CN112278321A - Method and device for measuring load of falling shock test of skid type undercarriage unmanned helicopter - Google Patents
Method and device for measuring load of falling shock test of skid type undercarriage unmanned helicopter Download PDFInfo
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- CN112278321A CN112278321A CN202011235950.4A CN202011235950A CN112278321A CN 112278321 A CN112278321 A CN 112278321A CN 202011235950 A CN202011235950 A CN 202011235950A CN 112278321 A CN112278321 A CN 112278321A
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Abstract
The invention discloses a method and a device for measuring the load of a drop test of a skid type undercarriage unmanned helicopter, wherein the device comprises a load measuring system, an unmanned helicopter simulation test piece, a ground support system and a hoisting control system; the lifting control system is arranged on the ground support system and used for lifting the unmanned helicopter simulation test piece, completing double-skid landing and/or forward flight or side flight landing with speed of the unmanned helicopter simulation test piece, and controlling the falling height of the unmanned helicopter simulation test piece; the load measuring system is arranged on a supporting platform of the ground supporting system and used for collecting impact load and acceleration of the unmanned helicopter simulation test piece during landing; according to the method, the dynamic response of the load sensor and the acceleration sensor in the drop test of the unmanned helicopter is obtained by using the dynamic acquisition system, the equivalent ground impact load is obtained, and the problem that the feedback load cannot be accurately identified and measured when the landing gear of the unmanned helicopter falls to the ground is solved.
Description
Technical Field
The invention belongs to the technical field of a drop test of an unmanned helicopter, and particularly relates to a method and a device for measuring ground impact load of a drop test of a skid type undercarriage unmanned helicopter.
Background
In order to improve the quality of an airplane and guarantee the flight safety of the airplane, various airplane design institutions and other research and development and test institutions generally adopt a drop test to obtain dynamic response and impact load in the landing process of the airplane to guide the design of the airplane; a reasonable test scheme and a suitable measuring means are important indexes for determining the accuracy and the authenticity of the drop test. However, the three-dimensional measuring platform adopted in the large-scale airplane drop test is complex in structure, large in occupied space and large in impact tonnage resistance, low in sensitivity of drop dynamic response of a small-mass test piece and expensive in manufacturing cost, and the small-scale airplane, particularly the unmanned helicopter, is limited in research and development cost, short in design period, high in sensitivity requirement of small-mass impact response and low in requirement on airplane maneuverability, so that the three-dimensional measuring platform is not suitable for selecting the test equipment for drop test.
In addition, at present, the scope and method of the drop test are only considered for the double-skid landing condition, and the condition of the side flight with speed or the forward flight landing is ignored, but for the helicopter with the skid landing gear, the side flight with speed or the forward flight landing is a common phenomenon in the using process.
Disclosure of Invention
The invention aims to provide a method and a device for measuring the load of a falling shock test of a skid type undercarriage unmanned helicopter, which are used for measuring the impact load of the unmanned helicopter in the falling shock process.
The technical solution for realizing the purpose of the invention is as follows:
a load measuring device for a drop test of a skid type undercarriage unmanned helicopter comprises a load measuring system, an unmanned helicopter simulation test piece, a ground supporting system and a hoisting control system;
the lifting control system is arranged on the ground support system and is used for lifting the unmanned helicopter simulation test piece, completing the double-skid vertical landing and the forward flight or side flight landing with speed of the unmanned helicopter simulation test piece, and controlling the falling height of the unmanned helicopter simulation test piece;
the load measuring system is arranged on a supporting platform of the ground supporting system and used for collecting impact load and acceleration of the unmanned helicopter simulation test piece during landing.
A method for measuring the ground impact load of a drop test of a skid type undercarriage unmanned helicopter comprises the following steps:
step 1, arranging a load measuring system and building a ground support system;
step 2, assembling the simulation test piece of the unmanned helicopter, and adjusting the weight and the number of the configuration blocks and the positions of the configuration blocks on the simulation fuselage frame;
step 3, placing the simulation test piece of the unmanned helicopter on a falling platform, and adjusting the front, back, left and right positions of the simulation test piece to ensure that the hoisting sucker is coaxial with the suspended electromagnet;
step 4, controlling the electromagnet to be electrified by using the hoisting control box, and generating magnetic force by the electromagnet after the electromagnet is electrified so as to adsorb the simulation test piece of the unmanned helicopter and lift the simulation test piece to a certain height; the fine adjustment of the gravity center of the simulation test piece of the unmanned helicopter is realized by adjusting a leveling weight of the body gravity center adjusting device and observing an angle ruler arranged in the pitching and rolling directions of the simulation body frame, so that the unmanned helicopter is ensured to have no eccentricity when falling;
and 5, carrying out a landing test to acquire data acquired by the sensor.
