CN209795860U - Automatic test system for steering engine of certain unmanned aerial vehicle - Google Patents

Abstract

The utility model provides an automatic test system for a certain type of unmanned aerial vehicle steering gear. The power supply control unit provides the required voltage, and realizes the power-on and power-off control of each steering gear of the steering unit through the network relay module; the communication control unit is responsible for each The communication connection between the module and the computer, the steering gear execution unit is the steering group, which is the final monitoring object of the whole test system; the angle feedback unit measures the actual angle of rotation of the steering gear rocker arm through the angle sensor, and feeds back the angle information to the computer. Then it is converted into the corresponding angle value; the power-on state of the steering gear and the equipment number in the experiment of the voice prompt unit are prompted, which is convenient for the experimenter to operate. Through system integration, the utility model realizes the unattended test of 16 aviation steering gears, which improves the test capability by 16 times compared with the original single set, saves the test time, and increases the production efficiency by 16 times.

Description

An automatic test system for a certain type of UAV steering gear

technical field

The invention relates to the aviation manufacturing industry, and is an automatic detection system for servo steering gear equipment used in the fields of aviation, aerospace, automobiles and the like.

Background technique

The steering gear is mainly composed of circuit signal control board, reducer, steering gear rocker, etc. As a mature servo component, it has been widely used in aviation, aerospace, automobile and other fields. Aviation products have relatively high requirements for the use of steering gear, and a number of functional tests and environmental adaptability tests are required before the product is finalized. For industrial mass production, a lot of testing work is required before the product is handed over for inspection. The accuracy of the test results and the test efficiency depend on the performance of the testing equipment, so the pros and cons of the testing platform play a vital role. The key link of the steering gear test is the rocker angle control and the temperature shock stress test. The angle control of the rocker arm of the steering gear includes Songfu test, zero calibration, fixed angle mode and cycle mode. Different steering gears have different positive and negative limit angles, and different angles correspond to different control quantities. The actual swing angle must be within the required error range; the temperature shock stress experiment requires the steering gear to be placed in a high and low temperature box, and the high and low temperature cycle parameters are set. Observe and record the working status of the steering gear.

Contents of the invention

In order to overcome the deficiencies in the prior art, the present invention provides an automatic test system for steering gear of unmanned aerial vehicles. A steering gear automatic testing system proposed by the present invention can simultaneously complete the debugging of multiple sets of steering gears and output stress test data in real time, thereby improving the steering gear debugging efficiency and testing accuracy, and solving the existing testing problems of the original steering gear tester The shortcomings of cumbersome, long test cycle, low test accuracy, etc.

The technical solution adopted by the present invention to solve its technical problems is:

An automatic test system for a steering gear of a certain type of unmanned aerial vehicle includes a power control unit, a communication control unit, a steering gear execution unit, an angle feedback unit, and a voice prompt unit. The power control unit includes a power socket, a two-way DC power supply, step-down module and network relay module, in which the network relay module is a 16-way network relay, the input end of the double-way DC power supply is connected to 220V AC through the power socket, and two-way DC power is output, and the double-way DC power supply is connected to the step-down module for step-down , respectively provide the required voltage for the steering group, the voice module, the power amplifier board and the loudspeaker, and realize the power-on and power-off control of each steering gear of the steering group through the network relay module; the communication control unit includes a USB hub module, The CAN box analyzer module and the USB to RS485 module are responsible for the communication connection between each module and the computer, the CAN box analyzer module is connected to the USB hub module, the input port of the USB hub is connected to the computer, and the output ports are connected respectively through the USB to 485 module Step-down module, 16-way network relay, CAN bus protocol analyzer and voice module; the steering gear execution unit is a steering unit, and the steering unit includes 16 steering gears, and the 16 steering gears are respectively connected to each channel of the network relay module , 16 steering gears are connected to the USB hub module through the CAN box analyzer, the USB hub module is connected to the computer, and the computer and the CAN box analyzer send control data to the steering unit, which is the final monitoring object of the entire test system; the angle feedback The unit contains an angle sensor. One end of the angle sensor is connected to the steering gear, and the other end is connected to the USB hub module through the USB to RS485 module, and then connected to the computer. The angle sensor is used to measure the actual rotation angle of the rocker arm of the steering gear, and the angle information is fed back to the computer. , and then converted into a corresponding angle value; the voice prompt unit includes a voice module, a power amplifier board and a loudspeaker, collects and outputs voice information through the voice module, and the power amplifier board amplifies the power of the voice information, and finally the voice information is amplified by the loudspeaker The voice signal is sent out, and the voice prompt unit prompts the power-on status of the experimental steering gear and the device number, which is convenient for the experimenter to operate.

