CN111243419B

CN111243419B - Many rotors flight control teaching device based on MATLAB

Info

Publication number: CN111243419B
Application number: CN202010162432.8A
Authority: CN
Inventors: 吴宪举
Original assignee: Taizhou University
Current assignee: Taizhou University
Priority date: 2020-03-10
Filing date: 2020-03-10
Publication date: 2021-07-16
Anticipated expiration: 2040-03-10
Also published as: CN111243419A

Abstract

The invention provides a MATLAB-based multi-rotor flight control teaching device, which comprises a multi-rotor aircraft and an aircraft bearing mechanism; the aircraft bearing mechanism comprises a rack, an electric tensioning assembly, a vertical rod, a sliding seat, a first pull pressure sensor, a fixed rod, a fixed ring, a multi-rotor aircraft and a ball head rod; a high-definition camera is installed on the multi-rotor aircraft; a first pull pressure sensor is fixedly installed at the top end of the upright rod; the bottom end of the ball head rod is fixed on the first pull pressure sensor, and the top end of the ball head rod is fixedly connected with the fixing ring; the inner side wall of the fixing ring is provided with an annular chute along the circumferential direction of the fixing ring; the two fixed rods are symmetrically arranged at two ends of the multi-rotor aircraft respectively; the other end of the fixed rod, which is opposite to the multi-rotor aircraft, is in sliding fit with the annular sliding groove through the sliding seat; the sliding seat is provided with an electric limiting assembly used for limiting the relative displacement between the sliding seat and the annular sliding groove. The invention can realize teaching and testing of the multi-rotor aircraft.

Description

Many rotors flight control teaching device based on MATLAB

Technical Field

The invention relates to the technical field of multi-rotor aircrafts, in particular to a MATLAB-based multi-rotor flight control teaching device.

Background

In recent years, along with the rapid development of various multi-rotor aircraft industries, a large number of professions with multiple rotor aircraft directions are added in higher vocational schools, secondary schools and colleges, and for core courses of the multi-rotor aircraft, such as the principle and structure of the multi-rotor aircraft, the flight control technology of the multi-rotor aircraft, the image tracking technology of the multi-rotor aircraft and the like, a proper teaching instrument is needed for teaching.

The teaching experimental instrument and equipment related to flight control of the multi-rotor aircraft in the market at present generally have a partial bottom layer system design, students need to spend a great deal of time and energy on the development of bottom layer tasks such as embedded system design, sensor body driving and data analysis, and the like, and can not only concentrate on the research and development of a multi-rotor control algorithm, so that the experimental effect and efficiency are greatly reduced, and the consumed time is longer; in addition, the compiling environment is five-door and eight-door, the compatibility of programming styles is poor, and the codes can not be or are difficult to modify due to different programming styles or document problems. The objective existence of the above factors strikes the enthusiasm of students in learning, and influences the teaching effect of the multi-rotor aircraft in the direction.

Disclosure of Invention

In view of the above, a first object of the present invention is to provide a multi-rotor flight control teaching device, which is capable of teaching and testing a multi-rotor aircraft.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a multi-rotor flight control teaching device comprises a multi-rotor aircraft and an aircraft bearing mechanism; the aircraft bearing mechanism comprises a rack, an electric tensioning assembly, a vertical rod, a sliding seat, a first pull pressure sensor, a fixed rod, a fixed ring, a multi-rotor aircraft and a ball head rod; a high-definition camera is installed on the multi-rotor aircraft; the vertical rod is vertically arranged on the rack, and the top end of the vertical rod is fixedly provided with the first pull pressure sensor; the bottom end of the ball head rod is fixed on the first pull pressure sensor, and the top end of the ball head rod is fixedly connected with the fixing ring; an annular sliding groove is formed in the inner side wall of the fixing ring along the circumferential direction of the fixing ring; the two fixed rods are symmetrically arranged at two ends of the multi-rotor aircraft respectively; the other end of the fixed rod, which is opposite to the multi-rotor aircraft, is in sliding fit with the annular sliding groove through a sliding seat; the sliding seat is provided with an electric limiting assembly for limiting the relative displacement between the sliding seat and the annular sliding groove; the electric tensioning assembly is arranged at the top of the rack and vertically corresponds to the upright rod; the top of the fixing ring is provided with a connecting seat, the electric tensioning assembly is provided with a telescopic pull rope, and the other end of the pull rope is connected with the connecting seat; the first pull pressure sensor, the electric limiting assembly and the electric tensioning assembly are all electrically connected with a flight control system of the multi-rotor aircraft.

