CN106143949A - A kind of unmanned vehicle testboard and method of testing thereof - Google Patents

A kind of unmanned vehicle testboard and method of testing thereof Download PDF

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Publication number
CN106143949A
CN106143949A CN201610530160.6A CN201610530160A CN106143949A CN 106143949 A CN106143949 A CN 106143949A CN 201610530160 A CN201610530160 A CN 201610530160A CN 106143949 A CN106143949 A CN 106143949A
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China
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motor
unmanned vehicle
flange
sensor
rotor
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CN106143949B (en
Inventor
张东升
王阳
涂世军
王勇
文程祥
魏江鹏
邓丽敏
张升睿
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Xian Jiaotong University
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Xian Jiaotong University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass

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  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

A kind of unmanned vehicle testboard and method of testing thereof, unmanned vehicle testboard includes firm banking (1), guide shaft (4), double flange arrangements, flange ring (6), motor mounting base, motor (17), rotor (18), force transducer (13), velocity sensor (8) and torque sensor (14), double flange arrangements include upper flange (3) and lower flange (2), described upper flange (3) is fixing connects described lower flange (2), motor mounting base includes that bottom base (15) installed by motor and pedestal (16) installed by motor, motor is installed pedestal (16) and is fixed on motor installation bottom base (15), rotor (18) is fixing with motor (17) to be connected.Present invention simultaneously provides the method for testing of a kind of unmanned plane during flying device model plane motor, novel frame for movement improves stability and the measuring accuracy of testboard, can be widely used in motor characteristic test and propeller lift efficiency field tests.

Description

A kind of unmanned vehicle testboard and method of testing thereof
Technical field
The invention belongs to unmanned vehicle field tests, particularly relate to a kind of unmanned vehicle testboard and test side thereof Method.
Background technology
In recent years, unmanned plane (UAV, Unmanned Aerial Vehicle) technology and application thereof develop rapidly, especially Rotor wing unmanned aerial vehicle is a dark horse just as a glittering nova at numerous unmanned plane kind apoplexy due to endogenous wind, has quickly captured consumer level and industry Level unmanned plane market.Rotor wing unmanned aerial vehicle mainly relies on model plane electric machine rotation, drives the rotation of propeller, thus carries for unmanned plane For lift upwards;Differential between model plane motor can realize the break-in of unmanned plane simultaneously.The quality of model plane motor characteristic with The lift efficiency of propeller has close impact for load and the control of unmanned plane.Largely, the load of unmanned plane Anharmonic ratio and power density depend on the quality of model plane motor characteristic, it would therefore be desirable to be perfectly clear knows model plane motor Characteristic and the lift efficiency of propeller, especially during design unmanned plane.
When designing unmanned plane or other need the device of motor, it would be desirable to the characteristic of the motor that is perfectly clear.Although Motor producer has a data of oneself motor characteristic, but the data that provides of producer and measured value still can some be different.Therefore When actually used motor, it would be desirable to motor characteristic is tested.On the other hand, we are also required to the lift to propeller Characteristic is tested.In the design of unmanned plane, one is motor and propeller is to cooperate with using, and needs motor and spiral The characteristic of oar is tested together, mainly testing of electric motors rotating speed, and the reaction torque these three of propeller lift and motor is important Parameter.But present situation be rotor wing unmanned aerial vehicle occur the most soon, there is presently no one and can measure these three characteristic simultaneously Laboratory table, or testing stand frame for movement is heavier, there is the test of lift and the mutual shadow of test of motor reaction torque The drawback rung, causes measurement result inaccurate.
