CN104494840B - A kind of depopulated helicopter ground debugger and using method - Google Patents
A kind of depopulated helicopter ground debugger and using method Download PDFInfo
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- CN104494840B CN104494840B CN201410725202.2A CN201410725202A CN104494840B CN 104494840 B CN104494840 B CN 104494840B CN 201410725202 A CN201410725202 A CN 201410725202A CN 104494840 B CN104494840 B CN 104494840B
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- 238000009434 installation Methods 0.000 claims description 9
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- 230000033001 locomotion Effects 0.000 description 4
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- 239000002253 acid Substances 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
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Abstract
The present invention relates to a kind of depopulated helicopter ground debugger and its using method, debugger includes：Depopulated helicopter mounting disc, data acquisition module, support bar and base；When undercarriage is shorter, single data acquisition module mounting disc is set between depopulated helicopter mounting disc and support bar.Connected using universal rotation mechanism between support bar and depopulated helicopter mounting disc/data acquisition module mounting disc, and removable clip is set, for keeping when depopulated helicopter is dismantled mounting disc to be horizontal.The debugger and using method are higher to operator's manipulation technical requirements for solving existing depopulated helicopter stability augmentation equipment pid parameter debud mode, and debugging process safety is relatively low, and the problem that the levels of precision of debugging result is difficult to ensure that.The debugger possess simple structure, easy to use, be easy to dismounting storage and the advantages of portable, corresponding using method step is clear and definite, easy to operate, can significantly shorten the adjustment time of pid parameter.
Description
Technical field
The invention belongs to the ground debugging acid of depopulated helicopter, is specifically related to a kind of ground debugging of depopulated helicopter
Platform, and the method and step that unmanned plane helicopter is debugged using the debugger, the debugger and adjustment method are especially fitted
Ground for depopulated helicopter is debugged, specifically refer to being loaded with the stability augmentation equipments such as automatic pilot or gyroscope nobody go straight up to
Machine carries out pid parameter debugging.
Background technology
Either civil area or military domain, the application of depopulated helicopter are increasingly extensive.For ensureing peace during flight
Full property and stability, most depopulated helicopters are loaded with the stability augmentation equipments such as automatic pilot or gyroscope.When depopulated helicopter new clothes
Or stability augmentation equipment is changed, the pid parameter for adjusting each passage of depopulated helicopter is needed, as most stability augmentation equipments still do not possess automatically
Adjustment function, therefore generally needs at least two operators with knack to be manually adjusted.Typically
For pid parameter when adjusting, first place control staff manipulates depopulated helicopter, the observation skyborne attitude of depopulated helicopter, and will
Corresponding information feeds back to second place control staff；Second place control staff changes pid parameter, and passes through software according to feedack
New pid parameter is sent to stability augmentation equipment；So repeatedly repeatedly, require until pid parameter adjustment is met.
Without special ground commissioning device, the problem being primarily present in debugging in terms of three in existing debugging：One is right
The manipulation technical requirements of control staff are higher, and it is a process repeatedly to manually adjust pid parameter, when stability augmentation equipment is received newly
Pid parameter after, its stability is not necessarily instantly obtained lifting, is possible on the contrary decline, this to control staff manipulation
Technology brings challenges, and it needs control staff that there is superb manipulation technology, copes with various emergency cases, it is ensured that nobody goes straight up to
Machine does not crash；Two is that debugging process danger would generally produce vibration than larger, not adapted depopulated helicopter, vibrates
When degree is excessive, depopulated helicopter meeting " is gone hither and thither ", even if the control staff that manipulation is skilled in technique cannot also allow rotor to stop at once
Rotation stop is moved.The rotor of rotation destroys ability to the object or person person of surrounding with stronger at a high speed；Three is helicopter debugging process
In, whether flying quality stably relies primarily on the naked-eye observation of control staff, and the collimation error is larger, and some small vibrations are difficult to send out
Existing, therefore, it is difficult to ensureing the levels of precision of debugging result.