Compared with the prior art, the invention has the following remarkable advantages:
(1) according to the invention, the dynamic response of the load sensor and the acceleration sensor in the drop test of the unmanned helicopter is obtained by using the dynamic acquisition system, and the equivalent ground impact load is obtained according to the mechanical balance and dynamic signal filtering processing method, so that the problem that the feedback load of the unmanned helicopter cannot be accurately identified and measured when the undercarriage falls down to the ground is solved.
(2) The impact load measuring device has the advantages of modularization of all components, simplicity in assembly and disassembly and small occupied space, and is suitable for being used when the ground impact load is obtained in a skid landing gear drop test of an unmanned helicopter and other product drop tests; the measuring device can be realized by personalized combination according to test objects, test requirements and laboratory software and hardware conditions.
(3) The device can not only finish the traditional double-skid vertical landing test working condition, but also can not finish the special lateral landing and forward landing test working condition with the speed of the helicopter by the traditional test device.
Drawings
Fig. 1 is an assembly diagram of a ground impact load measuring device for a landing-skid landing gear unmanned helicopter drop test.
Fig. 2 is a block diagram of a load measuring system.
Fig. 3 is a structural view of a simulation test piece of the unmanned helicopter.
FIG. 4 is a chart of a belt speed forward flight condition drop test.
FIG. 5 is a chart of a belt speed side flight condition drop test.
Fig. 6 is an installation view of the electric traction apparatus.
Fig. 7 is a view showing a configuration of the electric traction apparatus.
Fig. 8 is a lateral or forward initial velocity theoretical calculation chart.
Fig. 9 is a theoretical analysis diagram of the impact load of the drop test.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
With reference to fig. 1, the method and apparatus for measuring a load in a drop test of a skid landing gear unmanned helicopter according to the present embodiment includes a load measuring system 10, an unmanned helicopter simulation test piece 20, a ground support system 30, and a hoisting control system 40; the ground supporting system 30 is used for supporting and fixing the test system, and the hoisting control system 40 is used for controlling the test falling height of the unmanned helicopter simulation test piece 20; the load cell system 10 is used to collect and process drop test process test data.
Referring to fig. 2, the load measuring system 10 includes a falling platform 11, a support adapter plate 12, a load sensor 13, a mounting bolt 14, an acceleration sensor 15, and a dynamic acquisition instrument system (including a dynamic acquisition instrument and a computer), which are not shown; the falling platform 11 is a flat plate with high rigidity and hardness, and the material thereof can be made of metal, concrete or composite materials and the like. The two dropping platforms 11 correspond to two skids at the bottom of the simulation test piece 20 of the unmanned helicopter respectively; three or more mounting holes matched with the load sensors are arranged on the four sides of the falling platform 11, mounting holes matched with the mounting acceleration sensors 15 are reserved in the center of the falling platform, and a plurality of mounting holes used for mounting loading and unloading lifting lugs are formed in the outer edges of the four corners of the falling platform 11; the supporting adapter plate 12 is a square steel plate, a mounting hole matched with the mounting load sensor 13 is prefabricated in the center, rectangular grooves are formed in four sides of the supporting adapter plate 12 respectively, the supporting platform 33 is connected through mounting bolts 14, a mounting groove is formed in the supporting platform 33, a bolt head is clamped into the mounting groove, and the supporting adapter plate 12 is connected with the supporting platform 33; the load sensor 13 and the acceleration sensor 15 need to be matched and selected according to a test object, test requirements and laboratory software and hardware conditions; the load sensors 13 are fixed between the falling platform 11 and the support adapter plate 12 according to the required installation mode, namely, three or more load sensors 13 are used as the pivot points of the falling platform 11 to be located on the corresponding support adapter plate 12, and in the installation process, the leveling instrument can be adopted for calibration in the installation and adjustment process to ensure that the falling platform 11 keeps horizontal. The ground load measuring device 10 is characterized in that the ground load measuring device is fixedly connected with a supporting platform 33 of a ground support 30 into a whole by using a mounting bolt 14;