Patent documentation CN205045010U discloses a kind of many rotor unmanned aircrafts Testing Platform and includes base, stands Post, upper frame, performance testing apparatus and calculating processing center, additionally include the outside purse seine being looped around surrounding;Wherein: described vertical The bottom of post is connected on base by bulb universal bearing, and the top of this column is connected to upper frame by bulb universal bearing On;Described upper frame is suspended on external rigidity body by elastomeric cords;The frame of described many rotor unmanned aircrafts is provided with set Ring, this collar is enclosed within described column formation slide construction;Described outside purse seine includes purse seine support and flexible knitmesh;Described property Can test instrunment include being arranged on many rotor unmanned aircrafts for measuring many rotor unmanned aircrafts flight attitude information And test instrunment on the machine of work information, and be arranged on described test platform for measuring many rotor unmanned aircrafts The ground test instrument of external echo information;Wherein, on described machine, test instrunment includes athletic posture sensor and operating mode sensing Device;Described ground test instrument includes current sensor, pulling force sensor, distance measuring sensor, level indicator and image documentation equipment, its In, described current sensor is for measuring the operating current of many rotor unmanned aircrafts electric-control system, and this current sensor is arranged In power supply lines;Described pulling force sensor is used for measuring the lift of many rotor unmanned aircrafts, this pulling force sensor Lower end is connected on base, and upper end is connected on the fuselage of many rotor unmanned aircrafts;Described distance measuring sensor is used for measuring many The flying height of rotor unmanned aircraft, this distance measuring sensor is arranged on base;Described level indicator is for the water of measuring table Flat situation, this level indicator is arranged on base horizontal plane;Described image documentation equipment be used for producing test process and record many rotors without The thermal imagery of each critical component of people's aircraft, this image is arranged in outside purse seine support;Described calculating processing center includes data Collecting unit and data analysis unit, data acquisition unit is for being sent to the test signal collected in performance testing apparatus Data analysis unit;Described data analysis unit carries out computing for the test signal obtained according to data acquisition unit and deposits Storage, it is thus achieved that many rotor unmanned aircrafts the performance test results.This patent utilization performance testing apparatus is to each under test mode Parameter detects.But this patent cannot acquired character curve, and structure is complicated, and parts are many and take up room big, testing efficiency , installation low with precision does not possess multiformity, and range of application is little.
Disclosed in patent documentation CN203845025U, a kind of unmanned plane dynamic test system includes a rectangular-shaped type Material frame (1), power supply, data collecting card and pc machine, arrange along its length in section material frame (1) and be perpendicular to section material frame (1) bottom surface Test rectangle platform (2), a side of test platform (2) is fixed on the centerline of the left side of section material frame (1), described test At least one linear bearing (3) is set on platform (2), in linear bearing (3), is provided with pressure/pulling force sensor, linear bearing (3) Interior connection has cylinder axis (4), the linear bearing (3) of described cylinder axis (4) end is laterally fixedly installed motor, the rotating shaft of motor Upper connection Coupling Shaft, switching the tip of the axis are fixing with the end of cylinder axis (4) to be connected, and the end of cylinder axis (4) arranges blade (5), described blade arranges speed probe on (5), the signals collecting end of data collecting card respectively with pressure/pulling force sensor and turn The signal output part electrical connection of speed sensor, data collecting card connects pc machine by serial port, and described power supply is pc machine, data acquisition Truck, motor are powered.This patent tests unmanned plane dynamical system pulling force under different rotating speeds control signal scope, rotating speed, electricity Stream, but this patent cannot acquired character curve, and structure is complicated, and parts are many and take up room big, testing efficiency and precision is low, peace Dress does not possess multiformity, and range of application is little.
Patent documentation CN102288912A discloses a kind of electric-powered test platform and includes pulling force-torque machinery seperator Structure (1), treats the load of measured motor (9) for carrying and moment of torsion and pulling force is decoupled;Sensor measuring system (2), for wrapping The physical quantity including pulling force and moment of torsion is converted to be prone to the analog electrical signal of measurement;Instrument display system (3), for by described simulation The signal of telecommunication is converted into digital quantity;Data collecting system (4), is supplied to miniature by the measurement data of described electric-powered test platform Computer, is acquired and record.This patent cannot acquired character curve, and structure is complicated, and parts are many and take up room big, survey Trying efficiency and precision is low, installation does not possess multiformity, range of application is little.
Disclosed above-mentioned information is used only for strengthening the understanding to background of the present invention in the background section, it is thus possible to Comprise and be not formed in the information of prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
In order to solve the problems referred to above, the present invention provides a kind of unmanned vehicle testboard, and this unmanned vehicle testboard is tied Structure is simple, reasonable in design, it is possible to effectively measure three parameters of moment of torsion of motor speed, rotor lift and motor simultaneously.With The frame for movement that Shi Caiyong is exquisite, can effectively eliminate the impact that lift is tested by torque measurement.It is an object of the invention to lead to Cross techniques below scheme to be achieved.