Preferably, the annular chute is provided with a conducting ring on the inner wall, the side wall of the fixing ring is provided with a power interface, and the power interface is electrically connected with the conducting ring; the sliding seat is provided with a power taking terminal matched with the conducting ring; get the electric terminal and be connected with many rotor crafts's power module electricity.

Preferably, the sliding seat comprises a seat shell, and the seat shell is positioned in the annular sliding groove and is larger than the notch of the annular sliding groove in size; the top side, the bottom side, the left side and the right side of the seat shell are all provided with ball caster assemblies, and the wheel surfaces of the ball caster assemblies are abutted against the groove walls of the annular sliding grooves; the electric limiting assembly comprises two first retractors which are arranged in the seat shell in a bilateral symmetry manner; the telescopic rod of the first telescopic device extends out of the seat shell and is provided with a rubber top plate.

Preferably, the ball caster assembly comprises a ball caster body, a first spring, a mounting housing and a second pull pressure sensor; the side wall of the seat shell is provided with a plurality of mounting holes, and the mounting shell is embedded in the mounting holes and fixed through bolts; an opening for the ball caster body to extend out is formed in the top side of the mounting shell, and a first boss is formed at the opening; a first convex ring matched with the first boss is formed at the bottom of the ball caster body; a second boss corresponding to the first boss is detachably arranged on the inner wall of the mounting shell, the first spring is positioned between the first boss and the second boss, one end of the first spring is abutted against the ball caster body, and the other end of the first spring is abutted against the second boss; the second pull pressure sensor is arranged at the bottom side of the mounting shell and is connected with the ball caster body through a connecting rod; and the second pull pressure sensor is electrically connected with a flight control system of the multi-rotor aircraft.

Preferably, a movable seat is fixedly arranged inside the multi-rotor aircraft, and a channel is horizontally formed inside the movable seat; a disc is arranged in the channel, a mounting groove matched with the disc is formed in the middle of the channel, and the disc can rotate in the mounting groove along the self-rotation direction; movable rods are symmetrically arranged at two ends of the disc; a first slot for the movable rod to extend into is formed in one end of the fixed rod, and a third pull pressure sensor is mounted at the bottom of the first slot; the notch of the first slot is in threaded connection with a first limiting ring; a second convex ring matched with the first limiting ring is arranged at the end part of the movable rod; a second spring is arranged between the second convex ring and the first limiting ring and sleeved on the movable rod; an installation cavity is formed in the upper side of the channel; a second expansion piece is arranged in the mounting cavity, and an expansion rod of the second expansion piece extends out of the mounting cavity and is provided with a rubber top plate; and the third pull pressure sensor and the second expansion piece are electrically connected with a flight control system of the multi-rotor aircraft.

Preferably, the left side and the right side of the multi-rotor aircraft are symmetrically provided with adjusting rod assemblies used for being connected with a fixed rod; the adjusting rod assembly comprises a first rod body, a second rod body, a third rod body and a fourth rod body; one end of the first rod body is detachably connected with the multi-rotor aircraft, and the other end of the first rod body is rotatably connected with one end of the second rod body; the other end of the second rod body is in telescopic sleeve joint with one end of the third rod body; the other end of the third rod body is rotatably connected with the fourth rod body; a first slot into which the other end of the fourth rod body extends is formed in one end of the fixed rod, and a third pull pressure sensor is mounted at the bottom of the first slot; the notch of the first slot is in threaded connection with a first limiting ring; a third convex ring matched with the first limiting ring is arranged at the end part of the fourth rod body; a second spring is arranged between the third convex ring and the first limiting ring and sleeved on the fourth rod body;

and the connection parts of the first rod body and the second rod body, and the connection parts of the third rod body and the fourth rod body are respectively provided with a locking assembly, and the locking assemblies are electrically connected with a flight control system.

Preferably, one end of the third rod body is provided with a second slot for the second rod body to extend into, and a notch of the second slot is in threaded connection with a second limit ring; a fourth convex ring matched with the second limiting ring is arranged at the end part of the movable rod; and a third spring is arranged between the fourth convex ring and the second limiting ring and sleeved on the second rod body.

