CN215043817U - Small-sized six-degree-of-freedom deck motion simulation system - Google Patents
Small-sized six-degree-of-freedom deck motion simulation system Download PDFInfo
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- CN215043817U CN215043817U CN202121225940.2U CN202121225940U CN215043817U CN 215043817 U CN215043817 U CN 215043817U CN 202121225940 U CN202121225940 U CN 202121225940U CN 215043817 U CN215043817 U CN 215043817U
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Abstract
The utility model belongs to the technical field of unmanned aerial vehicle motion deck take-off and landing guide, specific small-size six degree of freedom deck motion analog system that says so. The system comprises an unmanned vehicle chassis, a control module, a six-degree-of-freedom swing platform mechanism, a movable platform autonomous lifting guide system and an upper computer system, wherein the six-degree-of-freedom swing platform mechanism is arranged on the unmanned vehicle chassis; the movable platform autonomous lifting guide system is arranged on the six-degree-of-freedom swing platform mechanism; the control module is arranged on the chassis of the unmanned vehicle and is used for controlling the swinging attitude and the period of the six-degree-of-freedom swinging platform mechanism and the speed and the steering of the chassis of the unmanned vehicle; and the upper computer system is used for receiving the state information of the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis sent by the control module and sending instructions to the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis. The utility model discloses can be at the convenient ship deck take off and land guide test who realizes the sea or other surfaces of water on land, can the verified flight test in earlier stage of greatly reduced.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle motion deck take-off and landing guide, specific small-size six degree of freedom deck motion analog system that says so.
Background
The movable platform autonomous take-off and landing guiding technology is an important component of the shipboard take-off and landing and aerial mother-son robot technology, and the autonomous release and recovery of the flying robot on the ground mobile robot are the core problems for realizing the mother-son robot system. Similarly, the deck area of the shipborne take-off and landing is small, the deck swings and rises along with sea waves, and disturbed airflow at the tail of a ship and disturbed airflow at the sea surface exist, which bring a serious challenge to the autonomous landing of the unmanned aerial vehicle. Therefore, there is a great experimental risk in implementing the autonomous take-off and landing experiment on the deck or a narrow moving platform, and especially there is a greater challenge in implementing the autonomous take-off and landing experiment in the marine deck environment, and some semi-physical simulation methods are often adopted to verify the logicality and the effectiveness of the control method. However, semi-physical simulation is only theoretical simulation, the set up environmental conditions are over-ideal, and the environment is greatly different from the real ocean or water surface deck environment. Therefore, a deck motion simulation system which is relatively close to a real environment is urgently needed to make up for the defects of the semi-physical simulation experiment.
SUMMERY OF THE UTILITY MODEL
In view of the above problems, an object of the present invention is to provide a small six-degree-of-freedom deck motion simulation system, which can simulate six-degree-of-freedom deck motion and has a movable platform guidance system, and is small and portable, and convenient to communicate with an unmanned aerial vehicle system, and can establish an unmanned aerial vehicle-deck take-off and landing guidance verification test platform in a short time, and can perform real flight test data analysis and further simulation optimization control parameters and methods through data saved by an upper computer and a controller on the movable platform.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a small six-degree-of-freedom deck motion simulation system, comprising:
an unmanned vehicle chassis;
the six-degree-of-freedom swinging platform mechanism is arranged on the chassis of the unmanned vehicle and is used for simulating deck movement;
the movable platform autonomous take-off and landing guide system is arranged on the six-degree-of-freedom swing platform mechanism and has an unmanned aerial vehicle autonomous take-off and landing guide function;
the control module is arranged on the unmanned vehicle chassis and used for controlling the swinging posture and the period of the six-degree-of-freedom swinging platform mechanism and the speed and the steering of the unmanned vehicle chassis and sending the state information of the six-degree-of-freedom swinging platform mechanism and the unmanned vehicle chassis to the upper computer system;
and the upper computer system is used for receiving the state information of the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis sent by the control module and sending instructions to the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis.