Accordingly, it would be desirable to invent a kind of ground debugger of depopulated helicopter, the motion of depopulated helicopter is limited to necessarily
Within region, degree of dependence of the debugging process to control staff's manipulation technology can be reduced, improve the safety of debugging process；This
Outward, installation data acquisition module on debugger, can improve the levels of precision of debugging result.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of depopulated helicopter ground debugger, solves that existing nobody is straight
Rise machine stability augmentation equipment pid parameter debud mode and method higher to operator's manipulation technical requirements, debugging process safety compared with
Low, and the problem that the levels of precision of debugging result is difficult to ensure that.
Depopulated helicopter ground proposed by the present invention debugger includes：Depopulated helicopter mounting disc, data acquisition module,
Strut and base.Depopulated helicopter mounting disc, for installing and fixing depopulated helicopter to be debugged；Data acquisition module, uses
In the attitude information of collection depopulated helicopter, and ground controlling personnel are real-time transmitted to, judge that nobody goes straight up to for its Accurate Analysis
The state of flight of machine.
Upper surface of the data acquisition module installed in depopulated helicopter mounting disc；Post upper is installed with depopulated helicopter
Between disk, it is attached by universal rotation mechanism；Between support bar lower end and base, using being detachably connected, straight at nobody
When the machine of liter ground debugger is not used, support bar can be taken apart with base, be easy to store and transport；In order to avoid data acquisition module
The quality and installation site of block produces considerable influence to debugging result, and the installation center of data acquisition module is pacified with depopulated helicopter
The center superposition of sabot.
As data acquisition module has certain volume, when the undercarriage of depopulated helicopter is shorter, it is impossible to adopt data
The center of depopulated helicopter mounting disc of the collection module below undercarriage, in order to ensure the result that debugs, aforementioned
In the structure of depopulated helicopter ground debugger, increase data acquisition module mounting disc, which is arranged on depopulated helicopter mounting disc
And support bar between；In order to ensure the precision of data acquisition, data acquisition module mounting disc and depopulated helicopter mounting disc are concentric
Parallel installation, between using dismountable connected mode such as bolt, studs；Data acquisition module is arranged on data acquisition module
The upper surface of block mounting disc；Between post upper and data acquisition module mounting disc, by universal rotation mechanism bulb bearing
It is attached with bearing block；The installation center of data acquisition module and the center superposition of data acquisition module mounting disc.
Data acquisition module passes dual-mode antenna by automatic pilot sum and constitutes.
The size of depopulated helicopter mounting disc its purpose is to make nothing more than the length of depopulated helicopter undercarriage sled
People's helicopter reliably can be fixed in depopulated helicopter mounting disc.
Blade length of the length of support bar more than depopulated helicopter, its purpose is to prevent from increasing surely in depopulated helicopter
In equipment pid parameter debugging process, as depopulated helicopter attitude is unstable, there is the phenomenon that depopulated helicopter blade contacts to earth.
Payload capacity of the weight of base more than depopulated helicopter, its purpose is to prevent from increasing in depopulated helicopter
In steady equipment pid parameter debugging process, there is the phenomenon of " going hither and thither " in depopulated helicopter, so that depopulated helicopter occurs beating
The danger that hurts sb.'s feelings with thing.
For the ease of dismantling from depopulated helicopter mounting disc and installing depopulated helicopter to be debugged, should go straight up at nobody
During the dismounting of machine, depopulated helicopter mounting disc holding level is made.By arranging removable clip at universal rotation mechanism, can
To realize this purpose.Before installation, first clip is placed at the position of universal rotation mechanism, protects depopulated helicopter mounting disc
Water holding is put down；In debugging, need clip is removed from the position of universal rotation mechanism, make depopulated helicopter that nobody can be driven to go straight up to
Machine mounting disc is freely rotated around universal rotation mechanism；After debugging, before dismounting depopulated helicopter, clip is again placed at ten thousand
To at the position of rotating mechanism, depopulated helicopter mounting disc holding level is made.
