CN108645425B - Small-size rotor unmanned aerial vehicle gyroscope structure test system based on six-dimensional force sensor - Google Patents
Small-size rotor unmanned aerial vehicle gyroscope structure test system based on six-dimensional force sensor Download PDFInfo
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Abstract
The invention discloses a gyroscope structure test system of a small-sized rotor unmanned aerial vehicle based on a six-dimensional force sensor, which comprises a three-degree-of-freedom motion test platform based on a three-axis gyroscope structure, wherein the three-degree-of-freedom motion test platform is used for the small-sized unmanned aerial vehicle to freely move in three degrees of freedom, namely pitching, rolling and yawing; the unmanned aerial vehicle state measurement module based on the multi-source sensor combination comprises a six-dimensional force sensor, an inertial attitude sensor and an unmanned aerial vehicle external sensor; the test platform ground station control module comprises a flight controller and a test platform controller, and is used for operating various motion modes of the unmanned aerial vehicle and observation parameter models of the measurement platform to realize action measurement, state sensing, data transmission and PC (personal computer) end visualization of the unmanned aerial vehicle; a multi-source data fusion and analysis principle model. The three-degree-of-freedom motion state estimation and indoor training functions of the micro rotor unmanned aerial vehicle can be met, and flight attitude estimation, vibration analysis, actual motion display and indoor flight training of the unmanned aerial vehicle are achieved.
Description
Technical Field
The invention relates to a dynamics test platform mechanism and a multi-sensor data acquisition and fusion integration technology, belonging to the technical field of machinery and control systems.
Background
In recent years, unmanned aerial vehicle enterprises including Shenzhen Dajiang Innovation science and technology Limited have a higher industrial status worldwide, so that a batch of excellent scientific and technological innovative enterprises are also driven to be put into the research and development teams of unmanned aerial vehicles. Unmanned aerial vehicle is as an aerial platform, can possess multiple functions through its airborne equipment of carrying. Because many rotor crafts have but vertical lift, with low costs, simple structure, a great deal of advantages such as stable performance, more and more enterprises are concentrated on the research of many rotor crafts trade application (such as taking photo by plane, plant protection, commodity circulation, low latitude survey etc.).
However, the field of the existing unmanned aerial vehicle is still in the blue sea industry, and the test aiming at the unmanned aerial vehicle is not complete. Commercial unmanned aerial vehicle enterprises represented by the Xinjiang innovation pay more attention to the actual experience of users, so that the commercial unmanned aerial vehicle enterprises can often test in proper places after the design is finished; but the unmanned aerial vehicle field debugging cost is high, the data is complicated, the safety is poor, and the number of interfered factors is large. In addition, nowadays, the requirements on functions, performances and the like of the unmanned aerial vehicle are more and more, and many unmanned aerial vehicles need to adapt to some worse or extremely worse flight conditions. In summary, when the requirement for pilot flight of the unmanned aerial vehicle is gradually increased, a simulation platform for testing the flight capability of the unmanned aerial vehicle becomes more and more indispensable.
The existing unmanned aerial vehicle test platform in the current market is biaxial two-degree-of-freedom, and can only test the movement of the unmanned aerial vehicle all around. The z-axis movement needs to be simulated by manual up and down motion of the underlying platform and no data can be read. In addition, the pitch angle that can produce during unmanned aerial vehicle actual flight, yaw angle and rotation angle can not carry out real-time supervision through this test platform. Due to the defects of single function, low generalization degree, incomplete test sensors and the like, the method cannot meet the comprehensive, quick, accurate and visual test requirements.
Therefore, a novel three-axis three-degree-of-freedom integrated multi-sensor small multi-rotor testing and simulating platform needs to be designed, and the real motion state of the unmanned aerial vehicle is simulated through rotation in the x direction, the y direction and the z direction and translation in the z direction. This platform needs integrated power touch sensor and the inside self parameter sensor of unmanned aerial vehicle to various lifting state to unmanned aerial vehicle carry out the real-time acquisition monitoring, and synthesize gained measurement and calculation data, realize the control to unmanned aerial vehicle flight data acquisition and detection and to the test of unmanned aerial vehicle flight performance.
Disclosure of Invention
The invention aims to solve the technical problem that the existing unmanned aerial vehicle test platform is difficult to simulate the real flight state of the unmanned aerial vehicle, cannot accurately measure flight data and the like, and the multi-rotor gyroscope structure test platform is designed. Through the simulation to the true motion state of unmanned aerial vehicle, integrated power touch sensor and unmanned aerial vehicle internal sensor realize the real-time supervision to unmanned aerial vehicle lifting state, gesture and atress to improve the commonality, comprehensive, the accuracy of the indoor static test of unmanned aerial vehicle.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a small-size rotor unmanned aerial vehicle tests analytic system based on six-dimensional force sensor which characterized in that includes:
the utility model provides a three degree of freedom motion test platform based on triaxial gyroscope for small-size unmanned aerial vehicle carries out every single move of every single move, roll and driftage three degree of freedom, includes: the test device comprises a test frame, a spherical support frame, an annular support frame, a connecting piece, a support rod, a fixing piece, a deep groove ball bearing and a linear bearing; the spherical support frame is assembled into an outer spherical frame through the connecting piece; the deep groove ball bearing is arranged in the connecting piece, and the connecting piece is inserted into the linear bearing through the rotating shaft; the linear bearing is embedded in the supporting frame; two ends of the supporting rod are connected to the circular ring supporting frame through shafts, and the fixing piece is connected to the supporting rod and used for connecting an unmanned aerial vehicle to be tested;
the unmanned aerial vehicle state measurement module based on the multi-source sensor combination is used for measuring the flight attitude, the three-degree-of-freedom stress condition and the sensing parameters of an unmanned aerial vehicle system, and comprises a six-dimensional force sensor, an inertial attitude sensor and an unmanned aerial vehicle internal sensor; the six-dimensional force sensor is connected to the middle part of the support frame;
the test platform ground station control module is used for operating the unmanned aerial vehicle and the measurement platform, realizing the action measurement, state perception, data transmission and PC end visualization of the unmanned aerial vehicle and comprises a flight controller and a test platform controller;
and the data fusion and analysis module is used for obtaining the flight dynamics characteristics of the unmanned aerial vehicle based on the attitude, stress and flight control parameters obtained by the unmanned aerial vehicle state measurement module.