According to an aspect of the present invention, a kind of unmanned vehicle testboard include firm banking, guide shaft, double flange arrangement, Flange ring, motor mounting base, motor, rotor, force transducer, velocity sensor and torque sensor.Double flange arrangements include Upper flange and lower flange, described upper flange is fixing connects described lower flange;Motor mounting base include motor install bottom base and Pedestal installed by motor, and motor is installed pedestal and is fixed on motor installation bottom base, and rotor is fixing with motor to be connected;Guide shaft Lower end is fixed on base vertically, and adpting flange ring is fixed via nut in guide shaft upper end, and velocity sensor is solid via L-type component It is scheduled on flange ring;Double flange arrangements are fixedly connected on described guide shaft, and linear bearing is fixed on evenly distributedly via cutting ferrule In double flange arrangements;Force transducer one end is fixedly connected on described firm banking, and the other end is fixedly connected on lower flange;Motor Being fixedly connected on motor and install pedestal, the upper end of torque sensor is fixed on motor and installs bottom base, under torque sensor End is fixedly connected on upper flange;Unmanned vehicle measured respectively by described force transducer, velocity sensor and torque sensor The moment of torsion of the lift of rotor, speed and motor.
Preferably, described force transducer, velocity sensor and torque sensor measure and send the lift of rotor, speed and The moment of torsion of motor to host computer, described host computer be calculated and be shown the lift of the rotor of unmanned vehicle and tensionvelocity curve, The moment of torsion of motor and tensionvelocity curve.
Preferably, lower flange and upper flange are evenly equipped with through hole respectively, and aluminum post through described through hole and is locked by hex bolts With fixing connection upper flange and lower flange.This convenient connection pull pressure sensor and torque sensor, ensureing that entirety is strong simultaneously While degree, alleviate the quality of whole mechanism.
Preferably, the cylindrical of guide shaft makes linear bearing form sliding pair with guide shaft with the endoporus matched in clearance of linear bearing Structure.Wherein, gap is 0.05mm-0.1mm, so can ensure that the stability of structure.Each linear bearing utilizes outer jump ring Axial direction at bearing positions.
Preferably, bottom base installed by motor and motor is installed pedestal and cooperatively formed motor Demountable.By tearing open Unload bolt to realize motor and install the convenient dismounting of pedestal.
Preferably, described host computer is PC or processor, and described processor includes general processor, Digital Signal Processing Device, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit and combinations thereof.
Preferably, velocity sensor is fixedly connected on L-type component by double nut, described double nut governing speed respectively The height of sensor in the vertical direction and in the horizontal direction with the distance of motor.Outside this is conducive to regulation sensor with motor The distance of side.
Preferably, described torque sensor is double flange form torque sensors, uses the torque sensing of double flange-type structure The installation of device, beneficially sensor.Described motor is non-brush permanent-magnet DC motor, and described force transducer is that rod-pulling type pressure passes Sensor, the two ends of the drawbar structure of rod-pulling type pull pressure sensor are screwed stud, can conveniently install.Described speed Degree sensor is optoelectronic induction sensor.
Preferably, described force transducer and torque sensor central axis conllinear and be perpendicular to velocity sensor.
According to a further aspect in the invention, a kind of method of testing using described unmanned vehicle testboard includes following Step.
In first step, unmanned vehicle testboard initializes, and starts motor and drives rotor wing rotation.
In second step, the rotation of unmanned vehicle measured respectively by described force transducer, velocity sensor and torque sensor The moment of torsion of the motor of the lift of the wing, speed and unmanned vehicle and be sent to host computer.
In third step, described host computer be calculated and be shown the lift of the rotor of unmanned vehicle and tensionvelocity curve, The moment of torsion of motor and tensionvelocity curve.
Unmanned vehicle normal operating conditions truly simulated by the unmanned vehicle testboard of the present invention, can carry out unmanned flight The features such as device motor characteristic is tested, and can effectively test, have the development time short, low cost.
The present invention is relative to prior art, and unmanned vehicle testboard has the following characteristics that (1) can measure motor simultaneously Rotating speed and moment of torsion and the size of rotor lift, volume is little, compact conformation;(2) double flange arrangement is used to be combined with linear bearing Frame for movement, can effectively eliminate motor reaction torque measure for rotor lift measure impact, improve certainty of measurement;(3) Use double flange formula structure, significantly improve whole test bed stability;(4) mounting means multiformity, can level Installation can also right angle setting;(5) this testboard can be suitable for the electromechanical testing of multiple different model, has spy applied widely Point.