The method for using aforementioned depopulated helicopter ground debugger, debugging depopulated helicopter proposed by the present invention, concrete wraps
Include following steps：
S1., clip is placed on the position of universal rotation mechanism, depopulated helicopter mounting disc holding level is made；
S2. depopulated helicopter to be debugged is mounted and fixed in depopulated helicopter mounting disc；
S3. turn-on data acquisition module on and off switch so as to communicated with ground control station；Data acquisition module with
Ground control station can be communicated in a wireless or wired way；
S4. the stability augmentation equipment of depopulated helicopter to be debugged is adjusted to by " increase and surely open " by depopulated helicopter remote control
Pattern；
S5. the pitching of depopulated helicopter remote control, driftage and roll channel are set to " neutrality " position, control throttle leads to
Road, makes depopulated helicopter to be debugged produce lift, and just clip is removed from the position of universal rotation mechanism；
S6., after waiting certain time, depopulated helicopter to be debugged is checked by the flight attitude software of ground control station
Attitude, if keeping steady statue, enters step S8；If can not keep stable, step S7 is entered；Indication is steady herein
Determine state, refer to depopulated helicopter without pitching, without driftage and without rolling movement；
S7. the unstable degree of pitching, driftage and rolling is checked by flight attitude software, determines each channel PID parameter
Adjustment amount, and by pid parameter adjust software on-line tuning is carried out to the pid parameter of each passage, be again introduced into walking after adjustment
Rapid S6；By the accurate instruction of flight attitude software, the adjustment amount of each channel PID parameter more can be accurately determined, so as to subtract
The number of times of few debugging, shortens debug time, improves debugging efforts efficiency；
S8. control throttle channel zero, closes data acquisition module on and off switch；
S9., clip is again placed at the position of universal rotation mechanism, depopulated helicopter mounting disc holding level is made；
S10. by debugging after depopulated helicopter, pull down from depopulated helicopter mounting disc, complete to debug.
Using technical scheme proposed by the present invention, following beneficial effect is can reach：Using proposed by the present invention nobody go straight up to
When machine ground debugger carries out pid parameter debugging to depopulated helicopter stability augmentation equipment, can be greatly lowered and operator is manipulated
The requirement of technology, it is ensured that the safety of people and thing in debugging process, the debugging number of times minimizing of pid parameter, debug time are shortened, debugging
Work efficiency is increased substantially；In addition, many places are easy to using dismountable connected mode in the debugger of depopulated helicopter ground
Debugger is dismantled when use, reduce memory space, convenient transport.
Description of the drawings
Fig. 1 is depopulated helicopter ground debugger structural representation；
Fig. 2 is that depopulated helicopter mounting disc rotates schematic diagram around universal rotation mechanism；
Fig. 3 is c-type yoke configurations schematic diagram；
Fig. 4 is at universal rotation mechanism to install clip schematic diagram；
Fig. 5 is the depopulated helicopter ground debugger structural representation with data acquisition module mounting disc；
Fig. 6 is the flow chart for debugging depopulated helicopter stability augmentation equipment pid parameter using depopulated helicopter ground debugger.
Specific embodiment
1 to accompanying drawing 6, specifically introduce the specific embodiment of the present invention below in conjunction with the accompanying drawings.
Embodiment 1：
For general depopulated helicopter（Unless the undercarriage of depopulated helicopter is shorter, cannot installation data under undercarriage
Acquisition module）, depopulated helicopter ground debugger structure as shown in Figure 1 can be adopted.
The depopulated helicopter ground debugger, including：Depopulated helicopter mounting disc 1, data acquisition module 2,4 and of support bar
Base 5.
Data acquisition module 2 is arranged on the upper surface of depopulated helicopter mounting disc 1,2 He of data acquisition module by bolt
Cushion blocking is installed between depopulated helicopter mounting disc 1, and the installation center of data acquisition module 2 is installed with depopulated helicopter
The center superposition of disk 1；Between 4 upper end of support bar and depopulated helicopter mounting disc 1, connected by bulb bearing and bearing block
Connect, depopulated helicopter mounting disc 1 can be freely rotated around bulb bearing and bearing block, including pitching, driftage and rolling, Yi Jiqi
Coupled motions, as shown in Figure 2；Between 4 lower end of support bar and base 5, using threaded connection, connection herein may also be employed other
Be detachably connected mode.
