CN204056316U - A kind of three degree of freedom helicopter real-time simulation platform - Google Patents
A kind of three degree of freedom helicopter real-time simulation platform Download PDFInfo
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- CN204056316U CN204056316U CN201420438926.4U CN201420438926U CN204056316U CN 204056316 U CN204056316 U CN 204056316U CN 201420438926 U CN201420438926 U CN 201420438926U CN 204056316 U CN204056316 U CN 204056316U
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 16
- 239000003351 stiffener Substances 0.000 claims abstract description 8
- 230000000694 effects Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000008239 natural water Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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Abstract
The utility model discloses a kind of three degree of freedom helicopter real-time simulation platform that can be used for automatically controlling and helicopter is tested, it comprises basic machine, screw propeller, DC brushless motor, position transduser, coupler, current colector, balance block, power supply, and wherein basic machine comprises pedestal, S. A., pitch axis, horizontal side shaft, hinge; Pedestal comprises upper backup pad, lower supporting plate, four pillar stiffeners, tapered roller bearing, bearing seats; Two DC machine are arranged on the upper of the horizontal side shaft of three degree of freedom helicopter and drive two screw propellers respectively, and position transduser is used for gathering the pitch angle of helicopter, angle of rotation, rotative speed and horizontal side angle data respectively.This experimental system can meet related algorithm checking and the course teaching needs of control and helicopter automatically, can simulate simultaneously, verify the performance of different control policy to the principle of helicopter power system and electronic system.
Description
Technical field
The utility model relates to a kind of three degree of freedom helicopter real-time simulation platform, especially relates to for the real-time simulation platform automatically controlled and helicopter control policy is verified.
Background technology
Due to the raising day by day that each side such as military affairs, the people's livelihood require, the properties of helicopter also improves gradually, as developing rapidly of helicopter flight control technology, just substantially improves the flight quality of modern helicopters, improves the battlefield survivability of modern helicopters.Before practical flight experiment, consider the factors such as safe and economic environmental protection, usually all model emulation flight experiment can be carried out to helicopter, so namely, save manpower, financial resources, material resources and time, certain predicting function can also be had, also for the key issue of helicopter flight control system aspect and the research of technology provide conveniently to the actual result of taking a flight test of helicopter.In addition, in the process of control theory development, the feasibility in the correctness of a certain theory and practical application thereof needs one to go control typical subject to verify by the controller of its Theoretical Design.Three degree of freedom helicopter is exactly such controlled object, it itself is a natural unstables ystem, the many key issues in control effectively can be reflected in control process, as non-linear problem, robustness problem, servo-actuated problem etc., automatic control algorithm and the checking of helicopter Control release can be carried out.
The S. A. part of current three degree of freedom helicopter on the market generally adopts two-tiered structure, and add the weight of body, portable performance is poor; Three turning cylinders are all provided with bearing, too increase weight and the productive costs of body; Equalizing gear is mainly through the position regulating clump weight of tapped bore position, owing to having certain intervals between tapped bore, therefore be difficult to clump weight is just balanced with head, pitch axis cannot be made to be in Natural Water level state, therefore need manual intervention just can carry out the demarcation of pitch axis zero-bit, and make three degree of freedom helicopter need when carrying out luffing screw propeller to export larger lifting force.
Summary of the invention
In order to improve the success ratio of helicopter design, before practical flight, simulated flight experiment is carried out to helicopter model, and the performance of different control system is verified, the utility model provides a kind of three degree of freedom helicopter real-time simulation platform that can be used for automatic control algorithm and helicopter experimental verification.