The invention aims to provide a MATLAB-based multi-rotor flight control teaching method, which can facilitate students to control and test multi-rotor aircrafts.

a MATLAB-based multi-rotor flight control teaching method is characterized by comprising the multi-rotor flight control teaching device; the method comprises the following steps:

a first user configures a plurality of editable initial control models in an MATLAB/Simulink simulation system, wherein the control models are used for driving a multi-rotor aircraft to execute corresponding flight tasks;

a first user performs network connection configuration on the MATLAB/Simulink simulation system and a flight control system of a multi-rotor aircraft through a wireless module of a PC (personal computer), so that data interaction can be realized between the MATLAB/Simulink simulation system and the flight control system of the multi-rotor aircraft;

compiling and downloading a corresponding initial control model or an adjusted control model generated by modifying parameters of the initial control model to a flight control system of the multi-rotor aircraft by a second user in an MATLAB/Simulink simulation system;

the flight control system controls the aircraft bearing mechanism according to the received initial control model or the adjustment control model and the type of the received initial control model or the adjustment control model, so that the aircraft bearing mechanism is switched to a state suitable for the corresponding initial control model or the adjustment control model;

and after the state of the aircraft bearing mechanism is switched, the flight control system executes a corresponding initial control model or a flight task appointed by the adjustment control model, and sends corresponding detection sensing data to the MATLAB/Simulink simulation system.

The technical effects of the invention are mainly reflected in the following aspects:

1. the multi-rotor flight control teaching device can be switched into various modes so as to adapt to different types of flight attitudes of the multi-rotor aircraft;

2. the students are enabled to be concentrated on the flight control algorithm rather than the design of a bottom system, secondary development of a compiling environment is omitted, teaching services in the field of multi-rotor flight control can be provided for students in higher vocational schools, secondary schools and colleges, and a multi-rotor flight control debugging test platform can also be provided for multi-rotor aircraft enthusiasts.

Drawings

FIG. 1 is a schematic overall view of a multi-rotor flight control teaching apparatus according to an embodiment;

FIG. 2 is a view showing an installation structure of the slide base and the fixing ring in the embodiment;

FIG. 3 is an enlarged view of portion A of FIG. 2;

FIG. 4 is a diagram of a connection of the multi-rotor aircraft to a stationary mast according to an embodiment;

FIG. 5 is a partial sectional view of a movable seat in the embodiment;

FIG. 6 is another illustration of the attachment of the multi-rotor vehicle to a stationary mast in accordance with the embodiments;

FIG. 7 is a connection diagram of the fixing lever and a fourth lever in the embodiment;

FIG. 8 is a view showing an installation structure of a locking assembly in the embodiment;

FIG. 9 is a diagram illustrating a connection between a second rod and a third rod according to an embodiment of the present invention.

Reference numerals: 1. an aircraft carrying mechanism; 11. a rack; 12. erecting a rod; 13. a first pull pressure sensor; 14. a ball-head rod; 2. a multi-rotor aircraft; 3. a fixing ring; 31. an annular chute; 4. fixing the rod; 41. a first slot; 5. a slide base; 51. a seat shell; 52. a ball caster assembly; 521. a ball caster body; 5211. a first convex ring; 522. mounting a shell; 5221. a first boss; 5222. a second boss; 523. a first spring; 524. a connecting rod; 525. a second pull pressure sensor; 53. a first retractor; 531. a rubber top plate; 54. a power taking terminal; 6. an electrically powered take-up assembly; 71. a movable seat; 711. a channel; 712. a mounting cavity; 713. mounting grooves; 72. a second retractor; 73. a movable rod; 731. a second convex ring; 74. a third pull pressure sensor; 75. a second spring; 76. a first limit ring; 77. a disc; 81. a first rod body; 82. a second rod body; 821. a fourth convex ring; 83. a third rod body; 831. a second slot; 832. a second stop collar; 833. a fourth spring; 84. a fourth rod body; 841. a third convex ring; 85. a locking assembly; 86. a third expansion piece; 861. a lock lever; 87. a first rotating shaft; 821. a lock hole; 9. a power interface; 91. and (6) conducting the ring.

Detailed Description

The following detailed description of the embodiments of the present invention is provided in order to make the technical solution of the present invention easier to understand and understand.

The first embodiment,

Referring to fig. 1, this embodiment is a multi-rotor flight control teaching device, including multi-rotor aircraft 2 and aircraft load-bearing mechanism 1.

Install high definition camera on many rotor crafts 2 for carry out the image and shoot the test.

The aircraft bearing mechanism 1 comprises a rack 11, an electric tensioning assembly 6, a vertical rod 12, a sliding seat 5, a first pull pressure sensor 13, a fixed rod 4, a fixed ring 3, a multi-rotor aircraft 2 and a ball head rod 14; the upright rod 12 is vertically arranged on the rack 11, and the top end of the upright rod is fixedly provided with a first pull pressure sensor 13; the bottom end of the ball head rod 14 is fixed on the first pull pressure sensor 13, and the top end is fixedly connected with the fixing ring 3. The relay force received by the ball head rod 14 can be directly transmitted to the first pulling and pressing force sensor 13, so that corresponding pulling force data can be generated.

