KR20170105959A - Performance Testing Device for Multirotor - Google Patents

Performance Testing Device for Multirotor Download PDF

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Publication number
KR20170105959A
KR20170105959A KR1020160029405A KR20160029405A KR20170105959A KR 20170105959 A KR20170105959 A KR 20170105959A KR 1020160029405 A KR1020160029405 A KR 1020160029405A KR 20160029405 A KR20160029405 A KR 20160029405A KR 20170105959 A KR20170105959 A KR 20170105959A
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KR
South Korea
Prior art keywords
rotor
ring
pitch
axis
pair
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Application number
KR1020160029405A
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Korean (ko)
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KR101806139B1 (en
Inventor
박영관
안상석
김호겸
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박영관
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Priority to KR1020160029405A priority Critical patent/KR101806139B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
    • G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
    • G—PHYSICS
    • G12—INSTRUMENT DETAILS
    • G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus
    • G—PHYSICS
    • G12—INSTRUMENT DETAILS
    • G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G12B9/00—Housing or supporting of instruments or other apparatus
    • G12B9/08—Supports; Devices for carrying

Abstract

The present invention relates to a device for testing a multi-rotor performance. The device for testing a multi-rotor performance comprises: a support (10) which has a shape of an enclosure functioning as a base; a lower frame (20) which is vertically installed in the support (10) through a yaw axis (Y) and has a semicircle so that both ends are installed toward an upper portion; a first ring (30) connected with an upper inner side of the lower frame (20) through a pair of roll axes (X); a second ring (40) co-axially connected with the first ring (30) toward the inside of the first ring (30) through a pair of pitch axes (Z); and a controller (50) which stores a performance evaluation program to perform a performance evaluation test. A cross(+)-shaped mounting part (41) is positioned so that a test target multi-rotor is installed at an upper portion in the second ring (40). Driving motors are each provided at the yaw axis (Y), any one roll axis of the roll axes (X), any one pitch axis (Z) of a pair of pitch axes (Z). The device for testing a multi-rotor performance can easily evaluate the flying performance of the multi-rotor and easily recognize a manufacturing defect before practical flying.

Description

{Performance Testing Device for Multirotor}

The present invention relates to a test apparatus for evaluating performance of a multi-rotor, and more particularly, to a multi-rotor (hereinafter referred to as " multi-rotor " (Hereinafter referred to as " rotor ").

Recently, a multirotor that has a plurality of rotor blades and utilizes the thrust generated by the rotor blades has been developed and widely used. When such a multi-rotor is manufactured, it is necessary to evaluate whether there is a manufacturing defect or flight performance At present, these evaluations are conducted mainly through test flight in outdoor field. In case of the abnormality of the parts or erroneous assembly, the multi-rotor may fall down during the test flight.

In addition, when evaluating the performance through the test flight in the outdoors as described above, since the environment is changed at each test, the performance evaluation result is not constant, so that the reliability can not be guaranteed and standardization of the performance test is not easy .

Therefore, it is required to develop a test apparatus for evaluating the performance of a multi-rotor that is not affected by the test environment and can derive constant performance test results.

KR 10-136631 B1 KR 10-2015-0057787 A KR 10-2015-0090539 A KR 10-2015-0136641 A

Accordingly, the present invention has been made to solve the problems occurring in the conventional multi-rotor test evaluation process as described above, and it is an object of the present invention to provide a multi-rotor performance evaluation method capable of obtaining a constant performance test result without being affected by the test environment The purpose of the test apparatus is to provide.

It is an object of the present invention to provide a testing apparatus for multi-rotor performance evaluation, which comprises: A semicircular lower frame vertically installed on the support through a yaw axis and having opposite ends thereof installed upward; A first ring connected to the inside of an upper end of the lower frame through a pair of roll axes; A second ring connected to the inner side of the first ring through a pair of pitch axes in a concentric manner with the first ring; (+) -Shaped seating part is located inside the second ring so that a multi-rotor to be tested can be installed on the upper part of the second ring, , A roll axis of one of the pair of roll axes, and a pitch axis of one of the pair of pitch axes is provided with a yaw soccer spinning part, a roll soccer spinning part and a pitch soccer spinning part, each of which is provided with a driving motor.

The present invention is characterized in that strain gauges are installed on the yaw axis to measure the thrust of the multi-rotor rotary wing.

Further, the present invention is characterized in that an inertial moment adjusting member is provided on each of a pair of roll axles on which a roll soccer hoop is not provided, a pitch axis on which a pitch axis rn is not provided in the pair of pitch axes, .