The three degree of freedom helicopter real-time simulation platform that the utility model can be used for automatically controlling and helicopter is tested comprises basic machine 1, screw propeller I 2, screw propeller II 7, DC brushless motor I 3, DC brushless motor II 8, position transduser I 4, position transduser II 23, position transduser III 24, current colector 5, balance block 6, power supply 13, wherein basic machine 1 comprises pedestal 9, S. A. 10, pitch axis 11, horizontal side shaft 12, two DC brushless motors I 3, DC brushless motor II 8 is arranged on horizontal side shaft 12 two ends respectively, screw propeller I 2, screw propeller II 7 is arranged on DC brushless motor I 3, on DC brushless motor II 8 and by its drive, horizontal side shaft 12 is arranged on pitch axis 11 one end by hinge II 26, pitch axis 11 other end is equipped with balance block 6, pitch axis 11 is arranged on S. A. 10 by hinge I 25, hinge I 25 and S. A. 10 are connected, current colector 5 is arranged on S. A. 10, spline sheet 20 to be arranged on top base 5 and to be connected with current colector 5 shell, S. A. 10 is fixed on pedestal 9, power supply 13 is arranged on pedestal 9, pitch axis 11 and horizontal side shaft 12 junction are provided with position transduser III 24, pitch axis 11 and hinge I 25 junction are provided with position transduser II 23, position transduser I 4 is equipped with in S. A. 10 bottom, position transduser II 23, position transduser III 24 is respectively by coupler I 21, coupler II 22 be connected, coupler I 21, coupler II 22 under the effect of holding screw its two ends respectively with position transduser II 23, position transduser III 24 and hinge I 25, hinge II 26 locking.
Wherein said pedestal 9 comprises upper backup pad 14, lower supporting plate 15, four pillar stiffeners 16, tapered roller bearing 17, bearing seats 18, upper backup pad 14 and lower supporting plate 15 are supported by four pillar stiffeners 16, tapered roller bearing 17 is installed in bearing seat 18, bearing seat 18 is fixed on lower supporting plate 15, S. A. 10 is arranged in tapered roller bearing 17, position transduser I 4 is arranged on above bearing seat 18, spring plate 19 is contained in the lower surface of position transduser I 4, limits the rotation of this sensor outer ring.
Position transduser I described in the utility model is incremental encoder, and position transduser II and position transduser III are absolute type encoder.
Current colector described in the utility model adopts via hole type current colector, is installed on the S. A. above upper backup pad.
The beneficial effect that the utility model has is:
1, simulating, verifying can be carried out to the control algorithm of helicopter.
2, based on employing individual layer framework, alleviate complete machine weight, reduce system power dissipation.
3, the rotary motion of pitch axis and horizontal side shaft is by free bearing, can alleviate complete machine weight and also can reduce manufacturing cost simultaneously.
4, clump weight can slide continuously on pitch axis, is convenient to the zero-bit of demarcating pitch axis, and reduces the lifting force of needs.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model device;
Fig. 2 is the part-structure schematic diagram of the utility model pedestal;
Fig. 3 is the utility model S. A. and pitch axis connection diagram;
Fig. 4 is the utility model pitch axis and horizontal side shaft connection diagram;
In figure: 1 is basic machine, 2 is screw propellers I, 3 is DC brushless motors, 4 is position transdusers I, 5 is currents colector, 6 is balance blocks, 7 is screw propellers II, 8 is DC brushless motors II, 9 is pedestals, 10 is S. A.s, 11 is pitch axis, 12 is horizontal side shafts, 13 is power supplys, 14 is upper backup pads, 15 is lower supporting plates, 16 is pillar stiffeners, 17 is tapered roller bearings, 18 is bearing seats, 19 is spring plates, 20 is spline sheets, 21 is coupler I, 22 is coupler II, 23 is position transdusers II, 24 is position transdusers III, 25 is hinges I, 26 is hinges II.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further illustrated, but the utility model protection domain is not limited to described content.