The six-degree-of-freedom swing platform mechanism comprises a six-degree-of-freedom swing platform, a mounting bottom plate and three groups of linear driving mechanisms arranged between the six-degree-of-freedom swing platform and the mounting bottom plate, wherein the mounting bottom plate is connected with the chassis of the unmanned aerial vehicle, and the automatic lifting guide system of the movable platform is arranged on the six-degree-of-freedom swing platform; and the three groups of linear driving mechanisms are used for driving the six-freedom-degree swinging platform to perform six-freedom-degree motion.
The six-degree-of-freedom swing platform is made of an iron plate with a square structure.
Three groups of linear driving mechanisms are uniformly distributed along the circumferential direction.
The linear driving mechanism comprises a servo motor and an electric pushing cylinder which are connected with each other, wherein the servo motor is electrically connected with the control module; the bottom of the electric pushing cylinder is connected with the mounting bottom plate through a lower universal joint, and the output end of the electric pushing cylinder is connected with the six-degree-of-freedom swinging platform through an upper universal joint.
The control module comprises a controller, a motor driver and a power supply unit, wherein the motor driver is connected with the servo motor; the controller is used for controlling the speed and the steering of the unmanned vehicle chassis.
The unmanned vehicle chassis comprises a vehicle body frame, two steering wheels and two driving wheels, wherein the two steering wheels and the two driving wheels are arranged at the bottom of the vehicle body frame; the control module is arranged at the bottom of the vehicle body frame.
The upper computer system comprises upper computer software.
The utility model has the advantages and beneficial effects that:
1. the utility model discloses six degree of freedom ship deck motion circumstances of simulation that can be true on land to possess the platform that moves and independently take off and land guide function, can be convenient realization sea or the ship deck of other surface of water take off and land guide test on land, compare with true sea and lake surface can the greatly reduced verify nature flight test in earlier stage.
2. The utility model discloses a moving platform take-off and landing guide system possesses abundant communication interface, can open source flight control wantonly and carry out communication and transplantation, can reduce development cycle greatly; and a secondary development interface is reserved, so that the estimation algorithm of the related deck attitude can be further optimized and verified, and the learning and the early-stage experimental verification of the project are facilitated.
3. The utility model discloses a six degrees of freedom sway the platform and carry on one can bear 200 kg's unmanned aerial vehicle chassis, can control its free motion, and the transportation is convenient, has configured the deck gesture and has estimated required gesture speed measurement sensor, can carry out static and dynamic deck and estimate the experiment.
Drawings
Fig. 1 is a schematic structural view of a small six-degree-of-freedom deck motion simulation system of the present invention;
fig. 2 is a schematic structural view of the chassis of the unmanned vehicle of the present invention;
FIG. 3 is a schematic structural view of a six-degree-of-freedom swing platform mechanism according to the present invention;
fig. 4 is a flowchart of the working process of the deck motion simulation system with six degrees of freedom of the present invention.
In the figure: the automatic lifting platform comprises a six-degree-of-freedom swinging platform 1, an unmanned vehicle chassis 2, a vehicle body frame 21, a steering wheel 22, a driving wheel 23, a control module 3, an automatic platform lifting guide system 4, an upper computer system 5, a servo motor 6, an electric pushing cylinder 7, an installation bottom plate 8, an upper universal joint 9 and a lower universal joint 10.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the utility model provides a small-size six-degree-of-freedom deck motion simulation system, which comprises an unmanned vehicle chassis 2, a control module 3, a six-degree-of-freedom swing platform mechanism, a movable platform autonomous lifting guide system 4 and an upper computer system 5, wherein the six-degree-of-freedom swing platform mechanism is arranged on the unmanned vehicle chassis 2 and used for simulating deck motion; the moving platform autonomous take-off and landing guide system 4 is arranged on the six-degree-of-freedom swing platform mechanism and has an unmanned aerial vehicle autonomous take-off and landing guide function; the control module 3 is arranged on the unmanned vehicle chassis 2 and is used for controlling the swinging posture and the period of the six-degree-of-freedom swinging platform mechanism and the speed and the steering of the unmanned vehicle chassis 2 and sending the state information of the six-degree-of-freedom swinging platform mechanism and the unmanned vehicle chassis 2 to the upper computer system 5; the upper computer system 5 is used for receiving the state information of the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis 2 sent by the control module 3 and sending instructions to the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis 2.