The electric tensioning assembly 6 is arranged at the top of the stand 11 and vertically corresponds to the upright 12; the top of the fixed ring 3 is provided with a connecting seat, the electric tensioning assembly 6 is provided with a telescopic pull rope, and the other end of the pull rope is connected with the connecting seat; the first pull pressure sensing component, the electric limiting component and the electric tensioning component 6 are all electrically connected with a flight control system of the multi-rotor aircraft 2. In this embodiment, the electric tensioning assembly 6 is preferably an electric winder. When the electric winder tightens the pull rope, the fixing ring 3 is in a vertical state, and when the pull rope is released, the fixing ring 3 is in a relatively free state.

With reference to fig. 1 to 3, an annular chute 31 is disposed on the inner sidewall of the fixing ring 3 along the circumferential direction thereof; two fixed rods 4 are arranged and are respectively symmetrically arranged at two ends of the multi-rotor aircraft 2; the other end of the fixed rod 4, which is opposite to the multi-rotor aircraft 2, is in sliding fit with the annular sliding groove 31 through the sliding seat 5; the sliding seat 5 is provided with an electric limiting component for limiting the relative displacement between the sliding seat 5 and the annular sliding groove 31. Specifically, the electric limiting assembly comprises two first retractors 53 which are arranged inside the seat shell 51 in a bilateral symmetry manner; the telescopic rod of the first telescopic device 53 extends out of the seat shell 51 and is mounted with a rubber top plate 531. When the first telescopic device 53 is in the extending state, the rubber top plate 531 tightly abuts against the inner wall of the annular sliding groove 31, the friction force is large, the sliding seat 5 and the annular sliding groove 31 are difficult to move relatively, and then the fixing rod 4 and the multi-rotor aircraft 2 can be in a relatively locking state.

The sliding seat 5 comprises a seat shell 51, and the seat shell 51 is positioned in the annular sliding chute 31 and is larger than the notch of the annular sliding chute 31 in size; the top side, the bottom side, the left side and the right side of the seat shell 51 are all provided with ball caster assemblies 52, and the wheel surfaces of the ball caster assemblies 52 are abutted against the groove walls of the annular sliding grooves 31; the ball caster assembly 52 comprises a ball caster body 521, a first spring 523, a mounting housing 522 and a second pull pressure sensor 525; a plurality of mounting holes are formed in the side wall of the seat shell 51, and the mounting shell 522 is embedded in the mounting holes and fixed through bolts; an opening for the ball caster body 521 to extend out is formed on the top side of the mounting shell 522, and a first boss 5221 is formed at the opening; a first convex ring 5211 matched with the first boss 5221 is formed at the bottom of the ball caster body 521; a second boss 5222 corresponding to the first boss 5221 is detachably arranged on the inner wall of the mounting shell 522, the first spring 523 is positioned between the first boss 5221 and the second boss 5222, one end of the first spring abuts against the ball caster body 521, and the other end of the first spring abuts against the second boss 5222; the second pull pressure sensor 525 is arranged at the bottom side of the mounting shell 522 and is connected with the ball caster body 521 through a connecting rod 524; second pull pressure sensor 525 is electrically connected to the flight control system of multi-rotor aircraft 2. By providing the ball caster assembly 52, it is ensured that the slide 5 can move in the annular slide groove 31 with a small friction force and is not easily locked.

In addition, in order to facilitate the realization of power taking of the multi-rotor aircraft 2, referring to fig. 2, a conductive ring 91 is installed on the inner wall of the annular chute 31, a power interface 9 is installed on the side wall of the fixed ring 3, and the power interface 9 is electrically connected with the conductive ring 91; the slide 5 is provided with a power-taking terminal 54 adapted to the conductive ring 91; the power take terminal 54 is electrically connected to the power module of the multi-rotor aircraft 2. The electricity-getting terminal 54 can be a metal elastic sheet or a movable mounting structure capable of being reset in a telescopic manner, so that the slide carriage 5 cannot be jammed while the electricity-getting terminal 54 can be in contact with the conductive ring 91.

Next, the present embodiment will describe two connection modes of the multi-rotor aircraft 2 and the fixing rod 4.