The beneficial effect of the present invention is that through the system integration of 16 network relays, CAN analyzers, and USB hubs, 16 aviation steering gears can be unattended for testing, which is 16 times higher than the original single testing capability and saves testing time at the same time. time, increasing production efficiency by 16 times.

Description of drawings

Figure 1 is a schematic diagram of the composition of the steering gear automation test system;

Fig. 2 is a control system block diagram;

Fig. 3 is a program flow chart;

Among them: 1-power socket, 2-dual DC power supply, 3-step-down module, 4-CAN box analyzer, 5-16 network relay, 6-rudder unit, 7-angle sensor, 8-computer, 9- USB hub, 10-USB to RS485 module, 11-voice module, 12-power amplifier board, 13-speaker.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The steering gear automatic testing system proposed by the invention can simultaneously complete the debugging of multiple sets of steering gears and the real-time output of stress experiment data, thereby improving the steering gear debugging efficiency and testing accuracy. It solves the shortcomings of the original steering gear tester such as cumbersome testing, long testing cycle, and low testing accuracy.

The industrial production of steering gear needs to go through a complicated debugging cycle, especially the aviation steering gear also needs to carry out environmental test testing, while the ordinary steering gear detector can only debug one steering gear at a time, the steering gear automatic test system of the present invention can complete 16 groups of steering gears are powered on and tested at the same time, and the test efficiency can theoretically reach 16 times that of the original steering gear detector, which greatly reduces the debugging cycle; at the same time, it can also complete the unattended temperature shock stress experiment process, and can realize the preservation of experimental data and output, greatly saving labor costs. In order to ensure the measurement accuracy of the swing angle of the steering gear rocker, an angle sensor module is used. The current swing angle value can be read out in real time through the interactive interface, and compared with the actual measurement value to ensure the angle measurement accuracy.

The hardware of the present invention is composed of five units including a power supply control unit, a communication control unit, a steering gear execution unit, an angle feedback unit, and a voice prompt unit; the software is composed of a stress experiment module, a steering gear performance detection module, and a data processing module. Module composition.

The automatic test system for a certain type of unmanned aerial vehicle steering gear proposed by the present invention is mainly composed of a hardware control cabinet and a software test interaction interface. module, network relay module, hub module, CAN box analyzer, steering unit, USB to RS485 module, voice module, power amplifier board and loudspeaker; software testing functions include stress test module, steering gear performance detection module, and data processing module.

The hardware platform of the test system of the present invention includes a power supply control unit, a communication control unit, a steering gear execution unit, an angle feedback unit, and a voice prompt unit. DC power supply (2), step-down module (3) and network relay module, wherein the network relay module is a 16-way network relay (5), the input end of the dual-way DC power supply (2) is connected to 220V AC through the power socket (1), and the output Two-way direct current, two-way direct current power supply (2) is connected to step-down module (3) to carry out step-down, respectively provides the steering unit (6), voice module (11), power amplifier board (12) and loudspeaker (13). Voltage is required, and the power-on and power-off control of each steering gear of the steering group (6) are realized by the network relay module; the communication control unit includes a USB hub module (9) and a CAN box analyzer module (4) in Fig. 1 and USB to RS485 module (10), responsible for the communication connection between each module and the computer, the CAN box analyzer module (4) is connected to the USB hub module (9), and the input terminal of the USB hub (9) is connected to the computer (8) , the output port is connected to step-down module (3), 16 road network relays (5), CAN bus protocol analyzer (4) and voice module (11) respectively by USB to 485 module (10); It is the steering group (6) in Figure 1, the steering group (6) includes 16 steering gears, the 16 steering gears are respectively connected to each channel of the network relay module, and the 16 steering gears are connected to the USB through the CAN box analyzer (4). The hub module (9), the USB hub module (9) is connected to the computer (8), and the computer (8) and the CAN box analyzer (4) send control data to the steering unit, which is the final monitoring object of the whole test system; The angle feedback unit includes the angle sensor (7) in Figure 1, one end of the angle sensor (7) is connected to the steering gear, and the other end is connected to the USB hub module (9) via the USB to RS485 module (10), thereby connecting to the computer (8), The actual angle of rotation of the rocking arm of the steering gear is measured by the angle sensor, and the angle information is fed back to the computer (8), and then converted into a corresponding angle value; the voice prompt unit includes a voice module (11) and a power amplifier board in Fig. 1 (12) and loudspeaker (13), collect and output voice information by voice module (11), power amplifier board (12) carries out power amplification to voice information, finally by loudspeaker (13) voice signal is sent, voice prompt The unit prompts the power-on status and equipment number of the steering gear in the experiment, which is convenient for the experimenter to operate.