As shown in fig. 2, in the embodiment of the present invention, the chassis 2 of the unmanned vehicle includes a vehicle body frame 21, two steering wheels 22 and two driving wheels 23 disposed at the bottom of the vehicle body frame 21; the control module 3 is provided at the bottom of the vehicle body frame 21. The vehicle body frame 21 is also provided with a motor driver and a 48V rechargeable battery pack.
As shown in fig. 3, in the embodiment of the present invention, the six-degree-of-freedom swing platform mechanism includes a six-degree-of-freedom swing platform 1, a mounting base plate 8, and three sets of linear driving mechanisms disposed between the six-degree-of-freedom swing platform 1 and the mounting base plate 8, wherein the mounting base plate 8 is connected to an unmanned vehicle chassis 2, and a moving platform autonomous lifting guiding system 4 is disposed on the six-degree-of-freedom swing platform 1; the three groups of linear driving mechanisms are used for driving the six-freedom-degree swing platform 1 to carry out six-freedom-degree motion.
Specifically, the six-degree-of-freedom swing platform 1 is made of an iron plate with a square structure. In this embodiment, the six-degree-of-freedom swing platform 1 is a square mesh platform with a size of 1 m × 1 m.
Further, three groups of linear driving mechanisms are uniformly distributed along the circumferential direction.
As shown in fig. 3, in the embodiment of the present invention, the linear driving mechanism includes a servo motor 6 and an electric pushing cylinder 7 connected to each other, wherein the servo motor 6 is electrically connected to the control module 3 and serves as a power component for the linear motion of the electric pushing cylinder 7; the bottom of the electric pushing cylinder 7 is connected with the mounting bottom plate 8 through a lower universal joint 10, and the output end of the electric pushing cylinder 7 is connected with the six-degree-of-freedom swing platform 1 through an upper universal joint 9.
In the embodiment of the present invention, the control module 3 includes a controller, a motor driver and a power supply unit, wherein the motor driver is connected to the servo motor 6 for controlling the swing attitude and period of the six-degree-of-freedom swing platform 1; the controller is used for controlling the running speed and the steering of the unmanned vehicle chassis 2.
The movable platform independent take-off and landing guide system 4 is fixedly connected with the six-freedom-degree swing platform 1, the attitude of the platform is measured, the three-axis speed is measured, and the unmanned aerial vehicle can be guided to land on a 1 m x 1 m square platform by providing guiding landing position information for the unmanned aerial vehicle. The automatic take-off and landing guide system 4 of the movable platform has rich communication interfaces, comprises communication protocols such as Mavlin and the like, can be conveniently communicated with various open-source flight control systems, and can easily build the automatic take-off and landing guide unmanned aerial vehicle-deck experiment platform.
The upper computer system 5 comprises a set of upper computer software running on a PC computer, and mainly sends a swinging instruction to the six-freedom-degree swinging platform 1, and simultaneously returns and stores data such as the state, the posture, the speed and the like of the six-freedom-degree swinging platform 1 and the movable platform autonomous take-off and landing guide system 4, so that the upper computer system can be used for later experimental data processing, simulation and autonomous take-off and landing guide flight tests.
The six-degree-of-freedom swinging platform 1 provides a fixed platform for the unmanned aerial vehicle to take off and land, the total weight does not exceed 15kg, and an iron plate with the thickness of 5mm is selected because an electromagnet-assisted landing mode is adopted. Three groups of servo motors 6 and electric pushing cylinders 7 are sleeved, 220V power supply is adopted, 100kg of carriers are guaranteed, the three electric pushing cylinders 7 are controlled to realize six-degree-of-freedom motion of the six-degree-of-freedom swing platform 1, the rolling angle range (-20 degrees and +20 degrees), the pitch angle range (-20 degrees and +20 degrees) and the lifting amplitude of the three electric pushing cylinders is 0-150mm (not including the motion fluctuation height of the unmanned vehicle). The speed is 60 degrees/s, the acceleration is 0.5g, and the sinking and floating speed is 0-500 mm/s.
