CN107585327A - A kind of multi-rotor unmanned aerial vehicle dynamic experiment device and experimental method - Google Patents
A kind of multi-rotor unmanned aerial vehicle dynamic experiment device and experimental method Download PDFInfo
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- CN107585327A CN107585327A CN201710786803.8A CN201710786803A CN107585327A CN 107585327 A CN107585327 A CN 107585327A CN 201710786803 A CN201710786803 A CN 201710786803A CN 107585327 A CN107585327 A CN 107585327A
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Abstract
A kind of multi-rotor unmanned aerial vehicle dynamic experiment device and experimental method.By gyroplane model including building experiment porch based on frame, horn, motor, the different number of axle can be tested, different gyroplane dynamical systems include power, electric current, voltage, total pulling force and the vibration acceleration of power supply, electricity tune, motor and propeller.The present invention is made dynamical system is high as far as possible to put, is ensured reliability of structure in experimentation, accurately transmit pulling force by reasonably arrangement；Reduce influence of the ground effect to prop-blast, and the interference of experimental platform equipment and ground effect to propeller operating mode.The present invention can test the kinetic parameter of four axles, six axles and eight axle gyroplanes, and the parameter of different wheelbases, different number of axle gyroplanes is qualitatively measured by changing wheelbase, with the characteristics of test function is complete, measuring accuracy is high, for optimizing gyroplane total arrangement, lift the performance of gyroplane, there is very big realistic meaning, while also have very big market potential.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, specifically a kind of unmanned plane gyroplane system dynamic experimental provision and test
Method.
Background technology
Unmanned plane market is broadly divided into fixed-wing and gyroplane at present, gyroplane because with VTOL, it is easy to maintenance,
These advantages of easy to get started, market use very extensive and obtained greatly developing.Small to several kilograms of machine of taking photo by plane, is arrived greatly
Up to a hundred kilograms of extraordinary machine has all obtained a wide range of applications in industrial circle.
At present, the different types of gyroplane model of different unmanned plane producer designs is very various, design cycle
It is ripe, but in fact, this " maturation design " often derive from experience, the master-plan of gyroplane do not refine with
Parametrization.And the power system parameter that this minute design is depended under gyroplane different working condition, these parameters are direct
The performance of gyroplane is affected, such as：Adjacent pitch, the number of axle and endurance etc..Exemplified by aerodynamic interference between adjacent blades, still
Test data without the aerodynamic interference between the adjacent blades, and the aerodynamic interference
Which type of influence, great influence can be produced on the overall performance of gyroplane, do not there is the research of science also at present.
If these Key technique problems are resolved, the performance of gyroplane can be greatly improved, this is in gyroplane city with keen competition
, its importance is self-evident.
Existing gyroplane dynamic test device is retrieved, the publication No. announced on the 21st of September in 2016 is CN 105947233A
Patent of invention《More rotor power test devices and method》, the gyroplane dynamic test device employ motor horizontal configuration and
L-type structure, tensile test employ pressure sensor, and such dynamic test device has many deficiencies, the class testing
Device can only test single motor, and the test object with rotor machine platform entirety can not be tested, furthermore, passed by L-type
The connected mode measuring accuracy that motor pulling force is transferred to pressure sensor by power bar by rotary shaft greatly declines, finally,
The base of such dynamic test device lacks adjustment measure, can not be to the level correction of experiment porch, and this can equally increase test
During error.Several deficiencies greatly limit such gyroplane dynamic test device answering in unmanned aerial vehicle design field above
With.
Therefore, market, which is sought after building, a can reduce and simulate as far as possible a variety of gyroplane live flying situations simultaneously
Provide the experiment porch of parameter.
The content of the invention
To overcome the shortcomings of to test single kind, single wheelbase power system parameter present in prior art, this
Invention proposes a kind of multi-rotor unmanned aerial vehicle dynamic experiment device and experimental method.
