RU220742U1 - DYNAMIC TEST BENCH FOR CHECKING THE SYSTEM FOR FIXING A QUADROCOPTER ON THE LANDING SITE - Google Patents

Abstract

The utility model relates to the field of testing and measuring equipment, in particular to the development of a dynamic test bench (DTS) for testing the quadcopter fixation system on the landing site.

Dynamic test bench (DTS) for checking the quadcopter fixation system on the landing pad, containing a power frame on which an inclined table is mounted on a hinge unit, an angle sensor mounted on it, fixing the position of the inclined table and transmitting data to the control controller, the power frame includes adjustable mechanical limiters of the load frame, which prevent the inclined table from moving at an angle exceeding the specified one.

The fundamental difference between the claimed utility model and the prototype is that it contains swinging brackets of the hinge unit, a lever, an electric motor with a gearbox is installed on the power frame, on the shaft of which a crank is mounted, which, with the help of traction, has the ability to influence the lever, thereby changing the tilt angle of the inclined table , made in the form of a panel on a steel frame, holes are drilled in the panel, with the possibility of gluing electromagnets into them, the power of which is provided through a common IDS power cable.

An additional difference between the claimed utility model and the prototype is that it is designed with the ability to regulate the length of the crank and the rotational speed of the electric motor shaft using equipment for changing the pitching range θ (degrees) and its period τ (seconds).

The technical result of the claimed utility model is to obtain an energy-efficient and reliable fixation of the quadcopter on the landing site in the presence of pitching and large static rolls. 1 salary f-ly, 6 ill.

Description

The utility model relates to the field of testing and measuring equipment, in particular to the development of a dynamic test bench (DTS) for testing the quadcopter fixation system on the landing site.

A dynamic test bench is known (Patent 2080604 Russian Federation, IPC G01P21/00. Dynamic test bench / Bulatov L.A., Kutepov V.S., Polosatov L.P., Peshekhonov V.G., Sabadashevsky E.P.; patent holder: Tula State Technical University - 9494030104; published 08/11/1994). A dynamic test bench containing a platform, a translator in the form of a double articulated parallelogram providing rectilinear translational movement of the platform, a drive mechanism consisting of a crank, an articulated fork and a cardan, kinematically connected to the platform through the translator, with the leading link of the translator rigidly fixed to the output link of the drive mechanism. The relative (relative to the cardan axis) oscillatory motion of the fork is transmitted through the differential to the drive link of the translator, and then through the translator to the platform.

The disadvantage of this invention is its excessive complexity and large weight and size characteristics.

The closest technical solution, taken as a prototype, is a stand for pitching and long-term tilts (Article: Stand for pitching and long-term tilts - URL: http://www.mix-eng.ru/stati/stend-kachki-i-dlitelnyh-naklonov/ (date of access: 10/07/2022) - Text: electronic.). The SKDN-1000 tilt testing machine is used to conduct tests to confirm the ability of various products to maintain operating parameters when exposed to pitching and long-term tilts for mechanical, electrical and electronic products. The testing machine consists of a load frame on which an inclined table is mounted. It is driven by an electromechanical jack. Information about the current position of the inclined table is recorded by an angle sensor (inclinometer) installed on it and is transmitted for further processing to the control controller. The load frame includes adjustable mechanical stops that prevent the tilting table from moving at an angle exceeding the specified one. The hardware and software complex proposed for controlling the testing machine is built on the basis of the CRIO real-time controller. The control controller, personal computer, switching and power equipment are mounted in the control cabinet.

The disadvantage of this invention is its excessive complexity associated with the presence of an electromechanical jack and a separate control cabinet in which the control controller, personal computer, switching and power equipment, and large weight and size characteristics are mounted.

A new technical solution is aimed at eliminating these shortcomings, the task of which is to create a dynamic test bench for a mock-up of a quadcopter landing pad, the design of which would make it possible to experimentally prove the declared properties of the landing pad - to ensure energy-efficient and reliable fixation of the quadcopter both at the time of its landing and take-off, with the presence of pitching of an unmanned boat (BEC) in waves, as well as in the presence of static rolls.

The technical result of the claimed utility model is to obtain an energy-efficient and reliable fixation of the quadcopter on the landing site in the presence of pitching and large static rolls.

A dynamic test bench (DTS) for testing the quadcopter fixation system on the landing pad, containing a power frame on which an inclined table is attached to a hinge assembly, an angle sensor installed on it, fixing the position of the inclined table and transmitting data to the control controller, the power frame includes adjustable mechanical limiters of the load frame, which prevent the inclined table from moving at an angle exceeding the specified one.