Further, the unmanned vehicle chassis 2 adopts a Yunle NWD01 unmanned vehicle chassis, and the unmanned vehicle chassis 2 can bear a 200kg carrier, so the deck motion simulation system can bear a rotor wing or fixed wing unmanned vehicle with the dead weight of less than 50kg to perform ship-borne or movable platform take-off and landing guide flight test verification. The unmanned vehicle chassis 2 is provided with a controller, and the motion control of the unmanned vehicle chassis can be realized by controlling the running speed, turning and other instructions through an interface. In addition, in the embodiment, the length, width and height of the unmanned vehicle chassis 2 are 1608 x 800 x 510mm, the wheelbase is 900mm, the wheelbases in front and rear are 686mm and 692mm respectively, the total weight of the chassis is 90kg, the motor power is 800w (single) x 2, and the driving mode is front-turning rear-driving. The chassis has the working temperature of-20-60 ℃, the vertical load of 200kg, the running speed of 0-50km/h, the maximum climbing angle of 20 degrees, the battery of 10Ah/48v, the endurance mileage of 45km, the manual charging of a charger and the charging time of less than 6 h.
Further, the control module 3 is a control unit of the whole small-sized six-degree-of-freedom deck motion simulation system and is used for controlling the swinging posture and period of the six-degree-of-freedom swinging platform 1, the running speed and direction of the unmanned vehicle chassis 2 and the like; the control mode can select an automatic mode or a manual operation mode. The controller mainly receives instructions, including six-freedom-degree swing period and amplitude control instructions for controlling the swing platform and forward, backward, steering, speed and other instructions of the ground unmanned vehicle chassis. Thereby controlling the advancing, retreating, turning speed and the like of the double-drive four-wheel vehicle, and better simulating the movement effect of a deck on the sea or on the water surface on the land.
The utility model provides a small-size six degrees of freedom deck motion simulation system's theory of operation is:
the utility model provides a small-size six degrees of freedom deck motion analog system goes up the electric operation back, and the successful pilot lamp of initialization lights, through wireless mode and 5 communication connection of host computer system, and waiting for the equal normal back of system state operation to begin according to the task requirement, according to the appointed range of task, the six degrees of freedom motion control of the platform that sways of cycle, the unmanned vehicle chassis of speed control advances, retreats, or steering control according to the task requirement. Specifically, as shown in fig. 4, the upper computer system 5 sends a swing amplitude and period command to the small six-degree-of-freedom deck motion simulation system, controls the small six-degree-of-freedom deck motion simulation system to operate according to the task track, and simultaneously returns system state information to the upper computer system 5. The unmanned aerial vehicle carries out the processes of collecting a carrier landing target, tracking the deck, descending the deck, and finally descending, and the unmanned aerial vehicle descends on the six-degree-of-freedom swinging platform 1.