Described above is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention clearer Understand, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to allow the present invention Above and other objects, features and advantages can become apparent, illustrate with the detailed description of the invention of the present invention below Explanation.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit Will be clear from understanding for those of ordinary skill in the art, Figure of description is only used for illustrating the purpose of preferred implementation, And it is not considered as limitation of the present invention, it should be apparent that, drawings discussed below is only some embodiments of the present invention, For those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings Other accompanying drawing, and in whole accompanying drawing, it is presented with like reference characters identical parts;
In the accompanying drawings:
Fig. 1 is the structural representation of unmanned vehicle testboard according to an embodiment of the invention;
Fig. 2 is the step schematic diagram of the method for testing of unmanned vehicle testboard according to an embodiment of the invention;
Below in conjunction with drawings and Examples, the present invention is further explained.
Detailed description of the invention
It is more fully described the specific embodiment of the present invention below with reference to accompanying drawings.Although accompanying drawing shows the present invention's Specific embodiment, it being understood, however, that may be realized in various forms the present invention and should not limited by embodiments set forth here System.On the contrary, it is provided that these embodiments are able to be best understood from the present invention, and can be complete by the scope of the present invention Convey to those skilled in the art.
It should be noted that employ some vocabulary in the middle of description and claim to censure specific components.Ability Field technique personnel it would be appreciated that, technical staff may call same assembly with different nouns.This specification and right In the way of requiring that difference by noun is not used as distinguishing assembly, but be used as distinguishing with assembly difference functionally Criterion." comprising " or " including " as mentioned by the middle of description and claim in the whole text is an open language, therefore should solve It is interpreted into " comprise but be not limited to ".Description subsequent descriptions be implement the present invention better embodiment, right described description be with For the purpose of one principle of description, it is not limited to the scope of the present invention.Protection scope of the present invention is when regarding appended right Require that defined person is as the criterion.
For ease of the understanding to the embodiment of the present invention, do as a example by several specific embodiments further below in conjunction with accompanying drawing Explanation, and each accompanying drawing is not intended that the restriction to the embodiment of the present invention.
Fig. 1 is the structural representation of the unmanned vehicle testboard of one embodiment of the present of invention, and the embodiment of the present invention will It is specifically described in conjunction with Fig. 1.
As it is shown in figure 1, An embodiment provides a kind of unmanned vehicle testboard, unmanned vehicle is tested Platform includes firm banking 1, guide shaft 4, double flange arrangement, flange ring 6, motor mounting base, motor 17, rotor 18, force transducer 13, velocity sensor 8 and torque sensor 14, double flange arrangements include upper flange 3 and lower flange 2, and described upper flange 3 is fixing even Connecing described lower flange 2, motor mounting base includes that bottom base 15 installed by motor and pedestal 16 installed by motor, and base installed by motor Seat 16 is fixed on motor and installs on bottom base 15, and rotor 18 is fixing with motor 17 to be connected, and the lower end of guide shaft 4 is fixed on the end vertically On seat 1, adpting flange ring 6 is fixed via nut 5 in guide shaft 4 upper end, and velocity sensor 8 is fixed on flange ring 6 via L-type component 7 On, double flange arrangements are fixedly connected on described guide shaft 4, and linear bearing 13 is fixed on double flange knot evenly distributedly via cutting ferrule In structure, force transducer 9 one end is fixedly connected on described firm banking 1, and the other end is fixedly connected on lower flange 2;Motor 17 is solid Surely being connected to motor and install pedestal 16, the upper end of torque sensor 14 is fixed on motor and installs bottom base 15, torque sensor The lower end of 14 is fixedly connected on upper flange 3;Nothing measured respectively by described force transducer 9, velocity sensor 8 and torque sensor 14 The lift of rotor 18 of people's aircraft, speed and the moment of torsion of motor 17.
In embodiment, unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV " (unmanned aerial Vehicle), it is the most manned aircraft utilizing radio robot and the presetting apparatus provided for oneself to handle.From technical standpoint Definition can be divided into: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
In the embodiment of the present invention, preferred unmanned vehicle is many rotor unmanned aircrafts, and many rotor unmanned aircrafts are permissible It it is four rotors, six rotors and the rotor quantity unmanned vehicle more than six.The unmanned vehicle master that technical solution of the present invention uses Referring to many rotor unmanned aircrafts little, miniature, this unmanned vehicle volume is little, low cost, flight stability preferable, flight Low cost etc..The aircraft that the present invention uses, typically with four axle multi-rotor aerocrafts as representative.