Further, the present invention is characterized in that the inertia moment adjusting member provided on the seat portion can be changed in installation position by a sliding method.

The present invention can test the performance of the multi-rotor by using a test apparatus capable of independently controlling three axes while the test apparatus is constructed so as not to interfere with each other, thereby ensuring the accuracy and reliability of the test.

In addition, since the gravity center of the multi-rotor can be aligned with the center of gravity of the test apparatus by providing an inertia moment adjusting member on the roll axis, the pitch axis and the seat portion, the effect of the biased load is eliminated, The test can be done.

1 is a configuration diagram showing an example of a test apparatus for evaluating performance of a multi-rotor according to the present invention,
2 is a perspective view showing an example of a test apparatus for evaluating performance of a multi-rotor according to the present invention.

Hereinafter, the structure and operation of the present invention will be described in more detail with reference to the accompanying drawings, which show preferred embodiments.

The present invention provides a test apparatus for multi-rotor performance evaluation capable of constantly and effectively evaluating flight performance of a manufactured multi-rotor. The test apparatus of the present invention comprises a support table (10) as shown in FIGS. 1 and 2, A lower frame 20, a first ring 30, a second ring 40, and a controller 50. As shown in Fig.

The support base 10 is in the form of a quadrangular housing and functions as a base for supporting the components and the like described below and is made of a metal material so as to maintain the structural robustness.

A semicircular lower frame 20 is vertically disposed on the upper part of the support frame 10 and a central part of the semicircle is fixed to the support frame 10 via a yaw axis Y installed perpendicularly to the support frame 10 And a yaw axis running part (not shown) provided with a driving motor M1 is installed at the lower end of the yaw axis Y provided on the support table 10.

A first annular ring 30 is connected to the lower frame 20 through a roll axis X to be described later at a predetermined distance from the lower frame 20 at the upper end of the lower frame 20 A pitch axis Z to be described later is formed on the same plane as the plane formed by the first ring 30 in the form of a concentric circle at a certain distance from the first ring 30 at the inner side of the first ring 30 A ring-shaped second ring 40 is provided.

(+) -Shaped seating portion 41 is formed inside the second ring 40 so that two bars are orthogonal to each other. The center of the seating portion 41, that is, the portion where the two bars intersect each other (Not shown) for fixing the multi-rotor 1 so that the mounting position of the multi-rotor 1 is not changed in the process of mounting and testing the multi-rotor to be tested, .

A pair of roll shafts X are provided so as to oppose each other so as to form a pair of roll shafts X at intervals of 180 degrees on the first ring 30 provided at a predetermined interval on the inside of the upper end of the lower frame 20. The pair of roll shafts X And one roll axis X of a pair of roll axes X positioned on the outer side of the lower frame 20 is installed on the roll axis X so that the end portion is located on the outer side of the lower frame 20, (Not shown) provided with a motor M2 is provided.

A pair of pitch axes Z are provided so as to oppose each other so as to form a pair of pitch axes Z in the second ring 40 provided at a predetermined interval on the inner side of the first ring 30. At this time, And the pitch axis Z are installed so as to penetrate the first ring 30 such that the ends of the pitch axis Z are positioned outside the first ring 30 And a pitch axis Z (not shown) provided with a driving motor M3 is provided on one pitch axis Z of a pair of pitch axes Z positioned outside the first ring 30. [

A power line and a control line are connected to the yaw soccer hoop, the roll soccer hoop and the pitch soccer hoop, respectively, and are controlled by a controller 50 such as a PC, and the driving motors M1, M2 and M3, A servo motor or a BLDC motor is used so that accurate rotation control can be performed and a portion of the lower frame 20 through which the yaw axis and the roll axis 23 pass and the portion of the first ring 30 through which the pitch axis Z passes are respectively The bearings B are provided so as to smoothly rotate while supporting the drive shafts X, Y and Z. With this structure, the drive shafts X, Y and Z are independently controlled and rotated.

On the other hand, when the multi-rotor is tested as described above, the multi-rotor is installed at the center of the seating portion 41 having a positive (+) shape and is tested only at one side of the lower frame 20 and the first ring 30 The roll shaft X and the pitch axis Z are subjected to unbalanced load so that the yaw axis Y, the roll axis X and the pitch axis Z are precisely controlled Even with this unbalanced load, the unbalance of the moment of inertia based on these axes occurs and it is difficult to control accurately.