Multi-rotor unmanned aerial vehicle dynamic experiment device proposed by the present invention includes chassis, support bar, sensor holder, pull sensing
Device, vibrating sensor and gyroplane analog platform.Wherein, the pulling force sensor is bolted in the upper surface of chassis
The heart；Sensor holder is located at the upper end of the pulling force sensor, and is fixed on the upper surface of the pulling force sensor upper flange.Support bar
Lower end be arranged on the sensor holder centre bore in.The spider of gyroplane analog platform is fixedly mounted on the support bar
Upper end；It is uniform in the circumferential surface of the spider and be fixed with 2~4 pairs of horns.In the cantilever end end of each horn
It is mounted on removable motor cabinet；Each tested motor is fixed on the upper surface of each removable motor cabinet.Each tested
Try to be separately installed with tested propeller on the output shaft of motor.The vibrating sensor uses magnetic-type vibrating sensor,
Positioned at the middle part of the support bar, it is attracted on the external peripheral surface of the support bar.
Described gyroplane analog platform includes spider, horn, packing ring and horn mounting seat, wherein, described center
Disk includes upper disk and lower wall.There is the through hole of support bar at center of disk and the center of lower wall on this.Surface of disk point on this
The mounting hole of horn mounting seat is furnished with, and the horn after installation is distributed on this on circumference of disk.The structure of the lower wall with
Structure of disk is identical on this.Center on described between disk and lower wall is provided with packing ring.During installation, by the horn mounting seat
Lower fixture block be fixed on the upper surface of the lower wall, after the upper fixture block of the horn mounting seat and the lower fixture block pairing, pass through
Upper disk, upper fixture block and lower fixture block are connected by stay bolt.
The packing ring is the cylinder that there is flange at both ends.The endoporus of the packing ring is the via of the support bar；The axle of the packing ring
It is identical with the height of the horn mounting seat to length.
The upper fixture block of described horn mounting seat and lower fixture block are bulk.Have in the lower surface of the upper fixture block semicircular
Groove, the radius of the groove are identical with the radius of the horn；It is evenly equipped with to penetrate on this in two side edges of the upper fixture block and presss from both sides
The screw of block upper and lower surface.Also there are semicircular groove, the radius of the groove and the horn in the lower surface of the lower fixture block
Radius is identical；Screw is evenly equipped with two side edges of the lower fixture block upper surface, on the position of the screw and the upper fixture block
Screwhole position is corresponding；Screw is evenly equipped with two side edges of the lower surface of the lower fixture block.
Panel surface on the chassis is evenly equipped with three adjustment bolts, for adjusting the levelness on the chassis.
The external peripheral surface at described support bar both ends is flank.In the post upper limited location platform, for
The axially position of disk.
There is the cylinder of flange for both ends.The endoporus of the packing ring is the via of the support bar；The axial length of the packing ring with
The height of the horn mounting seat is identical.
The experimentation of the multi-rotor unmanned aerial vehicle dynamic experiment device proposed by the present invention is：
Step 1, the distance of removable motor cabinet is adjusted.
Along the length direction of the horn, adjustment is located at the distance between removable motor cabinet on each pair of horn respectively,
Make the distance between the geometric center of described two removable motor cabinets L identical with the wheelbase of four axle gyroplanes to be measured；Composition
Wheelbase is L multiaxis gyroplane analog platform.
Step 2, motor and propeller are installed.
Measured motor and propeller to be measured are treated by the bullet oar seat connection usually used.Each electricity of propeller will be connected with
Machine is attached in the horn mounting seat of the horn termination.It is sequentially completed the installation of 4 groups of motors and propeller.
Step 3, the correction of multi-rotor unmanned aerial vehicle dynamic experiment device.
The correction of described multi-rotor unmanned aerial vehicle dynamic experiment device includes the correction of motor levelness, chassis level degree
Correction and the correction of pulling force sensor.
In the correction of the multi-rotor unmanned aerial vehicle dynamic experiment device：
Motor levelness corrects:The positive negative error for adjusting the levelness of each motor one by one is no more than 0.5 °.