In one embodiment, described force transducer 9, velocity sensor 8 and torque sensor 14 are measured and send rotor The moment of torsion of lift, speed and the motor 17 of 18 is to host computer, and described host computer is calculated and be shown the rotor 18 of unmanned vehicle Lift and tensionvelocity curve, the moment of torsion of motor 12 and tensionvelocity curve.Lift and tensionvelocity curve, the reaction torque of motor It is the key property parameter in unmanned vehicle test with tensionvelocity curve, unmanned by the authentic and valid simulation of these curves The state that aircraft normally works.
In one embodiment, described host computer is PC or processor, and described processor includes general processor, numeral Signal processor, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit and combinations thereof.Enter One step ground, described processor includes memorizer, and memorizer can be volatile memory or nonvolatile memory.Memorizer can To include able to programme of one or more read only memory ROM, random access memory ram, flash memory, Electrical Erasable Read memorizer EEPROM or other type of memorizer.
In one embodiment, lower flange 2 and upper flange 3 are evenly equipped with through hole respectively, aluminum post 12 through described through hole and by Hex bolts 10,11 locks with fixing connection upper flange 3 and lower flange 2.
In one embodiment, the endoporus matched in clearance of the cylindrical of guide shaft 4 and linear bearing 13 make linear bearing 13 with Guide shaft 4 forms sliding pair structure.
In one embodiment, motor is installed bottom base 15 and motor and is installed pedestal 16 to cooperatively form motor detachable Structure.
In one embodiment, velocity sensor 8 is fixedly connected on L-type component 7 by double nut, and described double nut divides The height of other governing speed sensor 8 in the vertical direction and in the horizontal direction with the distance of motor 17.
In one embodiment, described torque sensor 14 is double flange form torque sensors, and described motor 17 is permanent magnetism DC brushless motor, non-brush permanent-magnet DC motor power density is bigger, and described force transducer 9 senses for rod-pulling type pressure Device, described velocity sensor 8 is optoelectronic induction sensor.
In one embodiment, described force transducer 9 and torque sensor 14 central axis conllinear and be perpendicular to speed and pass Sensor 8.
As preferably, unmanned vehicle testboard uses aluminium profile, has light weight, feature firm in structure.
In the embodiment of the present invention preferably, firm banking 1 may be installed on load carrier, pull bar pull pressure sensor one End stud is connected with firm banking 1 by screwed hole, and other end stud is connected with lower flange 2 and fixes with nut;Upper flange 3 Coordinating with lower flange 26 aluminum posts to be fixedly connected, form double flange arrangement, 4 linear bearings 13 utilize cutting ferrule uniform simultaneously Distribution is fixed between double flange arrangement;Guide shaft 4 coordinates with linear bearing, and its lower end threaded portion and threaded upper ends part are respectively It is connected on firm banking and flange ring 6, and is fixed with nut;Double flange form torque sensor lower flanges and upper flange Upper plane coordinates, and utilizes bolt to be fixed;The upper flange structure of double flange form torque sensors installs bottom base with motor 15 coordinate, and bolt connection is fixed;Motor is installed pedestal 16 and is fixed on motor installation bottom base 15;Base installed by motor Seat 16 utilizes screwed hole and motor 17 to fix to be connected;Propeller is fixing with motor to be connected;Optoelectronic induction sensor 8 and L-type component 7 Coordinate and install, be fixed on plane on flange ring 6.
In the embodiment of the present invention preferably, double flange arrangements are by lower flange 2, upper flange 3 and these parts of aluminum post 12 Composition.Lower flange 2 is the same with upper flange 3 structure, is evenly equipped with 6 through holes respectively, and 6 aluminum posts coordinate also with corresponding through hole respectively Connect with bolt is fixing, thus form double flange arrangement.Guide shaft 4 cylindrical and linear bearing 13 endoporus matched in clearance, axially may be used Arbitrarily slide;The hole that linear bearing 13 cylindrical is corresponding with on double flange arrangements carries out matched in clearance, outside each linear bearing utilizes Jump ring positions at the axial direction of bearing.