The power supply control unit is responsible for power supply control of the entire system, including a power socket (1), a dual-channel DC stabilized power supply (2), a step-down module (3) and 16-way network relays (5). The input terminal of the dual-channel DC power supply (2) is connected to 220V AC through the power socket (1), and outputs two +12V and two +24V DC outputs. The positive pole of the input terminal of the step-down module (3) is connected to the dual-channel DC power supply (2) and two +24V circuits are connected in series, that is, the input is +48V, and the negative pole is connected to the COM terminal of the dual-channel DC power supply (2). The DC voltage range of the output terminal is 0-46V, and the current is 0-15A, so as to realize the bias test of the steering gear power supply. The 16-way network relay (5) has 16 groups of normally open and normally closed contacts, all the normally open contacts of the 16-way network relay (5) are short-circuited with the No. 2 terminal and connected to the positive pole of the output terminal of the step-down module (3), normally open Terminal No. 3 of the contact is connected with the steering gear (6) respectively. Control the closing of the normally open contact of the network relay through the program to control the power-on state of the servo.

The communication control unit is responsible for testing data transmission to ensure normal communication between each module and the computer. It includes a USB hub module (9), a CAN box analyzer module (4), and a USB-to-RS485 module (10). The input end of the USB hub (9) is connected to the computer (8), and the output port is connected to the step-down module (3), the 16-way network relay (5), the CAN bus protocol analyzer (4), respectively through the USB to 485 module (10). Voice module (11), and send data instruction through computer (8).

The steering gear execution unit is the monitoring object of the test system. It consists of 16 steering gears (6). When testing the steering gear function cycle, it selects two modes of single-mode circulation or multi-mode circulation, and selects the single-mode circulation mode When debugging a certain steering gear separately, 16 groups of steering gears (6) can also be debugged simultaneously in the multi-mode cycle mode.

The angle feedback unit measures the actual deflection angle of the rocker arm of the steering gear, measures the actual swing angle value through the angle sensor (7), and feeds back to the computer (8) through the USB hub (9) through the USB to RS485 module (10) , and then converted to the corresponding angle value.

Described voice prompt unit prompts the power-on state of the steering gear and the equipment number of the experiment, collects and outputs voice information by the voice module (11), and the power amplifier board (12) carries out power amplification to the voice signal, finally by the loudspeaker ( 13) Send out the voice signal.

The functional modules of the test system software are as follows: The stress experiment module can realize the unattended operation of the steering gear temperature stress shock test process, and automatically record the experimental data. The steering gear performance detection module refers to the verification test of the functional parameters of the steering gear, including rudder deflection angle test, power supply deviation test, speed test, Songfu test, etc. The data processing module completes the data storage and export of the experiment process and the test process, and facilitates the fault prediction of the steering gear by analyzing the data.

The stress experiment module is designed for the temperature shock stress experiment of the aviation steering gear, and can realize the unattended operation of the temperature stress shock test process of the steering gear. In order to ensure the environmental test requirements of the steering gear of the UAV, a stress test must be carried out on the steering gear before the flight. The stress test belongs to the high and low temperature cycle experiment. Before the experiment, set the high and low temperature limit value, temperature holding time, temperature conversion time, cycle times and other parameters according to the experimental requirements. The computer (8) program controls the 16-way network relay (5) according to the set time. Output, that is, the 16-way network relay (5) has an output to power up the steering unit (6) during the temperature maintenance period, and the 16-way network relay (5) is turned off during the temperature conversion time, and the steering unit (6) does not work. The number of cycles is set in the program, that is, the temperature conversion time and the temperature holding time are taken as a complete cycle, so that the steering unit (6) works periodically.