Adjust chassis level degree：The positive negative error for adjusting chassis level degree is no more than 0.5 °.
Pulling force sensor corrects：The gravity factor zero being subject to pulling force sensor；Each bullet oar seat is distinguished
It is connected with the hook of each electronic tension meter, simultaneously four electronic tension meters is applied with pulling force F vertically upward using puller system, is obtained
To the summation F of value of thrust that measures of four electronics pulling forceWith.By the summation of obtained value of thrust and pulling force sensor show value F0
Compare, if FWith-F0Difference be no more than 3%, be error allowed band in, complete whole trimming processes；If deviation is allowing
Outside scope, experiment porch is reinstalled until deviation is in error allowed band.
Step 4, the connection of power instrument.
Step 5, the test of multi-rotor unmanned aerial vehicle dynamic experiment device.
The multi-rotor unmanned aerial vehicle dynamic experiment device to test is the test of kinetic parameter, is to gyroplane analog platform work
The display and collection of caused pulling force, vibration data in work；During gyroplane analog platform work simultaneously, for the circuit of motor power supply
Parameter.Detailed process is：
1) start motor with<500r/min idle running；Check pulling force sensor, vibrating sensor working condition just
Often.
2) each motor speed is adjusted to working speed, and the rotating speed of each motor is designated as N successively1、N2、N3、N4, motor
Speed unit is r/min.
3) under the working speed, the 4 axle gyroplane analog platforms that wheelbase is L produce pulling force and vibration.Passed by pulling force
Sensor measures the pulling force effect of gyroplane analog platform, and real-time display pulling force numerical value；Gyroplane is measured by vibrating sensor
The vibration acceleration data of analog platform, and real-time display vibrating numerical.
So far, the dynamic experiment of four gyroplanes is completed, obtains four axles that four groups of motors are under working speed, wheelbase is when being L
Tensile test data and vibration-testing data under gyroplane analog platform working condition.
The present invention, including building experiment porch based on frame, horn, motor, is made by gyroplane model by brand-new design
Obtain experiment porch and can test the different number of axle, the important ginseng that different gyroplane dynamical systems include power supply, electricity tune, motor and oar
Number, including power, electric current, voltage, total pulling force and vibration acceleration.
When gyroplane works, dynamical system can produce a series of pulling force, vibration data and electric current, voltage, power circuit
Parameter.
In order to obtain above-mentioned data exactly, the present invention directly builds rotor machine platform, is not disturbing the base of working platform
On plinth, a series of sensors are installed and form experiment porch, so obtain experimental data especially mechanics parameter when avoid generation compared with
Big error, such data are only true and reliable.
For measuring accuracy may be improved, while the gyroplane of the different number of axle and wheelbase is simulated, the present invention uses following design：
1. will reasonably arrangement, make dynamical system is high as far as possible to put.Ensure experimentation in reliability of structure, accurately
Pulling force passes to pulling force sensor；Reduce influence of the ground effect to prop-blast, reduce experimental platform equipment and ground effect pair
The interference of propeller operating mode；2. spider can at most install 8 horn seats, can so be selected by different horns come mould
Intend the gyroplane of 4 axles, 6 axles and 8 axles；3. motor mount can move, wheelbase is changed come mould by mobile removable motor cabinet
Intend the gyroplane without wheelbase；4. pulling force sensor is placed in below sensor holder between chassis, gyroplane model produces pulling force
Pulling force sensor is transferred to by support bar, sensor measures total pulling force and directly shown over the display, thus can be real-time
Measure the data of the total pulling force of gyroplane model；5. vibrating sensor is placed on support bar, produces during power system operational and shake
It is dynamic, vibrate by magnetic field induction to obtain revolution speed of propeller, directly shown on display table；6. battery supply is powered, two-phase
Dc source is turned by electricity and is changed to three-phase alternating current, is then powered again to motor, positive and negative measurement head is connected on into power output end,
When motor works, it is possible to measure power, electric current and the voltage of power supply output in real time.
