CN208399097U - Rotor craft multi-freedom-degree vibration detection device - Google Patents
Rotor craft multi-freedom-degree vibration detection device Download PDFInfo
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- CN208399097U CN208399097U CN201820714669.0U CN201820714669U CN208399097U CN 208399097 U CN208399097 U CN 208399097U CN 201820714669 U CN201820714669 U CN 201820714669U CN 208399097 U CN208399097 U CN 208399097U
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Abstract
The utility model provides a kind of rotor craft multi-freedom-degree vibration detection device, including laser generator, photosensitive reception device, signal acquisition unit and host computer.Wherein: the laser generator is detected for emitting laser beam to fixed area to four direction；The photosensitive reception device periodically acquires the position of laser beam spot for detecting the laser beam signal for receiving four direction, and by the collected data transmission of institute to signal acquisition unit；The signal acquisition unit sends data to host computer, draws unmanned plane vibration parameters curve for carrying out analog-to-digital conversion and quantization to data.The utility model is intended to the quantitative detection of the fuselage up-down vibration amount caused by the system factors such as the asymmetry of blade, the power performance and power source performance for testing multi-rotor aerocraft of detection system not only effectively, safe, the testing requirements for also meeting different type rotor craft, different model driving unit debug multi-rotor aerocraft controller parameter and provide directive guidance.
Description
Technical field
The invention belongs to the technical fields of rotor craft multi-freedom-degree vibration detection device.
Background technique
Multi-rotor aerocraft due to can VTOL, freely hover, the characteristic that cheaply manipulates, take photo by plane, survey and draw, it is modern
It is widely used in the fields such as agricultural, the industrial value of multi-rotor aerocraft increases year by year.Excellent stationarity is more rotor flyings
The premise of device application, the factor for influencing fuselage shaking are generally divided into system factor and enchancement factor, and system factor includes body
Structure and on-link mode (OLM)；Enchancement factor includes environmental factor, human factor etc..The debugging of multi-rotor aerocraft has space and place
It is required that.Multi-rotor aerocraft takes off in debugging process, and multi-rotor aerocraft is caused due to the systems such as housing construction and device
Horn Vibration Condition be not easy to observe, be unfavorable for the sustained improvement to controller design.
Rotor craft multi-freedom-degree vibration detection device is applied to more rotor controllers and debugs link, flies convenient for more rotors
The debugging and sustained improvement of row device controller.In the debugging process of controller, do not consider that multi-rotor aerocraft system itself is made
At fuselage shaking systematic error, the control effect of controller cannot may reach control forever and require, and debugging process becomes
The process of " trial and error " lacks specific improvement direction, causes the waste of human and material resources.Tune of this system to multi-rotor aerocraft
Examination process is of great significance.
In multi-rotor aerocraft debugging process, due to Flight Vehicle Structure and with measurement the characteristics of, contact precise measurement is not
It easily realizes, and precise measurement has little significance.System uses Photoelectric Detection mode, reduces test macro to multi-rotor aerocraft
It influences.
Summary of the invention
Rotor craft multi-freedom-degree vibration detection device is proposed in the present invention, which is applied to multi-rotor aerocraft
Multiple directions vibration detection.It debugs and needs for multi-rotor aerocraft controller, provided for controller debugging visual
With reference to devising multidirectional multi-rotor aerocraft vibration detecting system.During traditional debugging, aircraft takes a flight test process not
Determine that factor is more, safety is poor, it is with exchanging examination hall more demanding, analyze failure cause difficulty of taking a flight test.This system can be on ground
On to influence multi-rotor aerocraft stability system reason carry out Visual retrieval, simplify multi-rotor aerocraft controller debugging
Process.
The present invention includes: laser generator, photosensitive reception device, signal acquisition unit, host computer.Multi-rotor aerocraft bottom
Seat facilitates the test of aircraft, is suitable for quadrotor, six rotors and eight-rotary wing aircraft for fixing multi-rotor aerocraft.Swash
Optical generator is fixed on the pedestal of aircraft to be measured, is emitted laser beam to four direction, is received and come from region to be measured
The optical signal of four direction converts the up-down vibration of aircraft to the displacement of laser facula by photoelectric conversion.Photosensitive reception
The dot matrix that device is made of photo resistance and conventional, electric-resistance, laser facula are irradiated in photosensitive reception device, by laser facula
Displacement signal is converted into electric signal, is transmitted to signal acquisition unit, by the analog-to-digital conversion of signal acquisition unit progress signal, then by
USB interface is transmitted to host computer, and signal is further processed in host computer.