System stress experiment cycle interface: start the stress experiment computer (8) to automatically time, collect the current high and low temperature box temperature through the temperature sensor, and display it on the experiment interface. Perform power-on/power-off control of a single steering gear and the entire steering gear (6). When the "power on" button is selected, the channel output corresponding to the 16-way network relay (5) will be triggered, and then the connection between the steering gear and the power supply will be connected. The operating current and voltage of the steering unit (6) are collected by the voltage and current sensors, and according to the detected current value and the operating voltage of the steering gear, the computer (8) obtains the power of the steering gear, selects different steering gear IDs through the software interface, and the steering gear The unit (6) automatically reads the positive and negative polar angles, that is, different steering gear ID values correspond to the unique positive and negative limit angles of rocker arm swing. The computer (8) calculates the rotational speed of the steering gear according to the time it takes for the rocker arm of the steering gear to swing from the negative limit angle to the positive limit angle. During the stress experiment, the experimenter does not need to observe and record the experimental data and status in real time, but only needs to set the stress cycle parameters.

The steering gear performance detection module refers to the verification test of the functional parameters of the steering gear, including angle test, Songfu test and so on. The steering gear angle test includes cycle mode and fixed angle mode. The cycle mode uses a square wave signal, and the rocker arm of the steering gear can realize the circular swing from the negative limit angle to the positive limit angle; the fixed angle mode refers to selecting a certain angle in the angle control bar, and observing The actual swing angle of the rocker arm of the steering gear is compared with the detection result of the angle sensor and the angle measurement result of the rocker arm pointer to determine whether the swing angle of the rocker arm of the steering gear is within the error requirement range. The range of angle change in fixed angle mode is -60°～+60°, which is further divided into continuous fine-tuning and discontinuous fine-tuning. When continuous fine-tuning is selected, the angle value can be adjusted and set every 1°; when non-continuous fine-tuning is selected, a measurement value can be set every 10°. Songfu test refers to observing the state of the rocker arm when the steering gear is powered off, and at the same time checking whether the rocker arm of the steering gear can swing freely in the power off state.

The data processing module can automatically save the data of the experiment process and the test process, and can view and analyze the data of the experiment process through the data output option, which is convenient for fault prediction. At the same time, set the data clear button, and the servo will first clear the data before each power-on, to prevent the original data from overshooting and overflowing at the moment of power-on, causing the software to crash.

The implementation process of the method of the present invention involves five main steps: experimental preparation, setting of the steering gear ID, fixed angle debugging, single-mode circulation, and multi-mode circulation. The specific steps are as follows:

Step 1: Experiment preparation

Connect the experimental circuit as shown in Figure 1, connect the plug 1 to 220v AC, and use a multimeter to detect the voltages of the input and output terminals of the dual-channel DC power supply 2, step-down module 3, and network relay 5 respectively. The steering unit 6 is arranged according to the model numbers for easy identification. Turn on the computer 8 and the test software, and clear the data commands of the control level and the receiving level to prevent the software from being stuck due to data blockage when the steering gear is powered on.

Step 2: Set parameters

After the steering unit (6) is powered on, set the ID of each steering gear. Different steering gear models have different rudder angle ranges. First select "ID Setting", then select the corresponding steering gear model, and check the frame data in the frame ID information. The frame ID data of each steering gear includes two meanings, the first half is the address data of the steering gear and the second half is the limit angle data. When setting the ID of the steering gear for the first time, the minimum limit angle value is used as a reference. Each steering gear has an internal ID address data storage function. After the setting is completed, the computer will automatically identify the data information of each steering gear when it is powered on next time, and drive the steering gear to run according to the specified limit angle. Connect the steering gear CAN box analyzer (4) to establish a communication connection, and the steering gear unit (6) transmits information such as the current swing angle, steering gear ID number, and rotational speed in the form of a CAN message to the computer ( 8). According to the requirements of the power bias test, by setting the operating voltage of the steering gear, the step-down module (3) adjusts the voltage output of the dual-channel DC power supply (2) to vary in the range of +24V to +32V, thereby realizing the power bias test.

Step 3: Fixed Angle Debugging

First select the ID setting, select the corresponding steering gear model, power on the test steering gear, select the "non-continuous fine-tuning" button, and first select the "Songfu" test in the angle control 1 on the interactive interface. At this time, the steering unit ( 6) In the reset state, the rocker arm of the steering gear swings freely. The computer (8) sends the corresponding can message angle data to the rudder unit (6), and the rudder unit (6) performs the swing after receiving the can message data, and observes the difference between the actual swing measurement angle value and the set angle of the rocker arm Whether it is within the required error range, and then realize its fixed-angle mode test. Select the "Continuous fine-tuning" button to test the swing angle of the rocker every 1°, and observe the response of the servo and the measurement value of the angle sensor. Finally, select "speed test" in the interactive interface, select the positive and negative limit angles ±40° and ±25° respectively, so that the rocker arm of the steering unit (6) swings at the positive and negative limits, and record its swing from the positive limit position to the negative limit position The time used to calculate the corresponding speed value. For the safety of the steering gear, the software set the steering gear over-travel self-protection function in the fixed angle debugging. Even if the real limit angle of the steering gear is less than ±60°, when the error is selected as ±60°, the steering gear will automatically execute the first frame ID data. Set the limit swing angle value.