Compared with prior art, the present invention disclosure satisfy that the different requirements of gyroplane test, master by reasonable design
Have the advantage that：1. test approaches are more.Central plate at most places eight horn mounting seats, by increaseing or decreasing horn quantity
Simulate four axles, six axles and eight axle gyroplanes；Mobile removable motor cabinet moves the spacing for changing oar in horn, simulates different wheelbases
Under rotor machine platform, test rotor mechanomotive force parameter under different wheelbases.2. test function is more.Pulling force data can caused by motor
To be gathered by pulling force sensor, vibration signal can be gathered by vibrating sensor, and temperature data can be by hand-held infrared temperature instrument
Collection, multiple sensors are independently arranged in different positions to be measured, not interfere with each other, recorded under motor assigned work state pulling force,
Multigroup dynamic dates such as vibration.3. measuring accuracy is high.Rotor machine platform height puts the ground effect effect for reducing propeller, frame it is vertical
Arrangement reduces experimental provision and rotor wind field is disturbed in itself, and motor and the coaxially arranged of pulling force sensor prevent pulling force torque to passing
The influence of sensor, the measure of several subduction interference of the above substantially increase measuring accuracy.4. correcting mounting error.The present apparatus uses
Electronic tension meter and motor axis connection, apply upward power, correct pulling force sensor；Adjust the height of three bolts in chassis, correction
Chassis level and support bar are vertical, reduce the error in installation process；The level of the removable motor cabinet of level meter correction, ensures spiral shell
Revolve oar direction of pull vertical.
By rational design, the experimental provision can simulate the gyroplane of the different number of axle and wheelbase, be changed according to different
Fill to simulate four rotors, six rotors, eight rotors, movably may move motor cabinet to change wheelbase, qualitatively measure not coaxial
Some important parameters away from, different number of axle gyroplanes, can also optimize gyroplane total arrangement, lift the performance of gyroplane, have
Very big realistic meaning, while also has very big market potential.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the decomposition scheme of installation of the present invention；
Fig. 3 is the support platform structural representation of the present invention；
Fig. 4 is the support bar schematic diagram of support platform；
Fig. 5 is the sensor installation seat schematic diagram of support platform, wherein：5a is front view, and 5b is left view, and 5c is 5a
Sectional view；
Fig. 6 is the structural representation of gyroplane analog platform；
Fig. 7 is the assembling schematic diagram of gyroplane analog platform；
Fig. 8 is the structural representation of horn.
1. sensor installation seat；2. pulling force sensor；3. vibrating sensor；4. support bar；5. adjustment bolt；6. motor；
Disk on 7.；8. horn；9. nut；10. limiting stand；11. spider；12. horn mounting seat；13. packing ring；14. lower wall；15. can
Mobile motor seat；16. stay bolt；17. chassis；18. propeller.
Embodiment
The present embodiment is that a kind of multi-rotor unmanned aerial vehicle dynamic experiment device includes chassis 17, support bar 4, sensor holder 1, drawing
Force snesor 2, vibrating sensor 3 and gyroplane analog platform.
Wherein, the pulling force sensor 2 is bolted on the upper surface center of chassis 17；Sensor holder 1 is positioned at described
The upper end of pulling force sensor, and it is fixed on the upper surface of the pulling force sensor upper flange.Installed by screw thread the lower end of support bar 4
In the centre bore of the sensor holder 1.The spider 11 of gyroplane analog platform is by being threadably mounted at the support bar 4
Upper end, and fastened by nut 9；It is uniform in the circumferential surface of the spider and be fixed with 2~4 pairs of horns 8.In each horn
Cantilever end end be mounted on removable motor cabinet 15；Each tested motor 6 is fixed on each removable motor cabinet
Upper surface.Tested propeller is separately installed with the output shaft of each tested motor.The vibrating sensor 3 uses
Magnetic-type vibrating sensor, positioned at the middle part of the support bar 4, it is attracted on the external peripheral surface of the support bar.