The present invention provides a kind of rotor craft multi-freedom-degree vibration detection device, quantified by aircraft structure,
Vibratory output above and below fuselage caused by the factors such as body material, the asymmetry of blade accelerates debugging process.
The invention has the characteristics that:
One, light, non-contacting feature, laser generator quality itself is smaller, and four laser generators are put at " ten " word
It puts, symmetrical and balance, apparent influence will not be generated on multi-rotor aerocraft center of gravity；
Two, the signal received to four direction, is handled, and obtains the data of more specific multiplicity, more accurately
The vibrational state for capturing aircraft provides relatively reliable direction to subsequent test and debugging；
Three, laboratory environment can be obtained up-down vibration amount size caused by aerocraft system reason, simplify debugging process；
Four, signal acquisition unit carries out analog-to-digital conversion to collected data, and quick reliable, data error is smaller；
Five, host computer is feasible to the processing of data reliable, and result visualization, convenient for test and improves.
Detailed description of the invention
Fig. 1 is rotor craft multi-freedom-degree vibration detection device overall structure simplification figure；
Fig. 2 is the red laser point emitter structure chart of rotor craft multi-freedom-degree vibration detection device；
Fig. 3 is the photosensitive reception device figure of rotor craft multi-freedom-degree vibration detection device；
Fig. 4 is the signal acquisition unit schematic diagram of rotor craft multi-freedom-degree vibration detection device.
Specific embodiment
Rotor craft multi-freedom-degree vibration detection device, in conjunction with shown in Fig. 1, Fig. 2 and Fig. 3, device includes that more rotors fly
Row device motor and outstanding paddle (1), pedestal (3), laser generator (4), fly control receiver (5), are laser beam (6), photosensitive at horn (2)
Reception device (7), signal acquisition unit (8), host computer (9).
The laser generator (4), long 70mm, wide 10mm pass through side multi-rotor aerocraft pedestal using screw and nut
(3) via hole on fixes laser generator (4), and fixed position can be according to multi-rotor aerocraft actual size by pedestal (3)
On fixation hole realize, by adjusting the up and down range of the adjustable laser generator of screw and nut (4).Pedestal (3) is
Side length is the octagon of 62mm, and two opposite side spacing 150mm of octagon.It is more in laboratory simulation flight course
Rotor craft system occurs low-angle and rolls up and down, and the vibrational state of multi-rotor aerocraft system passes through laser generator (4)
The laser beam (6) of generation is transferred to photosensitive reception device (7), the change in displacement that aerocraft system vibrates up and down is converted into photosensitive
The change in displacement of laser facula in reception device (7) completes the conversion of vibration signal, realizes non-cpntact measurement.Fly control receiver
(5) long 20mm, wide 15mm, reception and transmission for signal.The number of the laser generator (4) of the present apparatus is 4, at " ten "
Word is fixed on pedestal (3), is emitted respectively to four direction.Experimental stage stablizes laser generator (4) in the horizontal plane.
The photosensitive reception device (7) received on wall, is to be made of 10 × 10 photosensitive dot matrix, photosensitive dot matrix includes
Photo resistance and conventional, electric-resistance both vertically and horizontally form one without spacing, each photo resistance and conventional, electric-resistance
5mm × 5mm sensitivity speck.After the laser beam (6) that laser generator (4) issues issues, the photosensitive reception device on wall is projected
(7), the photosensitive reception device (7) being made of dot matrix receives spot signal, and the optical signal of hot spot is converted to electric signal, realizes
The change in displacement of hot spot is converted to voltage value variation, transmits a signal to signal acquisition unit (8) and is further processed.?
In laboratory simulation flight course, photosensitive reception device (7) is separately mounted on the four sides wall in laboratory.
The signal acquisition unit (8) is carried out being periodically detected acquisition in 0.1 second, be adopted to photosensitive reception device (7) pin
Collect the voltage signal of photosensitive reception device (7) output, signal acquisition unit (8) carries out four photosensitive reception device (7) pins
Gating, by micro-control unit, realizes the function of analog-to-digital conversion, processed signal is transmitted to USB output interface, logarithm
According to being further processed.
The data that signal acquisition unit (8) transmits are further processed in the host computer (9).