Accordingly, in the present invention, the end portion of the roll axis X, which is not provided with the roll sole portion of the pair of roll axes X and protrudes outside the first ring 30, and the end portion of the roll axis X, (I) such as a weight can be installed on the end of the pitch axis Z protruding outward of the first ring 30 without being provided with the second ring 40. In addition, The inertia moment adjusting member I can be installed on each of the pair of bars constituting the mounting portion 41 provided on the mounting portion 41. The inertia moment adjusting member I installed on the bar of the mounting portion 41 So that the installation position thereof can be changed.

When the inertial moment adjusting member is provided on the roll axis X, the pitch axis Z and the seat 41, the inertial moment adjusting member I The weight and the installation position of the inertia moment adjusting member I are set so that when the inertia moment adjusting member I is positioned on the roll axis X and the pitch axis Z and the seat 41 respectively, The center of gravity of the multi-rotor 1 and the center of gravity of the test apparatus are precisely aligned with each other by the weight and the position of the ring 30 and the second ring 40, An accurate and reliable performance evaluation for the multi-rotor 1 can be achieved while correct control is achieved when each of these axes is controlled through the control shaft 50. [

In the test apparatus of the present invention, a goniometer, a rotational speed sensor, an angle sensor, an angular velocity sensor, and a strain gauge are installed so that the control state and the test results can be confirmed. The goniometer includes a first ring 30 and a second ring 40, (Y) and the pitch axis (Z) of the yaw soccer so that the tilt angle of the multi-rotor (1) can be measured, and the tachometer (Z) And the angle sensor and the angular velocity sensor are provided at the center of the seat portion 41 to measure the angle and the rotational angular velocity of the multi-rotor 1 in real time, The results respectively detected by the sensors are transmitted to the controller 50, which will be described later, in real time.

As described above, according to the present invention, the test apparatus includes a roll soccer easiness portion, a pitch soccer easiness portion and a yaw soccer easiness portion. By using the roll soccer easiness portion, the pitch soccer easiness portion, The flight environment can be simulated by controlling the pitch axis (Z), the roll axis (X) and the yaw axis (Y) in accordance with the flight data acquired while flying under the test flight, Therefore, in the present invention, a strain gauge (not shown) is provided on the yaw axis Y so that the upward thrust due to the rotation of the rotor blades of the multi-rotor 1 can be measured.

And the control for the roll soccer east part and the pitch soccer east part and the yaw soccer part is performed by the controller 50 wherein the controller 50 uses a PC with a display 60, And a performance evaluation program necessary for performing and evaluating performance tests is stored. In addition, the flight data acquired at the time of flight is processed through the pitch axis Z, the roll axis X ) And yaw axis (Y), so that when the user selects one of the various flight conditions displayed on the display 60 of the controller, The performance test is performed by controlling the operation of the driving motors M1, M2, and M3 provided at the east side of the soccer, and the rotational speed, angular speed, and the like of the multi- Is measured by the sensor and transmitted to the controller 50 in real time.

When evaluating the flight performance of the multi-rotor using the test apparatus having the above-described structure, evaluation is performed by the following three methods.

(1) In order to evaluate whether there is an abnormality in parts or assembly when the multi-rotor is first manufactured, the inertia moment control member I (I) is installed in the center of the seat part 41 provided in the test apparatus, And the weight of the rotor is adjusted so that the first ring and the second ring are in a horizontal plane, the multi-rotor rotor is operated. At this time, the goniometer, the rotation speed sensor, the angle sensor, The inclination angle of the first ring 30 and the second ring 40, the tilt angle of the multi-rotor, the angle of the multi-rotor, the angular velocity of the multi-rotor, and the thrust are measured using a sensor, a strain gauge, And compared with the test data of other multi-rotors obtained previously to evaluate whether or not there is abnormality in parts or assembly.

(2) If it is determined that the flying performance of the multi-rotor to be tested is not problematic by the above-described procedure, then the control program stored in the controller in the state in which the multi- The rotation speed of the multi-rotor, the angle of the multi-rotor, and the rotation angle of the multi-rotor under the respective control conditions while controlling the operation of the drive motors M1, M2, The rotational angular velocity and the thrust, and comparing these values with the test data of other multi-rotors obtained previously, it is determined whether or not the multi-rotor to be tested is controlled in accordance with the control of the controller, The angle of the ring, the second ring, and the multi-rotor, and how the thrust and the like change.

(3) Since the multi-rotor is flying in the air, its flight performance varies according to weather conditions, and there is also a possibility of a fall if weather conditions deteriorate.