Data acquisition module 2 passes dual-mode antenna by commercial automatic pilot sum and constitutes, and specifically adopts in the present embodiment
2.5 automatic pilots of APM and 3DR Radio numbers pass dual-mode antenna.
In the present embodiment, depopulated helicopter mounting disc 1 generally circular in shape, have a diameter larger than depopulated helicopter undercarriage cunning
The length of sledge；Blade length of the length of support bar 4 more than depopulated helicopter；The weight of base 5 is more than depopulated helicopter most
Big payload.
The position of bulb bearing and bearing block arranges removable clip, and clip is shaped as c-type, for the ease of from bulb
The position of bearing and bearing block picks and places, and the outside of relative position arranges handle part at the clip opening, as shown in Figure 3.Work as clip
After installation, bulb bearing can not be rotated around bearing block, and now depopulated helicopter mounting disc 1 keeps horizontality, as shown in Figure 4；
After clip is removed, bulb bearing can be freely rotated around bearing block.
Embodiment 2：
The structure of the present embodiment is the ball head in the depopulated helicopter ground debugger structure that will be referred in embodiment 1
Hold universal joint is replaced by with bearing block.In addition, the connection between post upper and depopulated helicopter mounting disc, can be with
Be attached by the universal rotation mechanism of other forms, if the universal rotation mechanism can make depopulated helicopter mounting disc 1 around
Universal rotation mechanism is freely rotated, including pitching, driftage and rolling, and its coupled motions.
Embodiment 3：
The depopulated helicopter ground debugger structure that the present embodiment is referred to, is mainly used in undercarriage shorter（Cannot rise and fall
Installation data acquisition module under frame）Depopulated helicopter debugging, its structure is as shown in Figure 5.
On the basis of the structure of the present embodiment is the depopulated helicopter ground debugger structure for referring in embodiment 1, increase
Plus data acquisition module mounting disc 3, data acquisition module mounting disc 3 and the installation of 1 concentric parallel of depopulated helicopter mounting disc, between
Installed using studs, other dismountable connected modes such as bolt may also be employed；Data acquisition module 2 is not
Again installed in the upper surface of depopulated helicopter mounting disc 1, and the upper surface of data acquisition module mounting disc 3 is mounted in, and
The installation center of data acquisition module 2 and the center superposition of data acquisition module mounting disc 3；4 upper end of support bar and data acquisition
Between module mounting disc 3, it is attached by bulb bearing and bearing block, can also passes through universal turn of the other forms such as universal joint
Motivation structure is attached.
In order to more clearly introduce composition, the annexation of each part and its use of depopulated helicopter ground debugger,
The method that pid parameter debugging is carried out to depopulated helicopter stability augmentation equipment using the debugger is described below.
The method of debugging is as shown in fig. 6, comprise the following steps：
S1., clip is placed on the position of universal rotation mechanism, 1 holding level of depopulated helicopter mounting disc is made；
S2. depopulated helicopter to be debugged is mounted and fixed in depopulated helicopter mounting disc 1, can pass through bandage and
Depopulated helicopter to be debugged is installed and is fixed by the installing hole being arranged in depopulated helicopter mounting disc 1；
S3. 2 on and off switch of turn-on data acquisition module so as to communicated with ground control station；Data acquisition module with
Ground control station can be communicated in a wireless or wired way, and wireless communication mode is usually used；
S4. the stability augmentation equipment of depopulated helicopter to be debugged is adjusted to by " increase and surely open " by depopulated helicopter remote control
Pattern；
S5. the pitching of depopulated helicopter remote control, driftage and roll channel are set to " neutrality " position, control throttle leads to
Road is fixed on a certain position, makes depopulated helicopter to be debugged produce lift, and clip is moved from the position of universal rotation mechanism
Remove；
S6. after waiting certain time, such as after 30 seconds, now by the flight attitude software of ground control station（The present embodiment
Used in be flight attitude module in MissionPlanner softwares）Depopulated helicopter attitude to be debugged is checked, if
Keep steady statue（The angle of pitch, yaw angle and roll angle in software interface is designated as 0, and shakes unobvious）, then enter
Enter step S8；If can not keep stable, step S7 is entered；
S7. pass through flight attitude software（Used in the present embodiment is the flight attitude in MissionPlanner softwares
Module）The unstable degree of pitching, driftage and rolling is checked, the adjustment amount of each channel PID parameter is determined, and is passed through pid parameter
Adjustment software carries out on-line tuning to the pid parameter of each passage, is again introduced into step S6 after adjustment；
S8. control throttle channel zero, closes data acquisition module on and off switch；
S9., clip is again placed at the position of universal rotation mechanism, depopulated helicopter mounting disc holding level is made；
S10. by debugging after depopulated helicopter, pull down from depopulated helicopter mounting disc, complete to debug.