Claims (2)
1. rotor craft multi-freedom-degree vibration detection device, it is characterized in that: include multi-rotor aerocraft motor and outstanding paddle (1),
Horn (2), pedestal (3), laser generator (4), winged control receiver (5), laser beam (6), photosensitive reception device (7), signal are adopted
Collect unit (8), host computer (9)；
Four laser generator (4) transmitting terminals of rotor craft multi-freedom-degree vibration detection device are towards the photosensitive of four direction
Reception device (7), the fixation hole and laser generator (4) on pedestal (3) are fixed, and fixed bit is setting in laser generator (4)
Both ends realize that both ends dynamic adjusts by adjusting screw and nut, and adjustment height is upper and lower 5 millimeters, it is ensured that aircraft initially hovers
The laser beam (6) that state laser generator (4) issues is parallel to horizontal plane；Four laser generators (4) are fixed at " ten " word
On pedestal (3)；The top of pedestal (3) flies control receiver (5), is used for remote control multi-rotor aerocraft；Multi-rotor aerocraft electricity
Machine and outstanding paddle (1) symmetrical balance are connected by horn (2) with pedestal (3), and the device to link together can balance and be maintained at water
In plane, four laser generators (4) issue dot laser beam (6) and can project in the photosensitive reception device (7) in respective direction,
And laser beam (6) is parallel to horizontal plane；Photosensitive reception device (7) is made of the photosensitive dot matrix of 10 × 10 dot matrix, photosensitive dot matrix
It is the circuit being made of photo resistance and conventional, electric-resistance；Vertical direction and horizontal direction are without spacing, the size of each sensitivity speck
5mm×5mm；Photosensitive reception device (7) is perpendicular to ground, and fixed photosensitive reception device (7) receives optical signal on the wall, electricity
Pressure changes, and voltage change passes through multi channel selecting line transmission to signal acquisition unit (8)；Signal acquisition unit (8) is by selecting
Logical part, A-D converter, single-chip microcontroller, power supply composition, power supply is for powering；Signal acquisition unit (8) is to photosensitive collection plate
Optical signal carries out the acquisition of 0.1 second period, the voltage signal of acquisition by pin access multi channel selecting component, by analog-to-digital conversion,
Single-chip microcontroller processing, output digit signals after the quantified processing of data are exported by USB outlet, and the data of output are sent to upper
Machine (9), the detection of host computer (9) real-time display multi-rotor aerocraft vibratory output.
2. rotor craft multi-freedom-degree vibration detection device according to claim 1, it is characterized in that: the Laser emission
Laser generator (4) long 70mm, wide 10mm in device；Fly control receiver (5) long 20mm, wide 15mm；Pedestal (3) is for side length
The octagon of 62mm, and two opposite side spacing of octagon are 150mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820714669.0U CN208399097U (en) | 2018-05-15 | 2018-05-15 | Rotor craft multi-freedom-degree vibration detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820714669.0U CN208399097U (en) | 2018-05-15 | 2018-05-15 | Rotor craft multi-freedom-degree vibration detection device |
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| Publication Number | Publication Date |
|---|---|
| CN208399097U true CN208399097U (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820714669.0U Expired - Fee Related CN208399097U (en) | 2018-05-15 | 2018-05-15 | Rotor craft multi-freedom-degree vibration detection device |
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| CN (1) | CN208399097U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110895184A (en) * | 2019-12-04 | 2020-03-20 | 中国直升机设计研究所 | Ground test system for unidirectional vibration reduction efficiency of helicopter vibration active control system |
| CN113607260A (en) * | 2021-07-14 | 2021-11-05 | 三一汽车起重机械有限公司 | Vibration detection piece and vibration detection device |
-
2018
- 2018-05-15 CN CN201820714669.0U patent/CN208399097U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110895184A (en) * | 2019-12-04 | 2020-03-20 | 中国直升机设计研究所 | Ground test system for unidirectional vibration reduction efficiency of helicopter vibration active control system |
| CN110895184B (en) * | 2019-12-04 | 2021-09-21 | 中国直升机设计研究所 | Ground test system for unidirectional vibration reduction efficiency of helicopter vibration active control system |
| CN113607260A (en) * | 2021-07-14 | 2021-11-05 | 三一汽车起重机械有限公司 | Vibration detection piece and vibration detection device |
| CN113607260B (en) * | 2021-07-14 | 2023-08-22 | 三一汽车起重机械有限公司 | Vibration detection member and vibration detection device |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190118 Termination date: 20190515 |
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| CF01 | Termination of patent right due to non-payment of annual fee |