Therefore, it is desirable to evaluate flight performance according to various weather conditions of multi-rotor. For this purpose, flight data under various weather conditions such as wind direction, wind speed, and rainfall obtained while other multi-rotors are flying can be used for yaw axis, roll axis and pitch axis Controlling the yaw axis, the roll axis, and the pitch axis using the controller based on the plurality of control data while rotating the rotor of the multi-rotor, respectively, and then measuring the angle of the multi-rotor at that time, It is possible to evaluate the flight performance of the multi-rotor according to the weather condition according to the present invention.

As described above, according to the present invention, when a multi-rotor is first manufactured or installed in a test apparatus during use, the flight performance of the multi-rotor can be preliminarily evaluated according to various set flight conditions. Can be easily grasped in advance, and if performance evaluation results are accumulated, the performance evaluation standard can be established by using these results.

1: Multi-rotor 10: Support
20: lower frame 30: first ring
40: second ring 41: seat part
50: Controller 60: Display
I: inertia moment adjusting members M1, M2, M3: drive motor

Claims (4)

A multi-rotor performance evaluation apparatus for evaluating flight performance of a multi-rotor, comprising:
The testing apparatus comprises: a support base (10) in the shape of a hull which functions as a base;
A semicircular lower frame 20 vertically installed on the supporter 10 through a yaw axis Y and having both ends directed upward;
A first ring 30 connected to the inside of an upper end of the lower frame 20 through a pair of roll axes X;
A second ring (40) connected to the first ring (30) through a pair of pitch axes (Z) in a concentric manner with the first ring (30);
And a controller 50 in which a performance evaluation program is stored so that a performance evaluation test can be performed,
Inside the second ring (40), a seating part (41) of a twelve (+) character shape is disposed so that a multi-rotor to be tested can be installed on the upper part,
Wherein one of the yaw axis (Y) and one of the pair of roll axes (X) and one of the pair of pitch axes (Z) is provided with a drive motor A soccer eccentricity, a soccer eccentricity, and a pitch-eccentric eccentricity.
The method according to claim 1,
And a yaw axis (Y) is provided with a strain gauge for measuring the thrust of the multi-rotor rotor blade.
The method according to claim 1 or 2,
A roll axis X on which the roll soccer hoop portion is not provided and a pitch axis Z on which the pitch axis soccer portion is not provided among the pair of pitch axes Z, ) Are provided with inertia moment adjusting members (I), respectively.
The method of claim 3,
Wherein the inertia moment adjusting member (I) provided on the seat portion is variable in installation position by a sliding method.
KR1020160029405A 2016-03-11 2016-03-11 Performance Testing Device for Multirotor KR101806139B1 (en)

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KR101861506B1 (en) * 2018-01-29 2018-05-28 송지홍 Apparatus for testing flying object
CN108622437A (en) * 2018-04-23 2018-10-09 大连理工大学 A kind of multi-model unmanned plane debugging platform and adjustment method
CN108645425A (en) * 2018-03-14 2018-10-12 东南大学 Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system
KR101972784B1 (en) * 2017-11-09 2019-04-29 안진섭 Evaluation System for Performance Safety of Drone
CN109927934A (en) * 2019-04-12 2019-06-25 中国民航大学 A kind of multiple degrees of freedom quadrotor drone attitude test device
KR20200089771A (en) 2019-01-17 2020-07-28 에스아이오티 주식회사 Nonreflective eleromagnetic wave testing apparatus using dielectirc for rising motion and lowering motion
KR20210054806A (en) * 2019-11-06 2021-05-14 주식회사 엘지유플러스 Method and apparatus for controlling pose of drone
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KR101972784B1 (en) * 2017-11-09 2019-04-29 안진섭 Evaluation System for Performance Safety of Drone
KR101861506B1 (en) * 2018-01-29 2018-05-28 송지홍 Apparatus for testing flying object
CN108645425A (en) * 2018-03-14 2018-10-12 东南大学 Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system
CN108645425B (en) * 2018-03-14 2022-03-08 东南大学 Small-size rotor unmanned aerial vehicle gyroscope structure test system based on six-dimensional force sensor
CN108622437A (en) * 2018-04-23 2018-10-09 大连理工大学 A kind of multi-model unmanned plane debugging platform and adjustment method
KR20200089771A (en) 2019-01-17 2020-07-28 에스아이오티 주식회사 Nonreflective eleromagnetic wave testing apparatus using dielectirc for rising motion and lowering motion
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KR20220000018A (en) * 2020-06-24 2022-01-03 지인호 Motor for drone, drone with the same, and test method thereof

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