The first method is as follows:

referring to fig. 4 and 5, a movable seat 71 is fixedly arranged inside the multi-rotor aircraft 2, that is, the multi-rotor aircraft 2 is integrally fixed to the movable seat 71, and movable spaces for the fixing rods 4 to extend into and swing relative to the multi-rotor aircraft 2 are provided at two sides of the multi-rotor aircraft. A channel 711 is horizontally arranged in the movable seat 71; a disc 77 is arranged in the channel 711, a mounting groove 713 matched with the disc 77 is formed in the middle of the channel 711, and the disc 77 can rotate along the self-rotation direction in the mounting groove 713; two ends of the disc 77 are symmetrically provided with movable rods 73; one end of the fixed rod 4 is provided with a first slot 41 for the movable rod 73 to extend into, and the bottom of the first slot 41 is provided with a third pull pressure sensor 74; the notch of the first slot 41 is in threaded connection with a first limit ring 76; the end of the movable rod 73 is provided with a second convex ring 731 matched with the first limit ring 76; a second spring 75 is disposed between the second convex ring 731 and the first limiting ring 76, and the second spring 75 is sleeved on the movable rod 73; the upper side of the channel 711 is provided with a mounting cavity 712; a second expansion piece 72 is arranged in the mounting cavity 712, and an expansion rod of the second expansion piece 72 extends out of the mounting cavity 712 and is provided with a rubber top plate 531; third pull pressure sensor 74 and second retractor 72 are electrically connected to the flight control system of multi-rotor aircraft 2. Therefore, when the multi-rotor aircraft 2 moves forward or backward, the fixed rod 4 can be locked by the first retractor 53 and then naturally tilts forward or backward as the movable seat 71 swings.

The second method comprises the following steps:

referring to fig. 6 and 7, the left and right sides of the multi-rotor aircraft 2 are symmetrically provided with adjusting rod assemblies for connecting with the fixing rods 4; the adjusting lever assembly includes a first lever 81, a second lever 82, a third lever 83 and a fourth lever 84; the one end of the first body of rod 81 can be dismantled with many rotor crafts 2 and be connected, and the other end is rotated with the one end of the second body of rod 82 and is connected. The other end of the second rod 82 is telescopically sleeved with one end of the third rod 83; the other end of the third rod 83 is rotatably connected to the fourth rod 84. One end of the fixed rod 4 is provided with a first slot 41 into which the other end of the fourth rod 84 extends, and the bottom of the first slot 41 is provided with a third pull pressure sensor 74; the notch of the first slot 41 is threadedly connected with a first limit ring 76. The end of the fourth rod 84 is provided with a third protruding ring 841 fitted with the first limit ring 76. A third spring is disposed between the third protruding ring 841 and the first limiting ring 76, and the first spring 523 is sleeved on the fourth rod 84. In addition, the connection positions of the first rod 81 and the second rod 82, and the connection positions of the third rod 83 and the fourth rod 84 are respectively provided with a locking component 85, and the locking component 85 is electrically connected with the flight control system. Referring to fig. 8, taking the joint of the first rod 81 and the second rod 82 as an example, the two rods are rotatably connected through a first rotating shaft 87; meanwhile, a locking assembly 85 is mounted on the first rod 81; the locking assembly 85 includes a third retractor 86 and a lock bar 861; the lock rod 861 is connected with the telescopic rod of the third telescopic device 86; the end of the second rod 82 has a locking hole 821 fitted to the lock lever 861, and the locking hole 821 is eccentrically disposed on the end surface. Therefore, when the first rod 81 and the second rod 82 need to be locked, the third retractor 86 is controlled to extend, so that the lock rod 861 enters the lock hole 821; conversely, when the lock is to be released, the third retractor 86 is controlled to retract.

Through the structure, when the multi-rotor aircraft 2 needs to tilt forwards or backwards, the adjusting assembly can change in angle and length along with the posture change of the multi-rotor aircraft 2, so that the tilting posture of the multi-rotor aircraft 2 during forward movement or backward movement can be allowed.

In addition, referring to fig. 9, the telescopic engagement of the second rod 82 and the third rod 83 is as follows: one end of the third rod body 83 is provided with a second slot 831 for the second rod body 82 to extend into, and the notch of the second slot 831 is in threaded connection with a third limiting ring; the end of the movable rod 73 is provided with a fourth convex ring 821 matched with the second limit ring 832; a third spring is disposed between the fourth convex ring 821 and the third limiting ring, and the third spring is sleeved on the second rod 82.

Example II,

A MATLAB-based multi-rotor flight control teaching method is realized by using a multi-rotor flight control teaching device in the first embodiment; the method comprises the following steps:

s01, configuring a plurality of editable initial control models in the MATLAB/Simulink simulation system by a first user, wherein the control models are used for driving the multi-rotor aircraft 2 to execute corresponding flight tasks.