The supporting frame comprises a base, a first aluminum rod and a second aluminum rod, wherein the first aluminum rod and the second aluminum rod are positioned on the base;
the spherical supporting frame is used for connecting and assembling 12 arc-shaped rods into a sphere through a first connecting piece, a second connecting piece, a third connecting piece, a fourth connecting piece, a fifth connecting piece and a sixth connecting piece; the deep groove ball bearing is embedded in each connecting piece; each connecting piece is connected with the arc-shaped rod through a bolt; the inner deep groove ball bearing in the first connecting piece is connected with the inner linear bearing of the first aluminum rod through a through shaft, and the inner deep groove ball bearing in the second connecting piece is connected with the inner linear bearing of the second aluminum rod through a through shaft; the inner deep groove ball bearing of the third connecting piece is connected with the inner deep groove ball bearing of the seventh connecting piece through a through shaft; the inner deep groove ball bearing of the fourth connecting piece is connected with the inner deep groove ball bearing of the eighth connecting piece through a through shaft;
the 4 arc-shaped rods are connected and assembled into a circular ring by the circular ring-shaped support frame through a seventh connecting piece, an eighth connecting piece, a ninth connecting piece and a tenth connecting piece; the deep groove ball bearings in the ninth connecting piece are connected with the deep groove ball bearings through a through shaft, and the deep groove ball bearings in the tenth connecting piece are connected with the deep groove ball bearings through a through shaft.
A first sleeve is embedded at one end of the supporting rod, a second sleeve is fixed on the first sleeve, a third sleeve is embedded at the other end of the supporting rod, a fourth sleeve is fixed on the third sleeve, the deep groove ball bearings are respectively embedded in the second sleeve, and the deep groove ball bearings are respectively embedded in the fourth sleeve;
the six-dimensional force sensor is connected with the first aluminum rod, and the upper surface of the through shaft of the linear bearing is in contact with the lower surface of the six-dimensional force sensor.
The flight dynamics characteristics of the unmanned aerial vehicle obtained based on the attitude, stress and flight control parameters obtained by the unmanned aerial vehicle state measurement module are as follows:
wherein l is the roll torque; m is a pitching moment; and n is a yaw moment.
Compared with the traditional simulation measurement or semi-physical measurement, the test system of the invention has more accurate and real measured data. And its three-axis rotatable gyroscope structure can be in close response the three-dimensional motion of every single move, roll over, driftage when unmanned aerial vehicle actually flies, synthesizes and adopts the three-position power touch sensor of mechanism upper end to the unmanned aerial vehicle structure through the measurement of the power that gyroscope structure carbon plate, linear bearing transmitted and moment, and measured data is more comprehensive, more ensures its inside flight control and peripheral power touch sensor measured data accurately to express unmanned aerial vehicle flight gesture from this. The multi-source sensor combination design can measure the attitude and system parameters of multiple parameters of the unmanned aerial vehicle; and finally realizing multi-source data fusion analysis.
The mechanism passes through peripheral angle steel frame, can restrict the triaxial translation under the ground coordinate system when unmanned aerial vehicle moves to this carries out unmanned aerial vehicle drop test, flight test, during experiments such as low temperature test, can avoid unmanned aerial vehicle to fall because of losing duration, lift-off capability, thereby the unmanned aerial vehicle damage that causes is scrapped even. From this, this mechanism can simplify and the most unmanned aerial vehicle performance test experiment of security.
And the measurement data of the unmanned aerial vehicle flight control module and the measurement data of the six-dimensional force touch sensor installed on the measurement platform are respectively transmitted to the PC terminal.
The six-dimensional force sensor
(1) The measurement data of the internal flight control of the unmanned aerial vehicle and the measurement data of the unmanned aerial vehicle can be integrated, further data processing and analysis are carried out, the interference of the external part on data measurement can be avoided to a greater extent, and the actual flight attitude of the unmanned aerial vehicle can be measured and calculated more accurately.
(2) Through the six-dimensional force-force touch sensor measuring data, accurate longitudinal force borne by the unmanned aerial vehicle is obtained after comprehensive analysis, and the relationship between the lift force borne by the unmanned aerial vehicle and the gravity is comprehensively obtained by combining factors such as actual unmanned aerial vehicle gravity and gyroscope structure weight. The function can be used for analyzing and measuring climbing capacity, stagnation time and the like of the unmanned aerial vehicle, and has very important significance in measuring flight performance of the unmanned aerial vehicle. Such as: the flight state of the unmanned aerial vehicle when the accelerator of the unmanned aerial vehicle is started at each gear, namely the unmanned aerial vehicle is in a landing state, an ascending state or a stagnation state, so that the flight performance of the unmanned aerial vehicle in the aspect is judged, the optimal flight control mode can be obtained, and the design of an optimized engine is improved.
(3) The force applied by the six-dimensional sensor is comprehensively utilized, namely F-ma, namely a-F/m, so that the control sensitivity of the unmanned aerial vehicle when the unmanned aerial vehicle is controlled by the remote control device can be obtained, and the control performance of the unmanned aerial vehicle can be judged.