with reference to fig. 3, the unmanned helicopter simulation test piece 20 includes an unmanned helicopter undercarriage 21, a simulated fuselage frame 22, a fuselage center of gravity adjusting device 23, a lifting suction cup 24, and a counterweight 25, wherein the simulated fuselage frame 22 may be a metal frame plate or any other structure, and the unmanned helicopter undercarriage 21 is disposed at the bottom of the simulated fuselage frame 22 according to the requirements of the prototype of the test object; arranging a plurality of balancing weights 25 at four corners of the simulation machine body frame 22 to ensure that characteristic indexes such as weight, gravity center, inertia moment and the like can describe a prototype of a test object; the hoisting sucker 24 is a steel metal block with a threaded hole in the center, and is tightly connected with a metal column with an external thread at the upper end of a cross beam of the gravity center section of the simulation machine body frame 22, so that the metal column is adsorbed by using an electrified electromagnet 43 to realize the integral hoisting of the unmanned helicopter simulation test piece 20. The machine body gravity center adjusting device (23) consists of four joints 23-1, four circular tube rods 23-2 with matched lengths and leveling weights 23-3 capable of moving on the circular tube rods; four corners at the upper end of the machine body frame 22 are respectively provided with joints 23-1, and four round pipe rods 23-2 are connected among the four joints to form a rectangular structure; the fine adjustment of the gravity center of the unmanned helicopter simulation test piece 20 is realized by observing the pitching and rolling directions of the placing angle ruler of the placing simulation fuselage frame 21 and adjusting the positions of the four leveling weights 23-3 on the round pipe rods 23-2.
Referring to fig. 1, the ground support system 30 includes a beam 31, a column 32, a support platform 33, and a guide rail 34; two upright posts 32 are fixed on the supporting platform 33; the cross beam 31 with good bending rigidity is arranged between the two upright posts 32, and the three are built to form a portal frame type structure and fixed on a supporting platform 33 to provide support for a drop test system;
with reference to fig. 4-7, the lifting control system 40 includes a lifting control box 41, a chain pulley assembly 42 and an electromagnet 43; a motor and a chain wheel of a chain are arranged in the hoisting control box 41; the motor drives the chain wheel to rotate, and the lifting of the chain pulley assembly 42 is adjusted; wherein, the lifting control box 41 adjusts the lifting of the chain pulley component 42 and the power on and off of the electromagnet 43 through a PLC programmable controller; the electromagnet 43 is suspended on the hook of the chain pulley assembly 42 and generates and disappears magnetic force by on-off control.
For the dual skid landing test condition,
the lifting control box 41 is controlled to control the chain pulley assembly 42 to lift the unmanned helicopter simulation test piece 20 to the required height of the test; the electromagnet 43 is switched off, the unmanned helicopter simulation test piece 20 freely falls to the falling platform 11 at the required height, and data acquisition is stopped after the unmanned helicopter simulation test piece is stabilized;
for the forward flight landing test working condition or the side flight landing test working condition with the speed, the hoisting control system 40 further comprises an electric traction device 44; the electric traction device 44 consists of a traction guide rail 44-1, a traction roller 44-2, a traction roller shaft 44-3, a traction driver 44-4, a traction connecting seat 44-5 and a traction steel wire rope 44-6; the traction guide rail 44-1 is fixed on the cross beam 31 through two screws, and the traction guide rail 44-1 presents a certain installation angle by adjusting the length of the screws; the traction roller shaft 44-3 is rotationally engaged with the traction roller 44-2 and is mounted in a chute of the traction guide track 44-1. The overhanging end of the traction roller shaft 44-3 is fixedly connected with the mounting rod of the hoisting control box 41 into a whole through a bolt. The traction driver 44-4 is fixed between the partition boards at the two sides of the traction guide rail 44-1, and the traction driver 44-4 is internally provided with a winding wire roller for drawing a steel wire rope 44-6 and a motor for driving the winding wire roller to rotate. The other end of the traction cable 44-6 is connected to the traction link base 44-5. The traction connecting seat 44-5 is a U-shaped connecting rod, and two sides of the U-shaped connecting rod are fixedly arranged on the traction rolling shaft 44-3 through a hoop. The traction roller shaft 44-3 and the traction roller 44-2 move in the sliding groove of the traction guide rail 44-1 by controlling and driving the traction driver 44-4 through the hoisting control box 41.