In the present embodiment, the quantity of the horn is 2 pairs.
Panel surface on the chassis 17 is evenly equipped with three adjustment bolts 5, by adjusting the height of each adjustment bolt,
To adjust the levelness on the chassis.
Described gyroplane analog platform includes spider 11, horn 8, packing ring 13 and horn mounting seat 12, wherein, it is described
Spider 11 include upper disk 7 and lower wall 14.There is the through hole of support bar 4 at center of disk and the center of lower wall on this.At this
The surface distributed of upper disk has the mounting hole of horn mounting seat 12, and the horn after installation 8 is distributed on this on circumference of disk.Institute
The structure for stating lower wall 14 is identical with the structure of disk on this.Center on described between disk 7 and lower wall 14 is provided with packing ring 13.Peace
During dress, the lower fixture block of the horn mounting seat is fixed on to the upper surface of the lower wall 14, by the upper folder of the horn mounting seat
Upper disk, upper fixture block and lower fixture block with after the lower fixture block pairing, being connected by block by stay bolt 16.
Described support bar 4 is the hollow tube of steel.The external peripheral surface at the support bar both ends is flank.In the branch
Strut upper end limited location platform 10, the axially position for upper disk 7.
Described packing ring 13 is made of aluminium alloy, there is the cylinder of flange for both ends.The endoporus of the packing ring is the support
The via of bar 4；The axial length of the packing ring is identical with the height of the horn mounting seat 12.
Described horn 8 is hollow carbon fiber bar.
The upper fixture block of described horn mounting seat 12 and lower fixture block are bulk.There is semicircle in the lower surface of the upper fixture block
Groove, the radius of the groove is identical with the radius of the horn；It is evenly equipped with and is penetrated on this in two side edges of the upper fixture block
The screw of fixture block upper and lower surface.Also there are semicircular groove, the radius of the groove and the machine in the lower surface of the lower fixture block
The radius of arm is identical；Screw is evenly equipped with two side edges of the lower fixture block upper surface, the position of the screw and the upper fixture block
On screwhole position it is corresponding；Screw is evenly equipped with two side edges of the lower surface of the lower fixture block.
Described pulling force sensor 2 uses clear section using the double flange pulling force sensors of golden promise 100kg, vibrating sensor
The general accelerometer of CT1002 charge types, is standard component.
Described removable motor cabinet 15 may move motor cabinet using pipe clamp type, be standard component.
What the present embodiment proposed carries out gyroplane dynamic experiment using a kind of multi-rotor unmanned aerial vehicle dynamic experiment device
Detailed process be：
Step 1, the distance of removable motor cabinet is adjusted.
Along the length direction of the horn 8, adjustment respectively the removable motor cabinet on a pair of corresponding horns it
Between distance, make the distance between the geometric center of described two removable motor cabinets L and four axle gyroplanes to be measured wheelbase
It is identical；In kind adjust the distance between removable motor cabinet on another pair horn；Form the four axle rotors that wheelbase is L
Machine analog platform.
Step 2, motor and propeller are installed.
Motor to be measured is respectively four with propeller to be measured.
Measured motor and propeller to be measured are treated by the bullet oar seat connection usually used；The installation borehole jack of bullet oar seat
On motor output shaft；Bullet oar seat passes through propeller mounting hole, fastens propeller and motor with supporting oar seat nut, really
Propeller is protected to will not fall off with motor rotation.Each motor 6 for being connected with propeller is attached to the machine positioned at the horn termination
In arm mounting seat 12.It is sequentially completed the installation of 4 groups of motors and propeller.
Step 3, the correction of multi-rotor unmanned aerial vehicle dynamic experiment device.
The correction of described multi-rotor unmanned aerial vehicle dynamic experiment device includes the correction of motor levelness, chassis level degree
Correction and the correction of pulling force sensor.Correction is carried out in order above.