The data communication mode adopts wireless transmission, because of wherein unmanned aerial vehicle and gyroscope structure test platform all can carry out the rotary motion of three weeks, if the motion data line transmits, can meet certain difficulty in the aspect of the wiring to influence the measurement.
1. And (3) constructing a three-dimensional model and performing mechanism simulation test to ensure that the mechanical strength of the mechanism meets the test requirements.
And S1, performing 3D modeling by analyzing the existing two-dimensional unmanned aerial vehicle test platform. Through analysis, in order to ensure that the real motion state (namely pitching, yawing and rotating) of the unmanned aerial vehicle is simulated, the test platform needs to enable the unmanned aerial vehicle to have the rotational freedom degrees in the x direction, the y direction and the z direction and the translational freedom degree in the z direction. Therefore, the platform adopts a gyroscope structure, and the unmanned aerial vehicle is driven to realize pitching, yawing and rotating motions through the rotating motion of the platform frame in three directions;
and S2, refining the mechanism, and realizing the feasibility of the test platform in practical application. In the aspect of details of mechanism design, the difficulty mainly lies in feasibility analysis such as whether the mechanism motions interfere with each other or not, and whether the mechanism is convenient to assemble and disassemble. Therefore, the mechanism is connected by a cross connecting piece for 3D printing, and the support at the top of the z-axis is connected with the base through a bolt, so that the upper 1/2 structure of the gyroscope structure can be conveniently detached, and the unmanned aerial vehicle can be conveniently installed;
and S3, performing simulation test on the mechanism to perfect the test platform. And (3) performing basic group dynamics calculation according to the properties (periodic interference force and impact interference force) of the mechanical interference force, and preliminarily selecting a corresponding frame material according to the mechanical type and stress analysis of the whole structure. And analyzing by ANSYS and related checking software to obtain simulation stress distribution, stress distribution and mechanism operation simulation of the unmanned aerial vehicle test platform.
2. And (5) selecting materials and installing the mechanism. In order to ensure the accuracy of mechanism measurement, the practicability of materials and the economical efficiency of the mechanism, the outer frame part of the test platform adopts aluminum alloy sections, and the main body part adopts carbon fibers with higher strength and quality. According to the requirements of strength and rigidity, the inner frame of the gyroscope structure adopts double-layer carbon fiber plates connected through bolts, so that the rigidity of the inner frame is increased, and the deformation in the rotating process is reduced.
3. The model selection and interface design of the force touch sensor, the analysis design and acquisition of the test platform and the information of the sensor of the unmanned aerial vehicle are carried out, and the real object installation and measurement test of the unmanned aerial vehicle is carried out. The force touch sensor is arranged at the upper end of the gyroscope structure test platform and is powered by a power supply to measure six-dimensional force transmitted to the stress end face of the sensor by the linear bearing. The measured data is transmitted through a wireless routing module or 3G carried by the sensor, processed and output, and finally reaches a PC end. The unmanned aerial vehicle flight control internal sensor adopts a complementary filtering algorithm to carry out attitude calculation on the unmanned aerial vehicle attitude, and transmits the attitude to the PC terminal through the wireless routing module or the 3G. And performing extended Kalman filtering/particle filtering data fusion analysis on the unmanned aerial vehicle and the particle filtering data to obtain the flight state of the unmanned aerial vehicle.
4. Comprehensive research and analysis, combining aerodynamic and unmanned aerial vehicle stress state, realize unmanned aerial vehicle lift state estimation. And verifying the performance of the test platform.
The invention has the following beneficial effects: the invention mainly comprises two parts, namely a test platform mechanism which can meet three-degree-of-freedom motion of the unmanned aerial vehicle; and secondly, developing a test analysis system capable of displaying the synthetic flight state of three flight attitudes of the unmanned aerial vehicle to be tested, namely lifting, yawing and pitching, and processing the data acquired on the platform structure through the analysis system to obtain various parameters of the unmanned aerial vehicle.
This test platform can realize indoor flight test of unmanned aerial vehicle and unmanned aerial vehicle flight data acquisition, and the foremost can carry out unmanned aerial vehicle flight environmental simulation under the multiple extreme condition as above complaining, like extremely cold, extremely hot, airtight space on fire, plateau etc.. Through adopting this unmanned aerial vehicle flight test platform, then can simulate multiple flight condition in a less closed box, accomplish the measurement of flight parameter under the above-mentioned condition, not only save money and save time, also eliminate to a great extent to participate in tester's potential safety hazard under extremely abominable condition.
Drawings
Fig. 1 is an overall framework diagram of the present invention.
FIG. 2 is a block diagram of the integrated sensor data fusion of the present invention.
Fig. 3 is a data transmission block diagram of a flight control sensor of the unmanned aerial vehicle.
FIG. 4 is a force diagram of the test platform of the present invention.
FIG. 5 is a diagram of the overall shelf of the test platform of the present invention.
FIG. 6 is a schematic diagram of the spherical support and the circular support according to the present invention.
Fig. 7 is a schematic view of the lower end constraint of the ball support of the present invention.
Fig. 8 is a schematic view of the lower end constraint of the ball support of the present invention.
Fig. 9 is a schematic diagram of the gyroscope of the present invention.
FIG. 10 is a block diagram of an analysis method of the present invention.