The method for measuring the load of the falling shock test of the skid landing gear unmanned helicopter comprises the following steps:
1. arranging a load measuring system 10 and building a ground supporting system 30 according to the size and space of the simulation test piece 20 of the unmanned helicopter;
2. assembling the simulation test piece 20 of the unmanned helicopter, and adjusting the weight and the number of the configuration blocks 25 and the positions on the simulation fuselage frame 21 to meet the requirements of test indexes;
3. placing the simulation test piece 20 of the unmanned helicopter on the falling platform 11, and adjusting the front, back, left and right positions of the simulation test piece to ensure that the hoisting sucker 24 is coaxial with the suspended electromagnet 43;
4. controlling the electromagnet 43 to be electrified by using the hoisting control box 41, and after the electromagnet 43 is electrified, generating magnetic force to adsorb and lift the unmanned helicopter simulation test piece 20 to a certain height; the fine adjustment of the gravity center of the unmanned helicopter simulation test piece 20 is realized by adjusting the leveling weight 23-3 of the fuselage gravity center adjusting device 23 and observing the angle ruler arranged in the pitching and rolling directions of the simulation fuselage frame 21, and the condition that the unmanned helicopter simulation test piece does not have eccentricity when falling is ensured.
5. Under the condition of double-skid landing test
After the test preparation is finished, the lifting control box 41 is used for controlling the electromagnet 43 to be electrified, after the electromagnet 43 is electrified, the electromagnet 43 generates magnetic force to adsorb the unmanned helicopter simulation test piece 20, and then the chain pulley assembly 42 is controlled to ascend to the height required by the test;
after the dynamic acquisition system and the sensor are balanced and cleared and start to acquire data, the electromagnet 43 is switched off, the unmanned helicopter simulation test piece 20 freely falls to the falling platform 11 at the required height, and the data acquisition is stopped after the unmanned helicopter simulation test piece is stabilized;
6. the test condition of the front flying or side flying landing with the speed is as follows:
the lifting control box 41 controls and drives the electric traction device 44 to place the electromagnet 43 and related components right above the unmanned helicopter simulation test piece 20, and the electromagnet 43 is started to realize the lifting of the unmanned helicopter simulation test piece 20 by adsorbing the lifting suction cup 24; and then controlling a driving motor for driving the electric traction device 44 to lift the unmanned helicopter simulation test piece 20 to a test required height along the sliding groove of the traction guide rail 44-1.
After the test preparation is finished, the dynamic acquisition system and the sensor are balanced and cleared, data acquisition is started, the electric traction device 44 is stopped being controlled, the unmanned helicopter simulation test piece 20 slides downwards along the traction guide rail 44-1 under the action of gravity traction, when the unmanned helicopter simulation test piece slides to a required distance, the electric traction device 44 is started to brake, meanwhile, the electromagnet is switched off, and at the moment, the unmanned helicopter simulation test piece 20 still keeps the horizontal or lateral initial speed of V0 and lands on the falling platform 11 under the action of inertia. Stopping data acquisition after the data are stabilized;
referring to fig. 8, the horizontal or lateral initial velocity V0 is determined by the height difference Δ H between the two screws for mounting the traction rail 44-1, the sliding distance L in the traction rail 44-1 and the gravitational acceleration g, and is calculated by the following formula:
7. referring to fig. 9, the response values of the load sensor 13 and the acceleration sensor 15 in the drop test are obtained by using the dynamic collection instrument. Considering that the signal collected by the sensor when the test piece impacts the falling platform contains a higher signal-to-noise ratio, the low-pass filtering processing is carried out by adopting the fundamental frequency which is less than the falling platform 11, so that the processing value of the signal collected by the sensor is obtained. Obtaining equivalent impact load in each direction according to mechanical balance and digital signal processing method
The calculation formula is
In the formula: m is the mass of the falling platform 11, g is the weight acceleration constant, ajFor the response signal processing value in a direction orthogonal to the j-th acceleration sensor, FiThe ith load sensor responds to a signal processing value in a certain orthogonal direction; if the acquisition of the data types in the test process is to be enriched, a high-speed camera can be selected and configured to record and a dynamic displacement sensor can be matched with a dynamic acquisition instrument for use, and the displacement process is recorded simultaneously in the test.