And S02, the MATLAB/Simulink simulation system is configured with the flight control system of the multi-rotor aircraft 2 through the network connection of the wireless module of the PC by the first user, so that data interaction can be realized between the two systems.

The first user may be a teacher or a developer with technical expertise. The first user is informed of the contents to be taught, which generally include ball tracking, LED lamp control, attitude control, lift force test, forward (backward) power test, 180-degree overturn test, horizontal 360-degree rotation test and the like.

And S03, compiling and downloading the corresponding initial control model or the adjusted control model generated by modifying the parameters of the initial control model to the flight control system of the multi-rotor aircraft 2 in the MATLAB/Simulink simulation system by the second user.

The second user is a student who participates in teaching and training, and may be a business fan. After the first user has already built the aforesaid initial control model, the second user need not to carry out loaded down with trivial details bottom code design again, only needs to be absorbed in logic and the parameter design of flight control algorithm itself, carries out appropriate modification to initial control model, and then observes the feedback of many rotor crafts 2. In this way, the second user can more easily perform various tests on multi-rotor aircraft 2 based on the learning content.

S03, the flight control system controls the aircraft carrying mechanism 1 according to the received initial control model or the adjustment control model and the type of the received initial control model or the adjustment control model, so that the aircraft carrying mechanism 1 is switched to be suitable for the state of the corresponding initial control model or the adjustment control model;

after the state of the aircraft carrying mechanism 1 is switched, the flight control system executes a corresponding initial control model or a flight task appointed by the adjustment control model, and sends corresponding detection sensing data to the MATLAB/Simulink simulation system.

In the above steps, a mark, such as a recognizable code, which can be recognized by the flight control system, can be programmed in the initial control model; and then the flight control system can automatically identify the section of code after receiving the data of the control model, thereby judging which control model is, namely the flight task to be executed. Or compiling a single control model in the MATLAB/Simulink simulation system for directly controlling the flight control system to execute the switching operation.

In the following, the present embodiment illustrates the states that the aircraft carrying mechanism 1 needs to switch, for several conventional teaching contents.

1. 180 degree turnover

Controlling the electric tensioning assembly 6 to tighten the pull rope so that the fixing ring 3 is in a vertical state; the first expansion piece 53 is controlled to retract, and the slide 5 is unlocked. In addition, when the multi-rotor aircraft 2 and the fixed rod 4 adopt the first installation mode, the second expansion piece 72 is controlled to extend out, so that the movable seat 71 and the movable rod 73 are locked; when the second installation method is adopted, the third telescopic device 86 is controlled to extend out, so that the first rod 81 and the second rod 82, and the third rod 83 and the fourth rod 84 are locked. At this moment, the multi-rotor aircraft 2 can freely turn over by 180 degrees in the fixed ring 3, meanwhile, the detection value of the second pull pressure sensor 525 is fed back to the flight control system to be processed and then is transmitted to the MATLAB/Simulink simulation system, and a second user can analyze the eccentric force of the multi-rotor aircraft 2 during turning according to the fed-back value, so that the parameters of the corresponding control model are modified until the detection value of the second pull pressure sensor 525 meets the requirement.

2. Lift force test, horizontal 360-degree rotation and small ball tracking

Controlling the electric tensioning assembly 6 to release the pull rope, so that the fixing ring 3 is in a free state; the first telescopic device 53 is controlled to extend to lock the sliding seat 5. In addition, when the multi-rotor aircraft 2 and the fixed rod 4 adopt the first installation mode, the second expansion piece 72 is controlled to extend out, so that the movable seat 71 and the movable rod 73 are locked; when the second installation method is adopted, the third telescopic device 86 is controlled to extend out, so that the first rod 81 and the second rod 82, and the third rod 83 and the fourth rod 84 are locked. At the moment, the multi-rotor aircraft 2 and the fixed ring 3 are connected into a whole and can synchronously act. When the device has a tendency of rising upwards, the device can be driven together with the fixing ring 3; and then lift transmits to first pressure sensor 13 through bulb pole 14, through the detected value of first pressure sensor 13 that draws, and the lift of many rotor crafts 2 can be analyzed to the second user. When the multi-rotor aircraft 2 rotates horizontally, the fixed ring 3 and the ball bar 14 are simultaneously rotated.