Detailed Description
Example 1:
as shown in fig. 5, the testing platform of the invention comprises an aluminum alloy supporting frame 1, a spherical supporting frame 2, a circular ring-shaped supporting frame 3, two connecting pieces 4, a supporting rod 5, a fixing piece 6, a sensor 7, a deep groove ball bearing 8 and a linear bearing 9. Wherein the spherical support frame 2 is assembled into an outer spherical frame through a connecting piece 4; a deep groove ball bearing 8 is arranged in the connecting piece 4, and the connecting piece 4 is inserted into the linear bearing 9 through a rotating shaft; the linear bearing 9 is embedded in the aluminum alloy supporting frame 1; two ends of the support rod 5 are connected with the circular support frame 3 through shafts, and the unmanned aerial vehicle is connected with the support rod 5 through a fixing piece 6; the sensor 7 is connected to the middle part of the aluminum alloy supporting frame 1 through screws.
1. The aluminum alloy supporting frame 1 is formed by connecting a plurality of aluminum rods and connecting corner pieces, wherein two linear bearings are embedded in the two aluminum rods in contact with the gyroscope structure respectively, threads are tapped at the bottoms of the four vertical aluminum rods, and the four aluminum rods are connected with foundation bolts through the threads, so that the supporting frame is horizontally placed.
2. The aluminum alloy supporting frame 1 is formed by connecting a plurality of aluminum rods and connecting angle pieces, wherein linear bearings 9-1 are embedded in the aluminum rods 1-1, threads are tapped at the bottoms of four aluminum rods, and the four aluminum rods are connected with foundation bolts through the threads, so that the supporting frame is horizontally placed.
3. The spherical supporting frame 2 is formed by connecting and assembling 12 arc-shaped rods into a sphere through connecting pieces 4-1-1, 4-1-2, 4-1-3, 4-1-4, 4-1-5 and 4-1-6. Deep groove ball bearings 8 are embedded in the connecting pieces 4. Each connecting piece 4 is tapped with threads and is connected with the arc-shaped rod 2 through a bolt. The inner deep groove ball bearing 8-1-1 on the connecting piece 4-1-1 is connected with the inner linear bearing 9-1 of the aluminum rod 1-1 through a through shaft, and the inner deep groove ball bearing 8-1-2 of the connecting piece 4-1-2 is connected with the inner linear bearing of the other aluminum rod through a through shaft. The connecting pieces 4-1-3 and 4-1-4 internal deep groove ball bearings 8-1-3 and 8-1-4 are respectively connected with the connecting pieces 4-2-1 and 4-2-2 internal deep groove ball bearings 8-2-1 and 8-2-2 through shafts.
4. The circular ring-shaped support frame 3 connects and assembles 4 arc-shaped rods into a circular ring shape through connecting pieces 4-2-1, 4-2-2 and 4-2-3. The deep groove ball bearings 8-2-3 in the connecting pieces 4-2-3 are respectively connected with the deep groove ball bearings through shafts.
5. Sleeves 5-1-1, 5-1-2 and 5-2-2 are embedded at two ends of the supporting rod 5, and deep groove ball bearings are respectively embedded in the sleeves and the two ends of the sleeve 5-2-2.
6. The mounting 6 is tapped with threads, and the support rod 5 is fixedly connected with the unmanned aerial vehicle through a bolt.
7. The sensor 7 is connected with the aluminum rod 1-1 through a bolt by an installation mechanism and contacts the lower surface of the sensor 7 through the upper surface of the through shaft of the linear bearing 9-1.
Spherical support frame top and bottom are connected with the aluminium matter frame through passing through the axle, can realize that spherical frame rotates around the Z axle promptly unmanned aerial vehicle yaw motion to can follow linear bearing up-and-down motion promptly unmanned aerial vehicle goes up and down.
The annular support frame is connected with the spherical frame through the through shaft, and pitching motion of the unmanned aerial vehicle can be achieved.
The bracing piece is connected with ring shape support frame through passing through the axle, can realize unmanned aerial vehicle rolling.
Unmanned aerial vehicle passes through the mounting to be fixed at the bracing piece middle part with bolted connection.
The sensor links firmly with outer frame, and unmanned aerial vehicle's lift accessible top through-hole axle transmits for the sensor.
The stress of the test platform is shown in fig. 4, and the unmanned aerial vehicle outputs force and moment, namely a rod C-A, B node, a frame D-a node E, a fixed point F and a sensor G.
The sensor transmits data to the PC end, and measures pitching, yawing and rolling motion information and a lifting force value of the unmanned aerial vehicle.
Example 2:
as shown in fig. 1, 2 and 3, the test analysis system for a small-sized rotor unmanned aerial vehicle based on a six-dimensional force sensor comprises:
three degree of freedom mechanical structure as test platform for small-size unmanned aerial vehicle carries out every single move of every single move, roll and driftage three degree of freedom, includes: the test device comprises a test frame, a spherical support frame, an annular support frame, a connecting piece, a support rod, a fixing piece, a deep groove ball bearing and a linear bearing; the spherical support frame is assembled into an outer spherical frame through the connecting piece; the deep groove ball bearing is arranged in the connecting piece, and the connecting piece is inserted into the linear bearing through the rotating shaft; the linear bearing is embedded in the supporting frame; two ends of the supporting rod are connected to the circular ring supporting frame through shafts, and the fixing piece is connected to the supporting rod and used for connecting an unmanned aerial vehicle to be tested;
the unmanned aerial vehicle state measurement module based on the multi-source heterogeneous asynchronous sensor combination is used for measuring the flight attitude, three-degree-of-freedom stress and three-degree-of-freedom moment conditions of the unmanned aerial vehicle and sensing parameters of an unmanned aerial vehicle system, and comprises a power management sensor module, an inertial attitude sensor, an unmanned aerial vehicle internal sensor, a six-dimensional force sensor, a barometer and a thermometer external sensor; the six-dimensional force sensor is connected to the middle part of the supporting frame as shown in FIG. 4;
the test platform ground station control module is used for operating the unmanned aerial vehicle and the measurement platform, and realizing unmanned aerial vehicle action measurement, state perception, data transmission and PC end visualization as shown in figure 3; the control module comprises a flight controller and a test platform controller, a two-stage PID control method is adopted, the inner ring control is based on the angle, the angular velocity and the velocity attitude sensing parameters of the micro-inertial sensor, the outer ring control is based on a six-dimensional force sensor and external sensors such as an airspeed meter, a barometer and a hygmometer; and the data fusion and analysis module is used for optimizing flight dynamics characteristics and control law through a Bayesian fusion method based on the attitude, stress and flight control parameters measured by the unmanned aerial vehicle state measurement module.