In the embodiment of the present invention preferably, flange ring 6 is connected by four guide shafts 4 are fixing with installation firm banking 1, leads All there is screw thread at axle about 4 two ends, and lower end is directly fixing with the hole installed on firm banking 1 to be connected, and upper and lower two spiral shells are passed through in upper end Flange ring is fixed by female 5, forms peripheral space solid pillar mounting support structure;Can be with regulating flange ring by regulation double nut 5 in the position of vertical direction, such that it is able to reach the position regulating optoelectronic induction sensor relative to motor.Flange ring 6 interior Ring is matched in clearance with the cylindrical of double flange form torque sensor upper flanges, and its intermediate gap is 0.05mm-0.1mm.The most permissible Ensure the stability of structure.Bottom base 15 installed by motor and motor is installed pedestal 16 and is bolted, and can conveniently dismantle.
In the embodiment of the present invention preferably, T-shaped sensing station adjustable structure connected mode is optoelectronic induction sensor Self is threaded, and optoelectronic induction sensor is fixedly connected on L-type component 7 by double nut;Utilize two nuts by its with By regulation double nut, the height and with motor in the horizontal direction of optoelectronic induction sensor in the vertical direction can be regulated respectively Distance.
The present invention is not limited to the vertically-mounted mode given tacit consent to above, and it is vertical that the most whole testboard can also be fixed on On work top, mounting means is versatile and flexible.
See Fig. 2, use the method for testing bag of described unmanned vehicle testboard according to an embodiment of the invention Include following steps.
In first step S1, unmanned vehicle testboard initializes, and starts motor 17 and drives rotor 18 to rotate.
In second step S2, unmanned flight measured respectively by described force transducer 9, velocity sensor 8 and torque sensor 14 The moment of torsion of the motor 17 of the lift of rotor 18, speed and the unmanned vehicle of device and be sent to host computer 6.
In third step S3, described host computer 6 is calculated and be shown lift and the length velocity relation of the rotor 18 of unmanned vehicle Curve, the moment of torsion of motor 17 and tensionvelocity curve.
Although embodiment of the present invention being described above in association with accompanying drawing, but the invention is not limited in above-mentioned Specific embodiments and applications field, above-mentioned specific embodiments the most schematic, guiding rather than restricted 's.Those of ordinary skill in the art is under the enlightenment of this specification and in the scope protected without departing from the claims in the present invention In the case of, it is also possible to making a variety of forms, these belong to the row of present invention protection.

Claims (10)

1. a unmanned vehicle testboard, it includes firm banking (1), guide shaft (4), double flange arrangement, flange ring (6), electricity Machine installs pedestal, motor (17), rotor (18), force transducer (13), velocity sensor (8) and torque sensor (14), double methods Blue structure includes upper flange (3) and lower flange (2), and described upper flange (3) is fixing connects described lower flange (2), and base installed by motor Seat includes that bottom base (15) installed by motor and pedestal (16) installed by motor, and motor is installed pedestal (16) and is fixed on motor installation On bottom base (15), rotor (18) is fixing with motor (17) to be connected, it is characterised in that:
The lower end of guide shaft (4) is fixed on base (1) vertically, and guide shaft (4) upper end is via the fixing adpting flange ring of nut (5) (6), velocity sensor (8) is fixed on flange ring (6) via L-type component (7), and double flange arrangements are fixedly connected on described guide shaft (4), on, linear bearing (13) is fixed in double flange arrangement evenly distributedly via cutting ferrule, and force transducer (9) one end is fixing even Being connected on described firm banking (1), the other end is fixedly connected on lower flange (2);Motor (17) is fixedly connected on motor and installs Pedestal (16), the upper end of torque sensor (14) is fixed on motor and installs bottom base (15), and the lower end of torque sensor (14) is solid Surely it is connected on upper flange (3);Described force transducer (9), velocity sensor (8) and torque sensor (14) are measured unmanned respectively The lift of rotor (18) of aircraft, speed and the moment of torsion of motor (17).
Unmanned vehicle testboard the most according to claim 1, it is characterised in that: preferably, described force transducer (9), Velocity sensor (8) and torque sensor (14) measure and send the moment of torsion of the lift of rotor (18), speed and motor (17) to Host computer, described host computer is calculated and be shown lift and tensionvelocity curve, the motor (12) of the rotor (18) of unmanned vehicle Moment of torsion and tensionvelocity curve.