3. Forward (reverse) power test

Controlling the electric tensioning assembly 6 to tighten the pull rope so that the fixing ring 3 is in a vertical state; the first telescopic device 53 is controlled to extend to lock the sliding seat 5. In addition, when the multi-rotor aircraft 2 and the fixed rod 4 adopt the first installation mode, the second expansion piece 72 is controlled to retract, so that the movable seat 71 and the movable rod 73 are unlocked; when the second installation method is adopted, the third telescopic device 86 is controlled to retract, so that the first rod 81 and the second rod 82, and the third rod 83 and the fourth rod 84 are unlocked. At the moment, the multi-rotor aircraft 2 can freely tilt forwards or backwards; meanwhile, the forward power can be transmitted to the third pull pressure sensor 74, the movable rod 73 or the fourth rod 84 can displace to collide with the third pull pressure sensor 74, and the power of the multi-rotor aircraft 2 is transmitted to the third pull pressure sensor 74. Therefore, the second user can analyze the power of multi-rotor aircraft 2 through the detection value of third pull-pressure sensor 74.

For more teaching, the embodiment is not described one by one, and after understanding the above 3 examples, a person skilled in the art should be able to understand how to switch to the state of switching of the aircraft carrying mechanism 1 required by other teaching.

The above are only typical examples of the present invention, and besides, the present invention may have other embodiments, and all the technical solutions formed by equivalent substitutions or equivalent changes are within the scope of the present invention as claimed.

Claims

1. A multi-rotor flight control teaching device is characterized by comprising a multi-rotor aircraft (2) and an aircraft bearing mechanism (1); the aircraft bearing mechanism (1) comprises a rack (11), an electric tensioning assembly (6), a vertical rod (12), a sliding seat (5), a first pull pressure sensor (13), a fixed rod (4), a fixed ring (3), a multi-rotor aircraft (2) and a ball head rod (14); a high-definition camera is installed on the multi-rotor aircraft (2); the upright rod (12) is vertically arranged on the rack (11), and the top end of the upright rod is fixedly provided with the first pull pressure sensor (13); the bottom end of the ball head rod (14) is fixed on the first pull pressure sensor (13), and the top end of the ball head rod is fixedly connected with the fixing ring (3); an annular sliding groove (31) is formed in the inner side wall of the fixing ring (3) along the circumferential direction of the fixing ring; two fixing rods (4) are arranged and are symmetrically arranged at two ends of the multi-rotor aircraft (2) respectively; the other end of the fixed rod (4) relative to the multi-rotor aircraft (2) is in sliding fit with the annular sliding groove (31) through a sliding seat (5); the sliding seat (5) is provided with an electric limiting assembly for limiting the relative displacement between the sliding seat (5) and the annular sliding groove (31); the electric tensioning assembly (6) is arranged at the top of the rack (11) and vertically corresponds to the upright rod (12); the top of the fixing ring (3) is provided with a connecting seat, the electric tensioning assembly (6) is provided with a telescopic pull rope, and the other end of the pull rope is connected with the connecting seat; the first tension and pressure sensing component, the electric limiting component and the electric tensioning component (6) are all electrically connected with a flight control system of the multi-rotor aircraft (2);

the inner wall of the annular chute (31) is provided with a conducting ring (91), the side wall of the fixing ring (3) is provided with a power supply interface (9), and the power supply interface (9) is electrically connected with the conducting ring (91); the sliding seat (5) is provided with a power taking terminal (54) matched with the conducting ring (91); the electricity taking terminal (54) is electrically connected with a power module of the multi-rotor aircraft (2);

the sliding seat (5) comprises a seat shell (51), and the seat shell (51) is positioned in the annular sliding groove (31) and is larger than a notch of the annular sliding groove (31); the top side, the bottom side, the left side and the right side of the seat shell (51) are respectively provided with a ball caster assembly (52), and the wheel surface of the ball caster assembly (52) is abutted against the groove wall of the annular sliding groove (31); the electric limiting assembly comprises two first retractors (53) which are arranged in the seat shell (51) in a bilateral symmetry manner; the telescopic rod of the first telescopic device (53) extends out of the seat shell (51) and is provided with a rubber top plate (531);

the ball caster component (52) comprises a ball caster body (521), a first spring (523), a mounting shell (522) body and a second pull pressure sensor (525); a plurality of mounting holes are formed in the side wall of the seat shell (51), and the mounting shell (522) is embedded in the mounting holes and fixed through bolts; an opening for the ball caster body (521) to extend out is formed in the top side of the mounting shell (522), and a first boss (5221) is formed at the opening; a first convex ring (5211) matched with the first boss (5221) is formed at the bottom of the ball caster body (521); a second boss (5222) corresponding to the first boss (5221) is detachably arranged on the inner wall of the mounting shell (522), the first spring (523) is positioned between the first boss (5221) and the second boss (5222), one end of the first spring is abutted against the ball caster body (521), and the other end of the first spring is abutted against the second boss (5222); the second pull pressure sensor (525) is arranged at the bottom side of the mounting shell (522) body and is connected with the ball caster body (521) through a connecting rod (524); the second pull pressure sensor (525) is electrically connected with a flight control system of the multi-rotor aircraft (2);