And the measurement data of the unmanned aerial vehicle flight control module and the measurement data of the six-dimensional force touch sensor installed on the measurement platform are respectively transmitted to the PC terminal. And then, processing and analyzing the obtained data through a PC-side data analysis module to obtain the phase test parameters. Wherein each measurement sensor functions as follows: the three-dimensional force-force touch sensor is arranged at the upper end of the gyroscope structure test platform and is powered by a power supply so as to measure six-dimensional force and moment transmitted to the stress end face of the sensor by an external gyroscope structure frame. The measured data is transmitted through a wireless routing module or 3G carried by the sensor, processed and output through matched software and finally reaches the pc end.
During unmanned aerial vehicle flight control, the real-time flight data of the unmanned aerial vehicle is measured by attitude sensors such as an accelerometer and a gyroscope in the unmanned aerial vehicle, and data transmission is carried out through communication elements in the flight control. Wherein, the pitch angle and the roll angle of unmanned aerial vehicle are surveyed by the accelerometer, and unmanned aerial vehicle yaw angle is surveyed by the magnetometer. Simultaneously, the inside gyroscope that contains of flight control also can measure unmanned aerial vehicle attitude angle.
Therefore, on one hand, the measuring mechanism uses data measuring modules such as an accelerometer and a magnetometer in the flight control of the original unmanned aerial vehicle for reference, and comprehensively utilizes a peripheral gyroscope-shaped frame with three-axis rotational freedom, so that the unmanned aerial vehicle can complete measurement of important flight data such as pitching, rolling angle and yaw angle of the unmanned aerial vehicle in a small space limited in a test platform, the measurement safety is greatly improved, and meanwhile, the three-dimensional force touch sensor at the top end of the mechanism can comprehensively analyze the measured data to obtain more accurate longitudinal Z-periphery stress data and Z-direction resultant force data of the lift force and gravity of the unmanned aerial vehicle during flight of the unmanned aerial vehicle; on the other hand, can carry out the restriction of each rotation point to peripheral gyroscope structure frame, link firmly, or rotate the restriction to antifriction bearing to this can be pointed to carry out the restriction of arbitrary direction of rotation to gyroscope structure frame, in order to guarantee that this direction unmanned aerial vehicle moment of torsion passes through gyroscope structure and transmits to three-dimensional power touch sensor on, carry out analysis and data processing to the moment of torsion that measures, obtain a data measurement mode that does not utilize the inside flight control of unmanned aerial vehicle just can measure unmanned aerial vehicle flight attitude angle from this.
It is from top to bottom, through the power touch sensor to the inside attitude sensor of unmanned aerial vehicle flight control, test platform installation, synthesize rational processing, the utilization to outside gyroscope structure frame, can obtain multiple measuring method to unmanned aerial vehicle flight attitude angle to can survey the relation between lift, gravity, the flight gesture that receives when unmanned aerial vehicle flies more accurately safely.
In addition, by additionally arranging various environment test sensors such as an anemometer, a press machine, a temperature sensor and the like, the flight state of the unmanned aerial vehicle under any simulation environment test can be measured.
In the process of transmitting and processing the data of the unmanned aerial vehicle, attention should be paid to the selection of a transmission mode, the analysis mode of the data and the reduction of errors; the communication elements contained in conventional unmanned aerial vehicle flight control are respectively: the remote control system comprises a receiver for receiving remote control instructions, a data transmission module, a picture transmission module, Bluetooth, wifi and the like; the design uses bluetooth or wiFi to carry out the data transmission that unmanned aerial vehicle flies accuse and pc end in this mechanism. After data transmission, Kalman filtering processing is carried out on the data to improve accuracy.
Example 3:
according to the data analysis method of the test platform, on one hand, in a general flight state, flight lift force, thrust force and other data can be obtained through the three-dimensional force sensor and the unmanned aerial vehicle flight control internal sensor, and flight dynamic analysis and aerodynamic analysis are carried out by combining with air flow rate and the like; on one hand, the simulation of the real flight attitude of the unmanned aerial vehicle can be realized through the three-degree-of-freedom test platform; on one hand, as shown in fig. 10, the sensors and the like in the test platform are all subjected to three-proofing treatment, the test platform can be placed in different environments (such as high and low temperatures, wind tunnels, electromagnetic fields and the like) through the sensors, the flight attitude and the stress condition of the unmanned aerial vehicle under special conditions are simulated, and therefore the influence of the special conditions on all aspects of the unmanned aerial vehicle and the stability of the unmanned aerial vehicle are obtained through analysis:
(1) and (5) testing at high and low temperatures. The test platform is arranged in a vacuum heat insulation chamber, and the test platform simulates complex and severe environments (such as valleys, plateaus and the like) with different temperatures and air pressures by changing the temperature and the vacuum degree of the chamber, so that whether the unmanned aerial vehicle can meet the operation requirements under specific conditions is tested.