According to the method, the dynamic response of the load sensor and the acceleration sensor in the drop test of the unmanned helicopter is obtained by using the dynamic acquisition system, and the equivalent ground impact load is obtained according to the mechanical balance and dynamic signal filtering processing method, so that the problem that the feedback load of the unmanned helicopter cannot be accurately identified and measured when the landing gear falls down to the ground is solved.
The impact load measuring device has the advantages of modularization of all components, simplicity in assembly and disassembly and small occupied space, and is suitable for being used when the ground impact load is obtained in a skid landing gear drop test of an unmanned helicopter and other product drop tests; the measuring device can be realized by personalized combination according to test objects, test requirements and laboratory software and hardware conditions.
In addition, the device not only can complete the traditional double-skid landing test working condition, but also can not complete the special lateral landing and forward landing test working conditions with the speed of the helicopter, thereby making up the blank of the test method.
Claims (9)
1. A load measuring device for a drop test of a skid type undercarriage unmanned helicopter is characterized by comprising a load measuring system (10), an unmanned helicopter simulation test piece (20), a ground supporting system (30) and a hoisting control system (40);
the lifting control system (40) is arranged on the ground support system (30) and is used for lifting the unmanned helicopter simulation test piece (20), completing double-skid vertical landing and forward flight or side flight landing with speed of the unmanned helicopter simulation test piece (20), and controlling the falling height of the unmanned helicopter simulation test piece (20);
the load measuring system (10) is arranged on a supporting platform of the ground supporting system (30) and is used for collecting impact load and acceleration of the unmanned helicopter simulation test piece (20) during landing.
2. The drop test load measuring device of the skid landing gear unmanned helicopter of claim 1, wherein the load measuring system (10) comprises a drop platform (11), a support adapter plate (12), a load sensor (13) and an acceleration sensor (15);
the falling platform (11) is connected with a supporting platform of a ground supporting system (30) through a supporting adapter plate (12); an acceleration sensor (15) is arranged on the falling platform (11), and a plurality of load sensors (13) are arranged in a circle.
3. The drop test load measuring device of the skid type undercarriage unmanned helicopter according to claim 1, wherein the unmanned helicopter simulation test piece (20) comprises an unmanned helicopter undercarriage (21), a simulated fuselage frame (22), a fuselage center-of-gravity adjusting device (23), a lifting suction cup (24) and a counterweight (25);
the simulated fuselage frame (22) of the simulated fuselage frame (22) is provided with a balancing weight (25), and the bottom of the simulated fuselage frame is provided with an unmanned helicopter undercarriage (21); the hoisting sucker (24) is fixedly connected with the upper end of a cross beam for simulating the gravity center profile of the machine body frame (22); the machine body gravity center adjusting device (23) consists of four joints (23-1), a circular pipe rod (23-2) and a leveling weight (23-3) capable of moving on the circular pipe rod (23-2); four corners at the upper end of the machine body frame (22) are respectively provided with joints (23-1), and four round pipe rods (23-2) are connected among the four joints to form a rectangular structure; the gravity center of the simulation test piece (20) of the unmanned helicopter is finely adjusted by adjusting the positions of four leveling weights (23-3) on the round pipe rods (23-2); and the hoisting control system (40) is adsorbed with the hoisting sucker (24) under the electrified state so as to hoist the simulation test piece (20) of the unmanned helicopter.
4. The drop test load measuring device of the skid type landing gear unmanned helicopter of claim 1, wherein the lifting control system (40) comprises a lifting control box (41), a chain pulley assembly (42) and an electromagnet (43); the hoisting control box (41) is arranged on a cross beam of the ground support system (30); the chain pulley assembly (42) is connected with the lifting control box (41); the electromagnet (43) is suspended on a hook of the chain pulley assembly (42); the lifting control box (41) is used for adjusting the lifting of the chain pulley assembly (42) and the on-off of the electromagnet (43).
5. The landing gear unmanned helicopter of claim 4, wherein the lift control system (40) further comprises an electric traction device (44) for a forward flight landing test or a side flight landing test with velocity; the electric traction device (44) comprises a guide rail (44-1), a traction roller (44-2), a traction roller shaft (44-3), a traction driver (44-4), a traction connecting seat (44-5) and a traction steel wire rope (44-6);
the traction guide rail (44-1) is fixed on a cross beam of the ground support system (30) through two screws; a traction roller shaft (44-3) is rotationally connected with the two sides of the traction roller (44-2); the traction roller shaft (44-3) is arranged in a chute of the traction guide rail (44-1); the traction roller (44-2) is arranged in the traction guide rail (44-1); the hoisting control box (41) is fixed at the lower end of the traction roller shaft (44-3) through a mounting rod; a traction driver (44-4) is fixed on the traction guide rail (44-1), one end of a traction steel wire rope (44-6) is connected with the traction driver (44-4), and the other end is connected to a traction connecting seat (44-5); the traction connecting seat (44-5) is connected with the traction rolling shafts (44-3) at two sides.