Claims (8)
1. a kind of depopulated helicopter ground adjustment method,
The depopulated helicopter ground debugger for using includes：Depopulated helicopter mounting disc (1)；Data acquisition module (2), for adopting
The attitude information of collection depopulated helicopter, and ground controlling personnel are real-time transmitted to, analysis judges the state of flight of depopulated helicopter；
Support bar (4)；Base (5)；Upper surface of the data acquisition module (2) installed in depopulated helicopter mounting disc (1)；Support bar (4)
Between upper end and depopulated helicopter mounting disc (1), it is attached by universal rotation mechanism, is arranged at universal rotation mechanism removable
The clip for removing；Between support bar (4) lower end and base (5), using being detachably connected；
Characterized in that, comprising the following steps：
S1., clip is placed on the position of universal rotation mechanism, makes depopulated helicopter mounting disc (1) keep level；
S2. depopulated helicopter to be debugged is mounted and fixed in depopulated helicopter mounting disc (1)；
S3. turn-on data acquisition module (2) on and off switch so as to communicated with ground control station；
S4., the stability augmentation equipment of depopulated helicopter to be debugged is adjusted to the mould of " increase and surely open " by depopulated helicopter remote control
Formula；
S5. the pitching of depopulated helicopter remote control, driftage and roll channel are set to " neutrality " position, control throttle channel, make
Depopulated helicopter to be debugged produces lift, and clip is removed from the position of universal rotation mechanism；
S6., after waiting certain time, depopulated helicopter attitude to be debugged is checked by the flight attitude software of ground control station,
If keeping steady statue, step S8 is entered；If can not keep stable, step S7 is entered；
S7. the unstable degree of pitching, driftage and rolling is checked by flight attitude software, determines the tune of each channel PID parameter
Whole amount, and on-line tuning is carried out to the pid parameter of each passage by pid parameter adjustment software, step S6 is entered after adjustment；
S8. control throttle channel zero, closes data acquisition module (2) on and off switch；
S9., clip is again placed at the position of universal rotation mechanism, makes depopulated helicopter mounting disc (1) keep level；
S10. by debugging after depopulated helicopter, pull down from depopulated helicopter mounting disc (1), complete to debug.
2. depopulated helicopter ground as claimed in claim 1 adjustment method, it is characterised in that the peace of data acquisition module (2)
Dress center and the center superposition of depopulated helicopter mounting disc (1).
3. depopulated helicopter ground as claimed in claim 1 adjustment method, it is characterised in that in depopulated helicopter mounting disc
(1) installation data acquisition module mounting disc (3) and support bar (4) between, data acquisition module mounting disc (3) and depopulated helicopter
Mounting disc (1) concentric parallel is installed, between using being detachably connected；Depopulated helicopter mounting disc (1) upper table will be originally arranged on
The data acquisition module (2) in face, is installed to the upper surface of data acquisition module mounting disc (3)；Strut (4) upper end and data acquisition
Between module mounting disc (3), it is attached by universal rotation mechanism.
4. depopulated helicopter ground as claimed in claim 3 adjustment method, it is characterised in that the peace of data acquisition module (2)
Dress center and the center superposition of data acquisition module mounting disc (3).