(2) And (5) electromagnetic anti-interference testing. The main electromagnetic interference suffered by the unmanned aerial vehicle is lightning at middle and short distances, radiation interference of a remote measurement and control system transmitting device, interference of other surrounding electrical equipment and the like. When testing unmanned aerial vehicle flight stability, ordinary test method is for directly flying the test in the open air, but is difficult to simulate the circumstances such as short-range thunder and lightning in the middle of, though can test the flight situation under having other electrical equipment interference circumstances, but can consume a large amount of energy. Arrange indoor test platform in, through making small-size thunder and lightning generator, can save energy to can test unmanned aerial vehicle's anti-electromagnetic interference ability.
(3) And (4) testing in an extreme environment. Unmanned aerial vehicle can be used to the monitoring of dangerous situations such as stormy rain, consequently needs unmanned aerial vehicle to have stronger anti-wind ability. In a common outdoor flight test, it is difficult to simulate a similar extreme environment. In the indoor testing method, the unmanned aerial vehicle is placed in auxiliary testing environments such as a wind tunnel and a rainstorm simulation box, so that the flight stability of the unmanned aerial vehicle under extreme conditions can be conveniently tested, and corresponding windproof and rainproof treatment is performed on the unmanned aerial vehicle according to a testing result.
Example 4:
coordinate system in aircraft motion calculation process
A) Ground coordinate system Sg：O-xgygzg
B) Air flow coordinate system Sa：O-xayaza
C) Body coordinate system Sb：O-xbybzb
During the air movement of the aircraft, the surface of the aircraft is distributed with the action of aerodynamic force, and the distributed aerodynamic force is normalized to form total aerodynamic force acting on the mass center of the aircraft
(resultant force) and total aerodynamic moment around the center of mass
The total aerodynamic force and the total aerodynamic moment acting on the aircraft are important components of the external force and the external moment applied to the aircraft. Aerodynamic force
Decomposing along each axis of the airflow coordinate system into resistance D, lateral force Y and lift L; pneumatic moment
The system is decomposed along each axis of a machine body coordinate system and can be decomposed into a rolling moment l, a pitching moment m and a yawing moment n. The dimensionless aerodynamic coefficient corresponding to each aerodynamic force and the aerodynamic moment comprises: coefficient of lift CLCoefficient of resistance CDCoefficient of lateral force CY(ii) a Coefficient of pitching moment CmYaw moment coefficient CnRoll moment coefficient Cl。
For the defined coordinate system common to aircraft, a number of parameters of the aircraft are defined below, including the angular relationship between the common coordinate systems and the state parameters of the aircraft when in motion.
(1) Attitude angle
Is determined by the correlation between the ground coordinate system and the body coordinate system, i.e. the commonly used euler angles. The method comprises the following steps:
A) pitch angle theta, body coordinate system xbAxis and ground plane O-xgygThe included angle between the two heads is positive;
B) yaw angle psi, body coordinate system xbProjection of axis on ground plane and ground coordinate system xgThe included angle between the shafts is positive when the machine head deviates rightwards;
C) roll angle phi, body coordinate system zbAxis and through-body coordinate xbThe angle between the vertical planes of the axes is positive when the aircraft rolls to the right.
(2) Angle of airflow
By velocity vector at the centre of mass
And determining the relation with the body coordinate system, wherein the relation comprises the following steps:
A) angle of attack α, velocity vector
In the aircraft symmetry plane O-xbzbUpper projection and body coordinate system xbThe included angle between the axes is set by the angle,
is located in a coordinate system x of the bodybPositive when below the axis;
B) slip angle β, velocity vector
The included angle between the aircraft and the symmetrical plane of the aircraft,
is positive when it is to the right of the plane of symmetry of the aircraft.
(3) Track angle
Determined from the correlation between the ground coordinate system and the airflow coordinate system, comprising:
A) velocity vector at track inclination angle, mu, centroid
To ground plane O-xgygThe included angle between the two is positive when the aircraft flies upwards;
B) track azimuth phi, velocity vector
Projection on ground plane and ground coordinate system xgThe included angle between the axes is set by the angle,
is projected on xgThe right side of the shaft is positive;
C) track roll angle gamma, air flow coordinate system zbAxis and through-air coordinate system xaThe angle between the vertical planes of the axes is positive when the aircraft rolls to the right.
(4) Velocity component in a coordinate system of a body
The 3 velocity components (u, v, w) defined in the coordinate system of the body are velocity vectors at the centroid
Projection components on each axis of a body coordinate system, wherein u is the body coordinate system xbThe axial component, v is the body coordinate system ybThe on-axis component, w, and z are the body coordinate systembAn on-axis component.
(5) Angular velocity component in a coordinate system of a body
The 3 angular velocity components (p, q, r) defined in the body coordinate system are the angular velocities of the body coordinate system relative to the ground coordinate system
Projection components on each axis of the body coordinate system. Wherein the roll angular velocity p is a machine body coordinate system xbAn on-axis component; pitch angular rate q is the body coordinate system ybAn on-axis component; the yaw rate r is a coordinate system z of the bodybAn on-axis component.
The following assumptions are made about the motion of the aircraft when establishing the kinematic equations for the analysis in the present system:
(1) regarding the aircraft as a rigid body, wherein the mass of the rigid body is constant;
(2) the ground coordinate system is an inertia system;
(3) during actual flight, the gravity acceleration is not changed along with the change of the altitude;
(4) the geometric shape of the aircraft and the internal mass distribution of the aircraft meet the plane symmetry;
and establishing a dynamic equation of the aircraft under the action of the combined external force and the combined external moment according to the Newton's second law. From the assumptions, the mass of the aircraft is constant and the ground coordinate system can be considered as the inertial system: thus, in the terrestrial coordinate system there are
In the formula (I), the compound is shown in the specification,
in order to apply the external force,
in order to close the external moment,
in the form of a velocity vector, the velocity vector,
in the form of an angular momentum,
is mass.