Step 4: Loop Debugging

The cycle test is a rectangular wave test, including single-mode cycle and multi-mode cycle. Under single-mode cycle, only a single servo power-on test can be controlled, while multi-mode cycle can control all servo power-on cycles. Press the "single-mode cycle" button, select the corresponding test servo model, power on the servo, select the corresponding cycle swing angle range in "angle control 2", the servo rocker will be in the positive and negative poles Do periodic reciprocating swing within the angle range, and observe the output data of the interface. Select the "multi-mode cycle" mode, press the "power on all" button, select a cycle angle in "angle control 2", then all servos will execute the reciprocating cycle command at the same time, and display each servo in the output column Control amount.

Step Five: Stress Test

Firstly, set the parameters of the stress experiment, including parameters such as "temperature cycle", "working time" and "number of cycles", among which "temperature cycle" represents the total time of high and low temperature cycles, and "working time" represents the temperature of the rudder during the entire temperature cycle. The working time of machine power-on. After setting the cycle parameters, the steering gear is powered on, and the stress test computer (8) is started to automatically time and record the number of test cycles; the current temperature of the high and low temperature box is collected by the temperature sensor, and the current temperature is displayed in real time on the test interface; the computer ( 8) By receiving the CAN message report from the steering unit (6), parameters such as the steering gear model, voltage and current values, positive and negative pole angle values of the steering gear, and rotational speed are obtained. Control the soft buttons on the interface "power on" and "power off" to trigger the channel output corresponding to the network relay 5, and then connect the steering gear to the power supply, thereby controlling the power-on and power-off states of the entire stress test steering unit (6) . Throughout the cycle, the steering gear is placed in a high and low temperature box, without personnel monitoring, and the experimental data will be automatically output.

Step Five: Data Processing

The computer (8) saves and derives the experimental data automatically saved by the test system to generate a corresponding time-angle curve, from which it analyzes whether the performance of the steering gear is up to standard, and according to the turning point and jump point in the temperature cycle stress curve, carry out the corresponding temperature. Estimate the failure risk of the steering gear and generate an evaluation data report.

Claims (1)

1. A certain type of unmanned aerial vehicle steering gear automatic test system, comprising five units altogether of power supply control unit, communication control unit, steering gear execution unit, angle feedback unit and voice prompt unit, is characterized in that: The power control unit includes a power socket, a dual-channel DC power supply, a step-down module and a network relay module, wherein the network relay module is a 16-channel network relay, and the input terminals of the dual-channel DC power supply are connected to 220V AC through the power socket, and output two-way DC , the dual-channel DC power supply is connected to the step-down module for step-down, and provides the required voltage for the steering unit, voice module, power amplifier board and loudspeaker respectively, and realizes the power-on and power-off control of each steering gear of the steering unit through the network relay module Described communication control unit comprises USB hub module, CAN box analyzer module and USB transfer RS485 module, is responsible for the communication connection between each module and computer, and CAN box analyzer module is connected to USB hub module, and USB hub input terminal and The computer is connected, and the output port is connected to the step-down module, the 16-way network relay, the CAN bus protocol analyzer and the voice module respectively through the USB to 485 module; Each steering gear is connected to each channel of the network relay module, 16 steering gears are connected to the USB hub module through the CAN box analyzer, the USB hub module is connected to the computer, and the computer and the CAN box analyzer send control data to the steering unit, which is the whole The final monitoring object of the test system; the angle feedback unit includes an angle sensor, one end of the angle sensor is connected to the steering gear, and the other end is connected to the USB hub module through the USB to RS485 module, so as to be connected to the computer, and the angle sensor is connected to the steering gear rocker The actual angle is measured, and the angle information is fed back to the computer, and then converted into a corresponding angle value; the voice prompt unit includes a voice module, a power amplifier board and a loudspeaker, and the voice module is used to collect and output voice information. The power of the voice information is amplified, and finally the voice signal is sent out by the loudspeaker, and the voice prompt unit prompts the power-on status of the experimental steering gear and the equipment number, which is convenient for the experimenter to operate.