5. the depopulated helicopter ground adjustment method as described in Claims 1-4 any claim, it is characterised in that data
Acquisition module (2) passes dual-mode antenna by automatic pilot sum and constitutes.
6. the depopulated helicopter ground adjustment method as described in Claims 1-4 any claim, it is characterised in that nobody
Length of the size of helicopter mounting disc (1) more than depopulated helicopter undercarriage sled.
7. the depopulated helicopter ground adjustment method as described in Claims 1-4 any claim, it is characterised in that support
Blade length of the length of bar (4) more than depopulated helicopter.
8. the depopulated helicopter ground adjustment method as described in Claims 1-4 any claim, it is characterised in that base
(5) payload capacity of the weight more than depopulated helicopter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410725202.2A CN104494840B (en) | 2014-12-03 | 2014-12-03 | A kind of depopulated helicopter ground debugger and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410725202.2A CN104494840B (en) | 2014-12-03 | 2014-12-03 | A kind of depopulated helicopter ground debugger and using method |
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| CN104494840A CN104494840A (en) | 2015-04-08 |
| CN104494840B true CN104494840B (en) | 2017-03-15 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104793628A (en) * | 2015-04-24 | 2015-07-22 | 西北农林科技大学 | Flight control debugging protecting device of multi-rotor-wing unmanned plane |
| CN105093961B (en) * | 2015-06-18 | 2017-08-15 | 浙江大学 | A kind of agricultural aircraft simulation device with rotary objective table |
| CN105093960B (en) * | 2015-06-18 | 2017-08-15 | 浙江大学 | A kind of simulated flight device gathers the device of Crop Information |
| CN104965521B (en) * | 2015-06-18 | 2017-08-22 | 浙江大学 | A kind of agricultural aircraft simulation device with swing type objective table |
| CN105270650B (en) * | 2015-10-29 | 2018-04-20 | 上海交通大学 | A kind of six degree of freedom UAV Attitude controls test device |
| CN105270640A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device with external frame, for unmanned aerial vehicle |
| CN105620788B (en) * | 2016-01-26 | 2018-07-27 | 上海圣尧智能科技有限公司 | A kind of gimbaled platform and unmanned plane test system |
| CN106494640B (en) * | 2016-11-22 | 2018-11-20 | 珠海市双捷科技有限公司 | A kind of multi-rotor unmanned aerial vehicle test and trained unified platform |
| CN107021245A (en) * | 2017-03-08 | 2017-08-08 | 贾杰 | Light-duty depopulated helicopter is taken a flight test debugging apparatus |
| CN109466795B (en) * | 2018-12-04 | 2022-03-29 | 湖南山河科技股份有限公司 | Automatic test platform of unmanned helicopter |
| CN109720600B (en) * | 2018-12-18 | 2021-05-18 | 武汉科技大学 | Unmanned aerial vehicle test platform |
| CN113212797B (en) * | 2021-06-23 | 2023-02-07 | 天津斑斓航空科技有限公司 | Unmanned aerial vehicle debugging device and method |
| CN113602517B (en) * | 2021-08-24 | 2022-02-15 | 广东工业大学 | Control method for sea surface recovery and charging platform of unmanned aerial vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368789C (en) * | 2005-07-04 | 2008-02-13 | 浙江大学 | Test bench for testing flight performance of small-sized helicopter |
| US8517799B2 (en) * | 2010-12-07 | 2013-08-27 | The Boeing Company | Robotic surface preparation by a random orbital device |
| CN102180270B (en) * | 2011-03-10 | 2013-08-14 | 北京航空航天大学 | Microminiature rotorcraft experiment platform and application thereof |
| CN202609094U (en) * | 2012-03-22 | 2012-12-19 | 沈阳飞机工业（集团）有限公司 | Adjustable support mechanism for assembling tools |
| CN202593869U (en) * | 2012-06-01 | 2012-12-12 | 王海东 | Two-shaft rotational swing test platform |
| CN103863576B (en) * | 2013-12-26 | 2016-02-24 | 吉林大学 | Depopulated helicopter performance detecting platform |
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