The fundamental difference between the claimed utility model and the prototype is that it contains swinging brackets of the hinge unit, a lever, an electric motor with a gearbox is installed on the power frame, on the shaft of which a crank is mounted, which, with the help of traction, has the ability to influence the lever, thereby changing the tilt angle of the inclined table , made in the form of a panel on a steel frame, holes are drilled in the panel, with the possibility of gluing electromagnets into them, the power of which is provided through a common IDS power cable.

An additional difference between the claimed utility model and the prototype is that it is designed with the ability to regulate the length of the crank and the rotational speed of the electric motor shaft using equipment for changing the swing range θ (degrees) and its period τ (seconds).

The essence of the utility model is illustrated by drawings:

Fig. 1 IDS design;

Fig. 2 Design of the landing pad layout from the rear side;

Fig. 3 Possible angles of inclination of the IDS together with the layout of the landing site;

Fig. 4 Scheme for measuring the adhesion force between the landing pad model with the electromagnets turned on and the quadcopter;

Fig. 5 Results of experiments to determine the dependence of the relative adhesion force on the power supplied to the landing pad electromagnets;

Fig. 6 Results of kinematic and dynamic laboratory experimental studies of the landing site layout.

The drawings indicate:

1 - layout of the landing site;

2 - electronic inclinometer;

3 - quadcopter;

4 - mechanical inclinometer;

5 - swinging bracket;

6 - axis;

7 - stationary bracket;

8 - power frame;

9 - ligament;

10 - lever;

11 - traction;

12 - gearbox with crank;

13 - electric motor;

14 - ballasts;

15 - power cable with connector;

16 - red signal light;

17 - frame;

18 - junction boxes;

19 - power cable for junction boxes;

20 - electromagnets;

21 - panel;

22 - power cables for signal lights;

23 - power cables for electromagnets;

24 - roll 0°;

25 - roll 10°;

26 - roll 25°;

27 - roll 40°;

28 - slings;

29 - electronic dynamometer;

30 - quadcopter floats.

In fig. 1 shows the design of the IDS. The layout of the landing pad 1 for the quadcopter 3 is connected by a hinged unit to the power frame 8, the hinged unit consists of two swinging brackets 5, which on axis 6 have the ability to rotate relative to the stationary brackets 7 attached to the power frame 8. Between the brackets 5 there is a ligament 9, to which, in turn, is rigidly attached to the lever 10. An electric motor 13 with a gearbox 12 is installed on the power frame 8, on the shaft of which a crank is mounted, which, with the help of a rod 11, has the ability to influence the lever 10, thereby changing the roll angle of the landing pad 1. When the shaft rotates electric motor 13, landing pad 1 makes oscillatory movements, simulating the roll of a boat. By adjusting the length of the crank and the rotational speed of the electric motor shaft using equipment 14, it is possible to change the swing range 9 (degrees) and its period X (seconds). The roll angle is measured using a mechanical inclinometer 4 (rough measurements) and an electronic inclinometer 2 (more precise measurements).

In fig. Figure 2 shows the design of a mock-up landing pad 1 for a quadcopter, where a panel 21 is attached (glued) to a steel frame 17, which together with the frame forms a plane close to ideal. Holes are drilled in the panel 21 into which 56 electromagnets 20 are glued. The power cables 23 of the electromagnets 20 are connected through junction boxes 18 to the power cable 19, which in turn is connected to the IDS electrical power system. Red signal lights 16 are attached to the frame 17 and are designed to visualize the operating mode of the landing pad on the boat (activated or disabled). Signal lights 16 are connected to their power cables 22, which are connected to a common cable 15.

In fig. Some IDS states are shown: 24 - roll 0°; 25 - roll 10°; 26 - roll 25°; 27 - roll 40°. As you can see, even with a 40° roll, the quadcopter does not slide off the landing pad, remaining magnetized to the smooth surface using electromagnets. Using the IDS, the following static and dynamic quantities can be measured: roll angles of the landing pad mock-up θ, degrees; adhesion force of the quadcopter with the landing pad model P, kg; displacement of the quadcopter on the landing site due to the effects of pitching Δ, m; voltage supplied to the electromagnets U, V; current consumed by the landing pad electromagnets I, A; period of landing platform rolling τ, s.