Motor levelness corrects:Removable motor cabinet is rotated, is adjusting the levelness of each motor 6 one by one by level meter just
Negative error is no more than 0.5 °.
Adjust chassis level degree：Level meter is placed on chassis, adjusts the difference height of three adjustment bolts 10 on chassis 6
It is low, the positive negative error of the levelness on the chassis is no more than 0.5 °.
Pulling force sensor corrects：The gravity factor zero being first subject to pulling force sensor, by each bullet oar seat point
Hook not with each electronic tension meter is connected, and simultaneously four electronic tension meters are applied with pulling force F vertically upward using puller system,
The summation F for the value of thrust that four obtained electronics pulling force measureWith.By the summation of obtained value of thrust and pulling force sensor show value
F0Compare, if FWith-F0Difference be no more than 3%, be error allowed band in, complete whole trimming processes；If deviation is allowing
Outside scope, experiment porch is reinstalled until deviation is in error allowed band.
Step 4, the connection of power instrument.
By the power instrument of circuit test by four electron speed regulators respectively with each motor connection.Adjusted by each electronics
Fast device records electric current, voltage and power of each motor under working speed described in test respectively.The power of the circuit test
Instrument is standard component.
Step 5, the test of multi-rotor unmanned aerial vehicle dynamic experiment device.
The multi-rotor unmanned aerial vehicle dynamic experiment device to test is the test of kinetic parameter, is to gyroplane analog platform work
The display and collection of caused pulling force, vibration data in work；During gyroplane analog platform work simultaneously, for the circuit of motor power supply
Parameter.Detailed process is：
2) start motor with<500r/min idle running；Check pulling force sensor 2, the working condition of vibrating sensor 3 just
Often.
2) each motor speed is adjusted to working speed, and the rotating speed of each motor is designated as N successively1、N2、N3、N4, motor
Speed unit is r/min.
3) under the working speed, the 4 axle gyroplane analog platforms that wheelbase is L produce pulling force and vibration.Passed by pulling force
Sensor measures the pulling force effect of gyroplane analog platform, and real-time display pulling force numerical value；Gyroplane is measured by vibrating sensor
The vibration acceleration data of analog platform, and real-time display vibrating numerical.
So far, the dynamic experiment of four gyroplanes is completed, obtains four axles that four groups of motors are under working speed, wheelbase is when being L
Tensile test data and vibration-testing data under gyroplane analog platform working condition.
Claims (9)
1. a kind of multi-rotor unmanned aerial vehicle dynamic experiment device, it is characterised in that passed including chassis, support bar, sensor holder, pulling force
Sensor, vibrating sensor and gyroplane analog platform；Wherein, the pulling force sensor is bolted in the upper surface of chassis
The heart；Sensor holder is located at the upper end of the pulling force sensor, and is fixed on the upper surface of the pulling force sensor upper flange；Support bar
Lower end be arranged on the sensor holder centre bore in；The spider of gyroplane analog platform is fixedly mounted on the support bar
Upper end；It is uniform in the circumferential surface of the spider and be fixed with 2~4 pairs of horns；In the cantilever end end of each horn
It is mounted on removable motor cabinet；Each tested motor is fixed on the upper surface of each removable motor cabinet；Each tested
Try to be separately installed with tested propeller on the output shaft of motor；The vibrating sensor uses magnetic-type vibrating sensor,
Positioned at the middle part of the support bar, it is attracted on the external peripheral surface of the support bar.
2. multi-rotor unmanned aerial vehicle dynamic experiment device as claimed in claim 1, it is characterised in that described gyroplane analog platform
Including spider, horn, packing ring and horn mounting seat, wherein, described spider includes upper disk and lower wall；On this in disk
There is the through hole of support bar at the center of the heart and lower wall；Surface distributed of disk has the mounting hole of horn mounting seat on this, and makes peace
Horn after dress is distributed on this on circumference of disk；The structure of the lower wall is identical with the structure of disk on this；On described disk with
Center between lower wall is provided with packing ring；During installation, the lower fixture block of the horn mounting seat is fixed on to the upper table of the lower wall
Face, after the upper fixture block of the horn mounting seat and the lower fixture block pairing, upper disk, upper fixture block and lower fixture block are consolidated by stay bolt
Even.