6. The landing gear unmanned helicopter of claim 1, wherein the ground support system (30) comprises a cross beam (31), a column (32), a support platform (33) and a guide rail (34); two upright posts (32) are fixed on the supporting platform (33); the cross beam (31) is fixed between the two upright posts (32).
7. The method for measuring the drop test load measuring device of the skid type landing gear unmanned helicopter according to any one of claims 1 to 6, comprising the steps of:
step 1, arranging a load measuring system (10) and building a ground support system (30);
step 2, assembling the simulation test piece (20) of the unmanned helicopter, and adjusting the weight and the number of the configuration blocks (25) and the position of the configuration blocks on the simulation fuselage frame (21);
step 3, placing the simulation test piece (20) of the unmanned helicopter on a falling platform (11), and adjusting the front, back, left and right positions of the simulation test piece to ensure that a hoisting sucker (24) is coaxial with a suspended electromagnet (43);
step 4, controlling the electromagnet (43) to be electrified by using the lifting control box (41), and generating magnetic force by the electromagnet (43) after the electromagnet is electrified so as to adsorb the simulation test piece (20) of the unmanned helicopter and lift the simulation test piece to a certain height; the fine adjustment of the gravity center of the unmanned helicopter simulation test piece (20) is realized by adjusting a leveling weight (23-3) of a fuselage gravity center adjusting device (23) and observing an angle ruler placed in the pitching and rolling directions of a simulated fuselage frame (21), and the absence of eccentricity is ensured when the unmanned helicopter simulation test piece falls;
and 5, carrying out a landing test to acquire data acquired by the sensor.
8. The method of measurement according to claim 7, wherein the landing test comprises two landing test conditions:
under the working condition of the double-skid landing test:
the chain pulley assembly (42) is controlled by controlling the lifting control box (41) to lift the simulation test piece (20) of the unmanned helicopter to the height required by the test; the electromagnet (43) is switched off, the unmanned helicopter simulates a test piece (20) to freely fall to the falling platform (11) at the required height, and data acquisition is stopped after the test piece is stabilized;
the test condition of the front flying or side flying landing with the speed is as follows:
the lifting control box (41) controls and drives the electric traction device (44) to place the electromagnet (43) right above the simulation test piece (20) of the unmanned helicopter, and the electromagnet (43) is started to realize the lifting of the simulation test piece (20) of the unmanned helicopter through the adsorption lifting suction disc (24); and then controlling a driving motor for driving the electric traction device (44) to lift the unmanned helicopter simulation test piece (20) to a test required height along a sliding groove of the traction guide rail (44-1), stopping controlling the electric traction device (44), enabling the unmanned helicopter simulation test piece (20) to slide downwards along the traction guide rail (44-1), starting the electric traction device (44) to brake when the unmanned helicopter simulation test piece slides to a required distance, simultaneously disconnecting the energization of the electromagnet, enabling the unmanned helicopter simulation test piece (20) to fall onto the falling platform (11), and stopping data acquisition after the unmanned helicopter simulation test piece (20) is stabilized.
9. The measurement method of claim 7, further comprising calculating an equivalent impact load
Carrying out low-pass filtering processing by adopting the fundamental frequency less than that of the falling platform (11), thereby obtaining a processing value of a signal acquired by the sensor; calculating the equivalent impact load
In the formula: m is the mass of the falling platform (11), g is the constant of the weight acceleration, ajFor the response signal processing value in the direction orthogonal to the j-th acceleration sensor, FiAnd (4) responding to the signal processing value in the direction orthogonal to the ith load sensor.
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| CN114459718B (en) * | 2022-01-21 | 2022-09-02 | 思翼科技（深圳）有限公司 | Impact force test device for manufacturing unmanned aerial vehicle |
| CN114459718A (en) * | 2022-01-21 | 2022-05-10 | 思翼科技（深圳）有限公司 | Impact force test device for manufacturing unmanned aerial vehicle |
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