The utility model discloses motion state of simulation surface of water ship deck that can be better can provide powerful experiment platform for unmanned aerial vehicle (including rotor and stationary vane) carrier-borne take off and land, move a great deal of flight experiments such as platform take off and land, can carry out accurate real environment's the platform that moves and take off and land the proof test. The utility model discloses the advantage is the six degree of freedom ship deck motion circumstances of simulation that can be true on land to possess the autonomous take-off and landing guide function of movable platform, can be at the convenient ship deck take-off and landing guide test of realization sea or other surfaces of water on land, compare with true sea and lake surface and can verify nature flight test risk in earlier stage by greatly reduced. Moreover, the utility model discloses a move platform guidance system that takes off and land possesses abundant communication interface, can with arbitrary open source flight control communicate and transplant, can reduce development cycle greatly. And a secondary development interface is reserved, so that the estimation algorithm of the related deck attitude can be further optimized and verified, and the learning experiment and the early-stage experiment verification of the project are facilitated. Furthermore, the utility model discloses a six degrees of freedom sway the platform and carry on one can bear 200 kg's unmanned aerial vehicle chassis, can control its free motion, and the transportation is convenient, has configured the deck gesture and has estimated required gesture speed measurement sensor, can carry out static and dynamic deck and estimate the experiment.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (8)
1. A small-sized six-freedom deck motion simulation system is characterized by comprising:
an unmanned vehicle chassis (2);
the six-degree-of-freedom swinging platform mechanism is arranged on the unmanned vehicle chassis (2) and is used for simulating deck motion;
the moving platform autonomous take-off and landing guide system (4) is arranged on the six-degree-of-freedom swing platform mechanism and has an unmanned aerial vehicle autonomous take-off and landing guide function;
the control module (3) is arranged on the unmanned vehicle chassis (2) and is used for controlling the swinging posture and the period of the six-degree-of-freedom swinging platform mechanism and the speed and the steering of the unmanned vehicle chassis (2) and sending the state information of the six-degree-of-freedom swinging platform mechanism and the unmanned vehicle chassis (2) to the upper computer system (5);
and the upper computer system (5) is used for receiving the state information of the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis (2) sent by the control module (3) and sending instructions to the six-degree-of-freedom swing platform mechanism and the unmanned vehicle chassis (2).
2. The small six-degree-of-freedom deck motion simulation system according to claim 1, wherein the six-degree-of-freedom swing platform mechanism comprises a six-degree-of-freedom swing platform (1), a mounting base plate (8) and three groups of linear driving mechanisms arranged between the six-degree-of-freedom swing platform (1) and the mounting base plate (8), wherein the mounting base plate (8) is connected with the unmanned vehicle chassis (2), and the movable platform autonomous take-off and landing guide system (4) is arranged on the six-degree-of-freedom swing platform (1); the three groups of linear driving mechanisms are used for driving the six-freedom-degree swinging platform (1) to carry out six-freedom-degree motion.
3. The small six-degree-of-freedom deck motion simulation system according to claim 2, characterized in that the six-degree-of-freedom swing platform (1) is made of iron plate with square structure.
4. The small six-degree-of-freedom deck motion simulation system according to claim 2, wherein three sets of the linear drive mechanisms are circumferentially equispaced.
5. The small six-degree-of-freedom deck motion simulation system according to claim 2, characterized in that the linear drive mechanism comprises a servo motor (6) and an electric push cylinder (7) which are connected with each other, wherein the servo motor (6) is electrically connected with the control module (3); the bottom of the electric pushing cylinder (7) is connected with the mounting bottom plate (8) through a lower universal joint (10), and the output end of the electric pushing cylinder (7) is connected with the six-degree-of-freedom swinging platform (1) through an upper universal joint (9).
6. The small six-degree-of-freedom deck motion simulation system according to claim 5, characterized in that the control module (3) comprises a controller, a motor driver and a power supply unit, wherein the motor driver is connected with the servo motor (6); the controller is used for controlling the speed and the steering of the unmanned vehicle chassis (2).
7. The small six-degree-of-freedom deck motion simulation system according to claim 1, wherein the unmanned vehicle chassis (2) comprises a vehicle body frame (21) and two steering wheels (22) and two driving wheels (23) arranged at the bottom of the vehicle body frame (21); the control module (3) is arranged at the bottom of the vehicle body frame (21).
8. The system for small six degree-of-freedom deck motion simulation according to claim 1, characterized in that the upper computer system (5) comprises upper computer software.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113306743A (en) * | 2021-06-03 | 2021-08-27 | 中国科学院沈阳自动化研究所 | Small-size six-degree-of-freedom deck motion simulation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113306743A (en) * | 2021-06-03 | 2021-08-27 | 中国科学院沈阳自动化研究所 | Small-size six-degree-of-freedom deck motion simulation system |
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