3. multi-rotor unmanned aerial vehicle dynamic experiment device as claimed in claim 1, it is characterised in that the packing ring is that both ends have flange
Cylinder；The endoporus of the packing ring is the via of the support bar；The axial length of the packing ring and the height of the horn mounting seat
It is identical.
4. multi-rotor unmanned aerial vehicle dynamic experiment device as claimed in claim 1, it is characterised in that described horn mounting seat it is upper
Fixture block and lower fixture block are bulk；There are semicircular groove, the radius of the groove and the horn in the lower surface of the upper fixture block
Radius it is identical；The screw for penetrating the upper fixture block upper and lower surface is evenly equipped with two side edges of the upper fixture block；In the lower fixture block
Lower surface also have a semicircular groove, the radius of the groove is identical with the radius of the horn；In the lower fixture block upper surface
Screw is evenly equipped with two side edges, the position of the screw is corresponding with the screwhole position in the upper fixture block；In the lower fixture block
Screw is evenly equipped with two side edges of lower surface.
5. multi-rotor unmanned aerial vehicle dynamic experiment device as claimed in claim 1, it is characterised in that the panel surface on the chassis is equal
Three adjustment bolts are furnished with, for adjusting the levelness on the chassis.
6. multi-rotor unmanned aerial vehicle dynamic experiment device as claimed in claim 1, it is characterised in that outside described support bar both ends
Circumferential surface is flank；In the post upper limited location platform, the axially position for upper disk.
7. multi-rotor unmanned aerial vehicle dynamic experiment device as claimed in claim 1, it is characterised in that have the cylinder of flange for both ends；
The endoporus of the packing ring is the via of the support bar；The axial length of the packing ring is identical with the height of the horn mounting seat.
A kind of 8. experimental method of multi-rotor unmanned aerial vehicle dynamic experiment device described in claim 1, it is characterised in that detailed process
It is：
Step 1, the distance of removable motor cabinet is adjusted；
Along the length direction of the horn, adjustment is located at the distance between removable motor cabinet on each pair of horn respectively, makes institute
It is identical with the wheelbase of four axle gyroplanes to be measured to state the distance between the geometric center of two removable motor cabinets L；Form wheelbase
For L multiaxis gyroplane analog platform；
Step 2, motor and propeller are installed；
Measured motor and propeller to be measured are treated by the bullet oar seat connection usually used；Each motor for being connected with propeller is pacified
It is filled in the horn mounting seat of the horn termination；It is sequentially completed the installation of 4 groups of motors and propeller；
Step 3, the correction of multi-rotor unmanned aerial vehicle dynamic experiment device；
The correction of described multi-rotor unmanned aerial vehicle dynamic experiment device includes the correction of motor levelness, the correction of chassis level degree
With the correction of pulling force sensor；
Step 4, the connection of power instrument；
Step 5, the test of multi-rotor unmanned aerial vehicle dynamic experiment device；
The multi-rotor unmanned aerial vehicle dynamic experiment device to test is the test of kinetic parameter, is in working gyroplane analog platform
The display and collection of caused pulling force, vibration data；During gyroplane analog platform work simultaneously, for the circuit ginseng of motor power supply
Number；Detailed process is：
I start motor with<500r/min idle running；Check that pulling force sensor, vibrating sensor working condition are normal；
The rotating speed of each motor is designated as N by II each motor speed of adjustment successively to working speed1、N2、N3、N4, motor speed list
Position is r/min；
III under the working speed, and the 4 axle gyroplane analog platforms that wheelbase is L produce pulling force and vibration；Pass through pulling force sensor
Measure the pulling force effect of gyroplane analog platform, and real-time display pulling force numerical value；Gyroplane is measured by vibrating sensor to simulate
The vibration acceleration data of platform, and real-time display vibrating numerical；
So far, the dynamic experiment of four gyroplanes is completed, obtains the four axle rotors that four groups of motors are under working speed, wheelbase is when being L
Tensile test data and vibration-testing data under machine analog platform working condition.