The above expression is established in a ground coordinate system (inertial coordinate system) suitable for Newton's second law, and a body coordinate system is selected as a moving coordinate system for establishing the relative motion relationship of the aircraft relative to the ground coordinate system. Suppose thatThe velocity of the moving coordinate system relative to the inertial coordinate system is
Angular velocity of
(1) Kinetic equation of centroid motion
Velocity vector based on the relationship between the absolute derivative and the relative derivative of the vector expression
The derivative with respect to time can be expressed as
In the formula (I), the compound is shown in the specification,
representing velocity vectors in the ground coordinate system (inertial coordinate system)
The absolute derivative of;
expressed as a velocity vector in a body coordinate system (moving coordinate system)
The relative derivative of (a) of (b),
is the angular velocity.
Integrated in the coordinate system of the machine body,
the expression is to decompose the resultant external force on the body coordinate system and synthesize the resultant external force to the aircraft
In the formula
The derivatives of the three velocity components u, v, w, respectively, with respect to time on the body coordinate system.
The external force that aircraft received in the flight process mainly has: thrust of engine
(assuming engine thrust mount angle αT＝βT0 deg.. Then the thrust is only in the machine coordinate system xbComponent on the shaft), total aerodynamic force
And gravity
The total resultant external force expression is obtained by projecting and decomposing the external forces on the axes of the body coordinate system
Wherein T isΦθψ，TβαThe coordinate system is converted to obtain the following specific values:
(2) Equations of dynamics rotating around the center of mass
Angular momentum
The derivative with respect to time can be expressed as
In the formula (I), the compound is shown in the specification,
expressed as angular momentum in the ground coordinate system (inertial coordinate system)
The absolute derivative of;
expressed as angular momentum in a body coordinate system (moving coordinate system)
The relative derivative of (a) of (b),
is the angular velocity.
Thereafter, in the body coordinate system,
and
the expression is substituted into the preceding expression to obtain
In the formula
The derivatives of the three angular velocity components p, q, r with respect to time are defined in the body coordinate system, respectively.
Respectively a body coordinate system xbAxis, ybAxis and zbUnit vector of axis.
External moment
Mainly is the aerodynamic moment acting on the aircraft, synthesizes the expression thereof on the body coordinate system
The effect of the resultant external moment on the aircraft can be expressed as
In the formula Ix、IyAnd IzRespectively, a coordinate system x around the bodybAxis, ybAxis and zbMoment of inertia of the shaft, and product of inertia I about the xy planexyAnd the product of inertia about the xz plane Ixz。
(1) Tilt angle calculation and measurement
Gravity vector FgThe coordinates in the ground coordinate system are
Converting the coordinate system into a body coordinate system to obtain
(2) Rotor lift coefficient and torque coefficient measurement
When the aircraft has a forward flight trend, the rotor wing not only receives the lift force T and the reaction torque Q in the Z-axis direction of the body coordinate system, but also receives the effects of the resistance D and the roll moment L. These aerodynamic forces or moments are proportional to the square of the rotor speed (Ω)2) The formula is as follows:
wherein, CT、CQ、CD、CLRespectively is a lift coefficient, a torque coefficient, a resistance coefficient and a roll moment coefficient of the rotor wing, rho is air density, R is the radius of the blade, A is the area of a blade disc of the propeller,
the rotational speed of the i-type rotor.
When the aircraft is in a low-speed flight state, the lift coefficient CTAnd coefficient of torque CQCan be regarded as fixedVariable, coefficient of resistance CDAnd roll moment coefficient CLApproximately 0, neglecting the drag D and roll moment L, the rotor of the aircraft is considered to be subjected only to the lift T and the reaction torque Q. Since the air density ρ, the blade radius R, and the disk area a of the spiral prize are all constants, it can be written as:
k in the above formulaTIs recorded as the total lift coefficient of the rotor, KQIs recorded as the rotor torque total coefficient. The four rotors are horizontally fixed on the test board, the ground station is used for recording the rotating speeds of the four motors, the force sensor is used for recording the force and the moment generated by the rotors, and the lift coefficient and the torque coefficient can be calculated.