Unmanned vehicle testboard the most according to claim 1, it is characterised in that: lower flange (2) and upper flange (3) are respectively Be evenly equipped with through hole, aluminum post (12) through described through hole and by hex bolts (10,11) locking with fixing connection upper flange (3) and under Flange (2).
Unmanned vehicle testboard the most according to claim 1, it is characterised in that: the cylindrical of guide shaft (4) and linear bearing (13) endoporus matched in clearance makes linear bearing (13) form sliding pair structure with guide shaft (4).
Unmanned vehicle testboard the most according to claim 1, it is characterised in that: motor installs bottom base (15) and motor Install pedestal (16) and cooperatively form motor Demountable.
Unmanned vehicle testboard the most according to claim 2, it is characterised in that: described host computer is PC or process Device, described processor includes general processor, digital signal processor, application-specific integrated circuit ASIC, field programmable gate array FPGA, analog circuit, digital circuit and combinations thereof.
Unmanned vehicle testboard the most according to claim 1, it is characterised in that: velocity sensor (8) passes through double nut Be fixedly connected on L-type component (7), the height of described double nut respectively governing speed sensor (8) in the vertical direction and With the distance of motor (17) in horizontal direction.
Unmanned vehicle testboard the most according to claim 1, it is characterised in that: described torque sensor (14) is double methods Blue formula torque sensor, described motor (17) is non-brush permanent-magnet DC motor, and described force transducer (9) is that rod-pulling type pressure passes Sensor, described velocity sensor (8) is optoelectronic induction sensor.
Unmanned vehicle testboard the most according to claim 1, it is characterised in that: described force transducer (9) passes with moment of torsion Sensor (14) central axis conllinear and be perpendicular to velocity sensor (8).
10. using the method for testing according to the unmanned vehicle testboard according to any one of claim 1-9, it includes Following steps:
In first step (S1), unmanned vehicle testboard initializes, and starts motor (17) and drives rotor (18) to rotate;
In second step (S2), described force transducer (9), velocity sensor (8) and torque sensor (14) are measured unmanned respectively The moment of torsion of the motor (17) of lift, speed and the unmanned vehicle of the rotor (18) of aircraft and be sent to host computer (6);
In third step (S3), described host computer (6) is calculated and be shown the lift of the rotor (18) of unmanned vehicle and closes with speed It is curve, the moment of torsion of motor (17) and tensionvelocity curve.
CN201610530160.6A 2016-07-06 2016-07-06 A kind of unmanned vehicle testboard and its method of testing Expired - Fee Related CN106143949B (en)

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Cited By (21)

* Cited by examiner, † Cited by third party
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CN106595933A (en) * 2017-02-07 2017-04-26 常州市易电电气有限公司 Test apparatus used for unmanned aerial vehicle motor dynamic tension and torsion
CN106742051A (en) * 2016-11-28 2017-05-31 歌尔科技有限公司 A kind of aircraft hovering functional stabilization method of testing and system
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CN106828973A (en) * 2017-02-10 2017-06-13 中国航发沈阳发动机研究所 A kind of propeller centrifugal load experimental rig
CN106828971A (en) * 2016-12-13 2017-06-13 南昌航空大学 A kind of experimental provision for measuring single duct and single duct aircraft lift
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CN107226205A (en) * 2017-07-20 2017-10-03 安徽工程大学 A kind of four rotor wing unmanned aerial vehicles with lift self feed back
CN107806996A (en) * 2017-10-24 2018-03-16 西北工业大学 A kind of unmanned plane propeller dynamic tension monitoring device
CN108045595A (en) * 2017-11-30 2018-05-18 北京润科通用技术有限公司 A kind of test method of unmanned plane during flying performance parameter, apparatus and system