The device works as follows

Static measurements of the characteristics of the landing site layout are carried out in the following order:

a mock-up of the landing site is being prepared, installed with a given roll angle (for example, it is planned to test 5 roll angles θ=0; 10; 15; 20; 25 and 30°);

a weight model of the quadcopter is being prepared;

the weight (T _UAV ) of the quadcopter is measured;

the landing pad electromagnets are turned on (the voltage U and current I supplied to the electromagnets are measured);

the quadcopter is manually installed on the landing pad with the electromagnets turned on;

the force (P) of adhesion between the quadcopter and the landing pad mock-up is measured with a dynamometer (Fig. 4);

Relative adhesion force is calculated As a result, it is possible to determine the minimum sufficient adhesion force (i.e., the minimum energy consumption of the BEC to activate the landing pad).

The voltage U supplied to the landing pad electromagnets varied from 1.0 to 22 V, while the power consumed from the battery varied from 2.0 to 266 W. A further increase in voltage was considered inappropriate, since this led to strong heating of the landing pad electromagnets.

Dependence of relative adhesion force from the power N supplied to the electromagnets of the landing site (Fig. 5) has a form close to a quadratic parabola with signs of an asymptotic approach to a certain limit due to heating of the electromagnets. With the weight of the quadcopter T=0.78 kg, and already at a fairly low voltage U=3 V, the relative adhesion force was 3.8 kg, i.e. 3.8 times the weight of the quadcopter itself. This is a good result, since the purpose of the experiment was to determine the lowest power at which reliable adhesion of the quadcopter to the landing pad is ensured. During experimental studies, the dependence of the adhesion force T on the roll angle θ of the landing pad was not revealed.

Dynamic experimental studies of the landing site layout

Conducted in the following order:

a mock-up of the landing site is being prepared;

the mechanism for controlling the landing pad roll parameters is being prepared and tested (it is planned to test three types of roll: smooth, medium and rapid);

the mechanism for controlling the landing pad pitching parameters is put into operation (as a result of processing the video camera readings, the landing pad pitching parameters are determined: amplitude θ and period τ);

During operation of the experimental setup, the moment the quadcopter begins to shift over the area of the landing pad is visually determined, which indicates that with these rolling parameters, the quadcopter will ultimately not stay on it and fall into the water.

As a result, you need to adjust (if necessary) the minimum adhesion force (i.e., the minimum energy consumption to activate the landing pad). In fig. Figure 6 shows the results of kinematic and dynamic experimental studies of the landing site layout, which shows the identification of a dangerous region of rolling parameters (θ and τ). The measurements were carried out at a voltage of U=5 V, which gave the relative adhesion force As a result of experimental studies, an area of safe rolling parameters θ and τ was identified, at which the quadcopter is kept on the site without signs of movement. As you can see, the area of dangerous parameters θ and τ, at which the quadcopter is no longer held on the landing pad, lies in an area that is not related to pitching, but is more suitable to the parameters of shock loads.

As a result, according to the presented design and the accumulated experimental data, the created useful model made it possible to prove the declared properties of the landing pad - to ensure energy-efficient and reliable fixation of the quadcopter in the presence of pitching, as well as in the presence of large static rolls.

The technical result of the claimed utility model is to obtain an energy-efficient and reliable fixation of the quadcopter on the landing site in the presence of pitching and large static rolls.

The claimed utility model is industrially applicable, since in the manufacture of a dynamic test bench for a quadcopter landing pad mock-up, widely used devices and components can be used.

Claims (2)

1. A dynamic test bench (DTS) for testing the quadcopter fixation system on the landing pad, containing a power frame on which an inclined table is mounted on a hinge unit, an angle sensor installed on it, fixing the position of the inclined table and transmitting data to the control controller, part of the power The frame includes adjustable mechanical limiters of the power frame, which do not allow movement of the inclined table at an angle exceeding a given one, characterized in that it contains swinging brackets of the hinge unit, a lever, an electric motor with a gearbox is installed on the power frame, on the shaft of which a crank is mounted, which with the help of traction has the ability to influence the lever, while changing the tilt angle of the inclined table, made in the form of a panel on a steel frame; holes are drilled in the panel, with the possibility of gluing electromagnets into them, the power of which is provided through a common IDS power cable. 2. The dynamic test bench according to claim 1, characterized in that it is made with the ability to regulate the length of the crank and the rotational speed of the electric motor shaft using equipment for changing the pitching range θ (degrees) and its period τ (seconds).