9. the experimental method of multi-rotor unmanned aerial vehicle dynamic experiment device as claimed in claim 8, it is characterised in that more rotors
In the correction of unmanned plane dynamic experiment device：
Motor levelness corrects:The positive negative error for adjusting the levelness of each motor one by one is no more than 0.5 °；
Adjust chassis level degree：The positive negative error for adjusting chassis level degree is no more than 0.5 °；
Pulling force sensor corrects：The gravity factor zero being subject to pulling force sensor；By each bullet oar seat respectively with respectively
The hook connection of electronic tension meter, simultaneously four electronic tension meters are applied with pulling force F vertically upward using puller system, is obtained
The summation F for the value of thrust that four electronics pulling force measureWith；By the summation of obtained value of thrust and pulling force sensor show value F0Than
Compared with if FWith-F0Difference be no more than 3%, be error allowed band in, complete whole trimming processes；If deviation is allowing model
Outside enclosing, experiment porch is reinstalled until deviation is in error allowed band.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN108945518A (en) * | 2018-09-07 | 2018-12-07 | 江苏航空职业技术学院 | Quadrotor drone lift test device |
| CN109305389A (en) * | 2018-09-13 | 2019-02-05 | 国网福建省电力有限公司漳州供电公司 | Power grid unmanned plane aerodynamic system detection platform |
| CN109436312A (en) * | 2018-12-21 | 2019-03-08 | 辽宁壮龙无人机科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN110435923A (en) * | 2019-07-22 | 2019-11-12 | 北京中航智科技有限公司 | A kind of rotor test tower |
| CN111776248A (en) * | 2020-08-03 | 2020-10-16 | 广州极飞科技有限公司 | Vibration testing method and device and aircraft |
| CN111959819A (en) * | 2020-06-05 | 2020-11-20 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
| CN113306745A (en) * | 2021-07-30 | 2021-08-27 | 西咸新区千兆智能科技有限公司 | Power testing device and system |
| EP4129832A1 (en) * | 2021-08-06 | 2023-02-08 | Shanghai Autoflight Co., Ltd. | An experimental bench for a uav propulsion system and avionics equipment |
| CN115946872A (en) * | 2023-03-14 | 2023-04-11 | 中国空气动力研究与发展中心空天技术研究所 | Near-water surface effect test device for rotor type aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109305389A (en) * | 2018-09-13 | 2019-02-05 | 国网福建省电力有限公司漳州供电公司 | Power grid unmanned plane aerodynamic system detection platform |
| CN109436312A (en) * | 2018-12-21 | 2019-03-08 | 辽宁壮龙无人机科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN110435923A (en) * | 2019-07-22 | 2019-11-12 | 北京中航智科技有限公司 | A kind of rotor test tower |
| CN111959819A (en) * | 2020-06-05 | 2020-11-20 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
| CN111959819B (en) * | 2020-06-05 | 2022-08-16 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
| CN111776248A (en) * | 2020-08-03 | 2020-10-16 | 广州极飞科技有限公司 | Vibration testing method and device and aircraft |
| CN113306745A (en) * | 2021-07-30 | 2021-08-27 | 西咸新区千兆智能科技有限公司 | Power testing device and system |
| CN113306745B (en) * | 2021-07-30 | 2021-11-02 | 西咸新区千兆智能科技有限公司 | Power testing device and system |
| EP4129832A1 (en) * | 2021-08-06 | 2023-02-08 | Shanghai Autoflight Co., Ltd. | An experimental bench for a uav propulsion system and avionics equipment |
| CN115946872A (en) * | 2023-03-14 | 2023-04-11 | 中国空气动力研究与发展中心空天技术研究所 | Near-water surface effect test device for rotor type aircraft |
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