The total lift force generated by the rotor wing acts on the body coordinate system zbIn the opposite direction of the axis, around xb、ybThe torque of the shaft being produced by the corresponding difference in lift, about zbThe torque of the shaft is the sum of the torques of the four propellers, and is specifically shown as the following formula;
wherein l is the distance between the rotating shaft of the rotor wing and the gravity center of the machine body. The lifting force generated by the rotor wing in the ground coordinate system can be known from the transformation matrix from the body coordinate axis system to the ground coordinate axis system
Is composed of
In the formula, R is a Directional Cosine Matrix (DCM) matrix from the machine system to the ground coordinate system, which can convert the same space vector from the machine system representation to the ground system representation. It can be represented by the pitch angle theta, roll angle phi and yaw angle psi that unmanned aerial vehicle's IMU measured:
(3) moment of effective stress of gyro
When the attitude angle of the aircraft changes, the brushless direct current motor and the high-speed rotation of the spiral prize generate an additional moment, namely a gyro moment. The calculation formula of the gyro moment is as follows:
where ω is the angular velocity of the aircraft rotating about the axis of the fuselage and H is the moment of momentum caused by the motor and the helical prize. Let the angular velocity of the aircraft in the coordinate system of the body be omegab＝(p，q，r)TThe motor No. 1 and the propeller are taken as examples for analysis. Since the motor and the propeller have angular velocities only in the direction of the motor rotation axis, define JrMoment H of No. 1 motor and propeller is the moment of inertia of motor and propeller around the shaft of motor1Is composed of
The gyro moment thus generated is:
similarly, the gyroscopic moments of other motors and propellers can be obtained, so that the total gyroscopic moment of the four rotors is
The total external forces of the four-rotor unmanned helicopter in a ground coordinate system and a body coordinate system are respectively
The applied external moment in the body coordinate system is
Claims (3)
1. The utility model provides a small-size rotor unmanned aerial vehicle gyroscope structure test system based on six-dimensional force sensor which characterized in that includes:
the three-degree-of-freedom motion test platform based on the three-axis gyroscope structure is used for the small unmanned aerial vehicle to randomly move in three degrees of freedom including pitching, rolling and yawing;
the unmanned aerial vehicle state measurement module based on the multi-source sensor combination comprises a six-dimensional force sensor, an inertial attitude sensor and an unmanned aerial vehicle external sensor and is used for measuring flight attitude conditions of x, y and z axis forces and moments of the unmanned aerial vehicle; an IMU attitude perception sensor of the unmanned aerial vehicle system is used for measuring acceleration and angular velocity to reflect the motion response performance of the unmanned aerial vehicle; the six-dimensional force sensor is connected to the middle part of the support frame; wherein the unmanned aerial vehicle external sensor comprises an airspeed meter, a barometer and a vision sensor;
the test platform ground station control module comprises a flight controller and a test platform controller, and is used for operating various motion modes of the unmanned aerial vehicle and observation parameter models of the measurement platform to realize action measurement, state sensing, data transmission and PC (personal computer) end visualization of the unmanned aerial vehicle;
the multi-source data fusion and analysis principle model is used for obtaining the flight dynamics characteristics of the unmanned aerial vehicle based on the attitude, stress and flight control parameters measured by the unmanned aerial vehicle state measuring module;
the three-degree-of-freedom motion test platform comprises: the test device comprises a test frame, a spherical support frame, an annular support frame, a connecting piece, a support rod, a fixing piece, a deep groove ball bearing and a linear bearing; the spherical support frame is assembled into an outer spherical frame through the connecting piece; the deep groove ball bearing is arranged in the connecting piece, and the connecting piece is inserted into the linear bearing through the rotating shaft; the linear bearing is embedded in the supporting frame; two ends of the supporting rod are connected to the circular ring supporting frame through shafts, and the fixing piece is connected to the supporting rod and used for connecting an unmanned aerial vehicle to be tested;
the supporting frame comprises a base, and a first aluminum rod (1-1) and a second aluminum rod which are positioned on the base, wherein a linear bearing (9-1) is embedded in the first aluminum rod (1-1), a linear bearing is embedded in the second aluminum rod, and a lower foot for leveling is arranged at the lower end of the base;
the spherical supporting frame is used for connecting and assembling 12 arc-shaped rods into a sphere through a first connecting piece (4-1-1), a second connecting piece (4-1-2), a third connecting piece (4-1-3), a fourth connecting piece (4-1-4), a fifth connecting piece (4-1-5) and a sixth connecting piece (4-1-6); the deep groove ball bearing is embedded in each connecting piece; each connecting piece is connected with the arc-shaped rod through a bolt; the inner deep groove ball bearing in the first connecting piece (4-1-1) is connected with the inner linear bearing (9-1) of the first aluminum rod (1-1) through a through shaft, and the inner deep groove ball bearing in the second connecting piece (4-1-2) is connected with the inner linear bearing of the second aluminum rod through a through shaft; the inner deep groove ball bearing of the third connecting piece (4-1-3) is connected with the inner deep groove ball bearing of the seventh connecting piece (4-2-1) through a through shaft; the inner deep groove ball bearing of the fourth connecting piece (4-1-4) is connected with the inner deep groove ball bearing of the eighth connecting piece (4-2-2) through a through shaft;
the 4 arc-shaped rods are connected and assembled into a circular ring shape by the circular ring-shaped support frame through a seventh connecting piece (4-2-1), an eighth connecting piece (4-2-2), a ninth connecting piece and a tenth connecting piece; a first sleeve (5-1-1) is embedded at one end of the supporting rod, a second sleeve (5-1-2) is fixed on the first sleeve (5-1-1), a third sleeve (5-2-1) is embedded at the other end of the supporting rod, a fourth sleeve (5-2-2) is fixed on the third sleeve (5-2-1), deep groove ball bearings are respectively embedded in the second sleeve (5-2-1), and deep groove ball bearings are embedded in the fourth sleeve (5-2-2); the inner deep groove ball bearing of the ninth connecting piece is connected with the inner deep groove ball bearing of the third sleeve through a through shaft, and the inner deep groove ball bearing of the tenth connecting piece is connected with the inner deep groove ball bearing of the fourth sleeve through a through shaft; the six-dimensional force sensor is connected with the first aluminum rod (1-1) and contacts the lower surface of the six-dimensional force sensor through the upper surface of the through shaft of the linear bearing (9-1).
2. The six-dimensional force sensor based gyroplane gyroscope structure testing system as claimed in claim 1, wherein: the flight dynamics characteristics of the unmanned aerial vehicle obtained based on the attitude, stress and flight control parameters obtained by the unmanned aerial vehicle state measurement module are as follows:
wherein l is the roll torque; m is a pitching moment; n is a yaw moment; i isx、IyAnd IzRespectively, a coordinate system x around the bodybAxis, ybAxis and zbThe rotational inertia of the shaft; i isxyIs the product of inertia about the xy plane; i isxzIs the product of inertia about the xz plane;
the derivatives of the three angular velocity components p, q, r with respect to time in the body coordinate system are shown.
3. The six-dimensional force sensor based gyroplane gyroscope structure testing system as claimed in claim 1, wherein: and the measurement data of the unmanned aerial vehicle flight control module and the measurement data of the six-dimensional force touch sensor installed on the measurement platform are respectively transmitted to the PC terminal.
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