upper joint, 3 sliding bars, 4 two degrees of freedom with upper joint, 5 installation modules, 6 unmanned plane modules, 7 emulation software module;
Fig. 3 is a kind of implementation figure of three degree of freedom with upper joint of the utility model one embodiment,
In figure: clutch shaft bearing 2-1, the second bearing 2-2, the 3rd bearing 2-3, the first revolute pair 2-4, the second revolute pair 2-5.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail.Following examples will contribute to those skilled in the art and understand the utility model further, but not limit utility model in any form.It should be pointed out that to one skilled in the art, not departing under prerequisite of the present utility model, some distortion and improvement can also be made.These all belong to protection domain of the present utility model.
As shown in Figure 1, a kind of UAV Attitude controls proving installation, and described device comprises: base 1, three degree of freedom with upper joint 2, sliding bar 3, two degrees of freedom with upper joint 4, installation module 5, unmanned plane module 6, wherein:
Base 1 is fixed on the fixed surface such as ground or desktop, and and connected with upper joint 2 by three degree of freedom between sliding bar 3, thus make sliding bar 3 have around X, Y, Z, axle rotary freedom and the lifting degree of freedom along Z-direction; Connected with upper joint 4 by two degrees of freedom between sliding bar 3 and installation module 5, thus installation module 5 is had based on two degrees of freedom with the rotary freedom around X, Y, Z axis three directions of upper joint; Unmanned plane module 6 is installed on installation module 5; By above-mentioned connection mode, thus make unmanned plane module 6 have around the rotary freedom in X, Y, Z axis three directions and the one-movement-freedom-degree along X, Y, Z axis three directions, amount to pitching, driftage, roll, all around, lifting six-freedom degree.
Described three degree of freedom is realized by universal-joint, bearing combination or spherical hinge mode with upper joint, has the one-movement-freedom-degree along X, Y, Z axis direction, i.e. all around and lifting at permission sliding bar.
Described two degrees of freedom take upper joint as universal-joint, bearing combination or spherical hinge structure.
Described installation module is installed on two degrees of freedom with the end of upper joint, thus makes installation module have rotary freedom around X, Y, Z axis three directions.
Above-mentioned X, Y, Z axis is three axles (as shown in Figure 2) of rectangular coordinate system in space.
In the present embodiment, after the mechanics of described device is built, by wired or wireless mode, unmanned plane module 6 is connected with emulation software module 7, and realizes in real time online.After unmanned plane module 6 carries out semi-physical real-time simulation by said apparatus, developer just can by determining unmanned plane module 6 aloft actual parameter on the spot to the monitoring of flight correlation parameter and exploration in debug process, from guaranteeing that the attitude of unmanned plane module 6 flight course on the spot is steady, reach the effect that UAV Attitude controls test.
In another embodiment:
As shown in Figure 3, three degree of freedom is with a kind of implementation of upper joint 2, the clutch shaft bearing 2-1 three internal-and external diameter sizes be arranged in order, the second bearing 2-2, the 3rd bearing 2-3, be connected with the second revolute pair 2-5 by two orthogonal first revolute pair 2-4; When being installed by sliding bar 3 in reeve the 3rd bearing 2-3, sliding bar 3 is made to obtain the freedom of motion of three degree of freedom.
Described two degrees of freedom with upper joint 4 (degree of freedom in this joint is more than or equal to two degrees of freedom) be universal-joint, bearing combination or spherical hinge structure; Described installation module 5 is installed on two degrees of freedom with the end of upper joint 4, thus makes installation module 5 have rotary freedom around X, Y, Z axis three directions.
A kind of implementation in described two degrees of freedom joint 4 is connected by a spherical hinge; By installation module 5 and two degrees of freedom joint 4 connection, installation module 5 will have the motion of three degree of freedom.
By above-mentioned connection mode (sliding bar, two degrees of freedom are connected with upper joint 4, installation module 5 three), can make unmanned plane module 6 have based on base around the rotary freedom in X, Y, Z axis three directions and the one-movement-freedom-degree along X, Y, Z axis three directions, amount to pitching, driftage, roll, all around, lifting six-freedom degree.
The present embodiment is intended to carry out semi-physical real-time simulation test to unmanned plane during flying attitude control system stability, comprising the pitching of unmanned plane, driftage, roll, all around, lifting (as Fig. 2) six spatial degrees of freedom, by simulation software to the real-time adjustment of every flight parameter with develop stable flight control system to the observation of flight attitude stability.
Device described in the utility model is used for controlling to carry out HWIL simulation to the flight attitude stability of unmanned plane (being mainly used in the unmanned plane of many rotors and helicopter type); This device space uses very little, can carry out the debugging of unmanned plane, avoid the Complicated Flow of outdoor debugging, and avoid in debug process the safety hazard that crowd and unmanned plane cause.The utility model is based on mechanical six degree of freedom Design of Mechanical Structure principle, dynamic response during by running on device unmanned plane module, adjustment control policy that can be real-time and correlation parameter, facilitate scientific research personnel and engineer's (especially lacking the developer of flight manipulation experience) to carry out exploitation and debugging efforts that unmanned plane flies control products; Simultaneously, this device can carry out safe debugging in indoor, and the property damage brought due to air crash when decreasing outdoor flight and fatal accident, reduce the research and development difficulty of unmanned plane product, promote developing rapidly of unmanned plane industry.
Above specific embodiment of the utility model is described.It is to be appreciated that the utility model is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present utility model.
Claims (4)
1. UAV Attitude controls a proving installation, and it is characterized in that, described device comprises base, sliding bar, three degree of freedom with upper joint, installation module, two degrees of freedom with upper joint and unmanned plane module, wherein: described base is fixed on ground or work top; Be connected with upper joint by described three degree of freedom between described sliding bar with described base, thus make described sliding bar have around X, Y, Z axis rotary freedom and the lifting degree of freedom along Z-direction; Be connected with upper joint by described two degrees of freedom between described installation module with described sliding bar, thus described installation module is had based on described two degrees of freedom with the rotary freedom around X, Y, Z axis three directions of upper joint; Described unmanned plane module is installed on described installation module; By above-mentioned connection mode, described unmanned plane module has around the rotary freedom in X, Y, Z axis three directions and the one-movement-freedom-degree along X, Y, Z axis three directions, amounts to six spatial degrees of freedom, i.e. pitching, driftage, roll, all around, lifting.
2. a kind of UAV Attitude according to claim 1 controls proving installation, it is characterized in that, described three degree of freedom is realized by universal-joint, bearing combination or spherical hinge mode with upper joint, the one-movement-freedom-degree along X, Y, Z axis direction is had, i.e. all around and lifting at permission sliding bar.
3. a kind of UAV Attitude according to claim 1 controls proving installation, it is characterized in that, described two degrees of freedom take upper joint as universal-joint, bearing combination or spherical hinge structure.
4. a kind of UAV Attitude according to claim 1 controls proving installation, it is characterized in that, described installation module is installed on two degrees of freedom with the end of upper joint, thus makes installation module have rotary freedom around X, Y, Z axis three directions, i.e. pitching, driftage and roll.
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| CN201520850651.XU CN205150265U (en) | 2015-10-29 | 2015-10-29 | Unmanned aerial vehicle attitude control testing arrangement |
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| CN201520850651.XU CN205150265U (en) | 2015-10-29 | 2015-10-29 | Unmanned aerial vehicle attitude control testing arrangement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270639A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device for unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270639A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device for unmanned aerial vehicle |
| CN105270639B (en) * | 2015-10-29 | 2018-07-20 | 上海交通大学 | A kind of UAV Attitude control test device |
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