a movable seat (71) is fixedly arranged inside the multi-rotor aircraft (2), and a channel (711) is horizontally formed inside the movable seat (71); a disc (77) is arranged in the channel (711), a mounting groove (713) matched with the disc (77) is formed in the middle of the channel (711), and the disc (77) can rotate along the self-rotation direction in the mounting groove (713); two ends of the disc (77) are symmetrically provided with movable rods (73); a first slot (41) into which the movable rod (73) extends is formed in one end of the fixed rod (4), and a third pull pressure sensor (74) is mounted at the bottom of the first slot (41); the notch of the first slot (41) is in threaded connection with a first limit ring (76); a second convex ring (731) matched with the first limiting ring (76) is arranged at the end part of the movable rod (73); a second spring (75) is arranged between the second convex ring (731) and the first limiting ring (76), and the second spring (75) is sleeved on the movable rod (73); the upper side of the channel (711) is provided with a mounting cavity (712); a second expansion piece (72) is installed in the installation cavity (712), and an expansion rod of the second expansion piece (72) extends out of the installation cavity (712) and is provided with a rubber top plate (531); the third tension and pressure sensor (74) and the second expansion piece (72) are electrically connected with a flight control system of the multi-rotor aircraft (2);

the operation method of the multi-rotor flight control teaching device comprises the following steps:

a first user configures a plurality of editable initial control models in an MATLAB/Simulink simulation system, wherein the control models are used for driving a multi-rotor aircraft (2) to execute corresponding flight tasks;

a first user performs network connection configuration on the MATLAB/Simulink simulation system and a flight control system of the multi-rotor aircraft (2) through a wireless module of a PC (personal computer), so that data interaction can be realized between the MATLAB/Simulink simulation system and the flight control system;

a second user compiles and downloads a corresponding initial control model or an adjusted control model generated by modifying parameters of the initial control model into a flight control system of the multi-rotor aircraft (2) in an MATLAB/Simulink simulation system;

the flight control system controls the aircraft bearing mechanism (1) according to the received initial control model or the adjustment control model and the type of the received initial control model or the adjustment control model, so that the aircraft bearing mechanism (1) is switched to a state suitable for the corresponding initial control model or the adjustment control model;

after the state of the aircraft bearing mechanism (1) is switched, the flight control system executes a corresponding initial control model or a flight task appointed by an adjusting control model, and sends corresponding detection sensing data to an MATLAB/Simulink simulation system.

2. The multi-rotor flight control teaching device according to claim 1, wherein the left and right sides of the multi-rotor aircraft (2) are symmetrically provided with adjusting rod assemblies for connecting with the fixing rods (4); the adjusting rod assembly comprises a first rod body (81), a second rod body (82), a third rod body (83) and a fourth rod body (84); one end of the first rod body (81) is detachably connected with the multi-rotor aircraft (2), and the other end of the first rod body is rotatably connected with one end of the second rod body (82); the other end of the second rod body (82) is in telescopic sleeve joint with one end of the third rod body (83); the other end of the third rod body (83) is rotatably connected with the fourth rod body (84); a first slot (41) into which the other end of the fourth rod body (84) extends is formed in one end of the fixed rod (4), and a third pull pressure sensor (74) is mounted at the bottom of the first slot (41); the notch of the first slot (41) is in threaded connection with a first limit ring (76); a third convex ring (841) matched with the first limiting ring (76) is arranged at the end part of the fourth rod body (84); a second spring (75) is arranged between the third convex ring (841) and the first limiting ring (76), and the fourth rod body (84) is sleeved with the second spring (75);

and the connection parts of the first rod body (81) and the second rod body (82), and the connection parts of the third rod body (83) and the fourth rod body (84) are respectively provided with a locking assembly (85), and the locking assembly (85) is electrically connected with a flight control system.

3. The multi-rotor flight control teaching device according to claim 2, wherein one end of the third rod body (83) is provided with a second slot (831) into which the second rod body (82) extends, and a notch of the second slot (831) is in threaded connection with a second limit ring (832); a fourth convex ring (821) matched with the second limiting ring (832) is arranged at the end part of the movable rod (73); a third spring is arranged between the fourth convex ring (821) and the second limit ring (832), and the third spring is sleeved on the second rod body (82).