CN108181034A (en) * 2018-02-01 2018-06-19 顺丰科技有限公司 A kind of dynamic test integrated system and test method
CN108839816A (en) * 2018-05-24 2018-11-20 江苏理工学院 A kind of multi-functional unmanned plane rotor system performance testing device
CN108945518A (en) * 2018-09-07 2018-12-07 江苏航空职业技术学院 Quadrotor drone lift test device
CN109000841A (en) * 2018-08-24 2018-12-14 中国兵器工业计算机应用技术研究所 A kind of general tensile test tooling rack of propeller
CN109018430A (en) * 2018-07-27 2018-12-18 淮阴工学院 Rotor craft blade is performance test bed
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CN111688951A (en) * 2020-06-30 2020-09-22 中国空气动力研究与发展中心 Multifunctional unmanned aerial vehicle lift force measuring device
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CN113418644A (en) * 2021-07-01 2021-09-21 江苏大学 Motor tension test platform with rotor and identification method
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CN106742051A (en) * 2016-11-28 2017-05-31 歌尔科技有限公司 A kind of aircraft hovering functional stabilization method of testing and system
CN106742051B (en) * 2016-11-28 2023-07-21 歌尔科技有限公司 Aircraft hovering function stability testing method and system
CN106828971B (en) * 2016-12-13 2019-04-02 南昌航空大学 A kind of experimental provision measuring single duct and single duct aircraft lift
CN106828971A (en) * 2016-12-13 2017-06-13 南昌航空大学 A kind of experimental provision for measuring single duct and single duct aircraft lift
CN106772043A (en) * 2016-12-26 2017-05-31 歌尔科技有限公司 Unmanned plane propeller detecting device for motor and method
CN106772043B (en) * 2016-12-26 2023-09-15 歌尔科技有限公司 Unmanned aerial vehicle propeller motor detection device and method
CN106595933A (en) * 2017-02-07 2017-04-26 常州市易电电气有限公司 Test apparatus used for unmanned aerial vehicle motor dynamic tension and torsion
CN106828973A (en) * 2017-02-10 2017-06-13 中国航发沈阳发动机研究所 A kind of propeller centrifugal load experimental rig
CN106828973B (en) * 2017-02-10 2020-02-07 中国航发沈阳发动机研究所 Propeller centrifugal load test device
CN107117330A (en) * 2017-04-14 2017-09-01 安徽大学 flight controller parameter adjusting and detecting device
CN107117330B (en) * 2017-04-14 2020-04-28 安徽大学 Flight controller parameter adjusting and detecting device
CN107226205A (en) * 2017-07-20 2017-10-03 安徽工程大学 A kind of four rotor wing unmanned aerial vehicles with lift self feed back
CN107806996A (en) * 2017-10-24 2018-03-16 西北工业大学 A kind of unmanned plane propeller dynamic tension monitoring device
CN108045595A (en) * 2017-11-30 2018-05-18 北京润科通用技术有限公司 A kind of test method of unmanned plane during flying performance parameter, apparatus and system
CN108181034A (en) * 2018-02-01 2018-06-19 顺丰科技有限公司 A kind of dynamic test integrated system and test method
CN108839816A (en) * 2018-05-24 2018-11-20 江苏理工学院 A kind of multi-functional unmanned plane rotor system performance testing device
CN110562481A (en) * 2018-06-06 2019-12-13 长城汽车股份有限公司 Aircraft power testing arrangement
CN109018430A (en) * 2018-07-27 2018-12-18 淮阴工学院 Rotor craft blade is performance test bed
CN109000841A (en) * 2018-08-24 2018-12-14 中国兵器工业计算机应用技术研究所 A kind of general tensile test tooling rack of propeller
CN109142055A (en) * 2018-09-03 2019-01-04 南京航空航天大学 A kind of rotary wing performance multi-function test stand
CN109142055B (en) * 2018-09-03 2020-06-09 南京航空航天大学 Rotor performance comprehensive test platform
CN108945518A (en) * 2018-09-07 2018-12-07 江苏航空职业技术学院 Quadrotor drone lift test device
CN111688951A (en) * 2020-06-30 2020-09-22 中国空气动力研究与发展中心 Multifunctional unmanned aerial vehicle lift force measuring device
CN111977028A (en) * 2020-08-24 2020-11-24 江苏兰菱机电科技有限公司 Testing arrangement of unmanned aerial vehicle motor and screw combination
RU2756136C1 (en) * 2021-03-27 2021-09-28 Автономная некоммерческая организация высшего образования «Университет Иннополис» Stand for measuring thrust and reactive moment of propeller and dynamic characteristics of propeller with engine
CN113418644A (en) * 2021-07-01 2021-09-21 江苏大学 Motor tension test platform with rotor and identification method
CN115371741A (en) * 2022-10-24 2022-11-22 华东交通大学 System and method for detecting thrust, rotating speed and torque of propulsion motor

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