The utility model mainly comprises basic machine 1, screw propeller I 2, screw propeller II 7, DC brushless motor I 3, DC brushless motor II 8, position transduser I 4, current colector 5, balance block 6, power supply 13, wherein basic machine 1 comprises pedestal 9, S. A. 10, pitch axis 11, horizontal side shaft 12, two DC brushless motors I 3, DC brushless motor II 8 is arranged on horizontal side shaft 12 two ends respectively, and screw propeller I 2 and screw propeller II 7 are arranged on DC brushless motor I 3 respectively, on DC brushless motor II 8 and by its drive, horizontal side shaft 12 is arranged on pitch axis 11 one end by hinge II 26, pitch axis 11 other end is equipped with balance block 6, pitch axis 11 is arranged on S. A. 10 by hinge I 25, hinge I 25 welds with S. A. 10, current colector 5 is arranged on S. A. 10, spline sheet 20 to be arranged on top base 5 and to be connected with current colector 5 shell, S. A. 10 is fixed on pedestal 9, power supply 13 is arranged on pedestal 9, pitch axis 11 and horizontal side shaft 12 junction are provided with position transduser III 24, pitch axis 11 and hinge I 25 junction are provided with position transduser II 23, position transduser I 4 is equipped with in S. A. 10 bottom, position transduser II 23, position transduser III 24 is respectively by coupler 21, coupler 22 and hinge I 25, hinge II 26 connect, wherein coupler 21 under the effect of holding screw two ends respectively with position transduser II 23 and hinge I 25 locking, coupler 22 under the effect of holding screw two ends respectively with position transduser III 24 and hinge II 26 locking, pedestal 9 comprises upper backup pad 14, lower supporting plate 15, four pillar stiffeners 16, tapered roller bearing 17, bearing seats 18, upper backup pad 14 and lower supporting plate 15 are supported by four pillar stiffeners 16, tapered roller bearing 17 is installed in bearing seat 18, bearing seat 18 is fixed on lower supporting plate 15, S. A. 10 is arranged in tapered roller bearing 17, position transduser I 4 is arranged on above bearing seat 18, spring plate 19 is contained in the lower surface of position transduser I 4, limits the rotation (see Fig. 1,2,3,4) of this sensor outer ring.
DC brushless motor 3 and DC brushless motor 8 drive screw propeller I 2 and screw propeller II 7 to rotate respectively, and produce the lift upwards differed in size respectively, screw propeller I 2 and screw propeller II 7 lift sum make pitch axis 11 under the combined action of balance block 6 with hinge I 25 for fulcrum rotate, produce pitch angle, and the official post of lift obtains horizontal side shaft 12 around hinge II 26 for fulcrum rotates, a final maintenance horizontal angle measurement.Now because the lift direction of screw propeller I 2 and screw propeller II 7 is all the time perpendicular to horizontal side shaft 12, therefore along with the deflection screw propeller I 2 of horizontal side shaft 12 and the lift direction of screw propeller II 7 change, the power that its lift decomposes the vertical-horizontal direction produced still acts on pitch axis 11, horizontal side shaft 12, produce pitch angle, horizontal angle measurement, the tangential force after this lift decomposes then drives that S. A. 10 drives pitch axis 11, horizontal side shaft 12 rotates together.
When carrying out simulating, verifying to control system algorithm or autogyro, can programme to motion control card before operational system.Motion control card is connected with PC by USB line, now motion control card is powered by USB, after electricity is adjusted power supply electrifying, PC operation procedure starts three degree of freedom Helicopter System, its pitch angle is set, horizontal side angle, rotative speed, the data of motion control card set by upper computer export controlling quantity and adjust to electricity, the rotating speed of electricity regulation and control DC brushless motor I 3 processed and DC brushless motor II 8, DC brushless motor I 3 and DC brushless motor II 8 rotating speed change and cause screw propeller I 2 and screw propeller II 7 lift to change, thus the attitude of helicopter three axles and the speed of S. A. 10 change.Three position transdusers respectively by the attitude of helicopter S. A. 10, pitch axis 11, horizontal side shaft 12 and the velocity feedback of S. A. 10 to PC, form the closed loop control of control system, realize the attitude to three degree of freedom helicopter and speeds control.
Claims (2)
1. a three degree of freedom helicopter real-time simulation platform, is characterized in that: it comprises basic machine (1), screw propeller I (2), screw propeller II (7), DC brushless motor I (3), DC brushless motor II (8), position transduser I (4), position transduser II (23), position transduser III (24), current colector (5), balance block (6), power supply (13), wherein basic machine (1) comprises pedestal (9), S. A. (10), pitch axis (11), horizontal side shaft (12), two DC brushless motors I (3), DC brushless motor II (8) is arranged on horizontal side shaft (12) two ends respectively, screw propeller I (2), screw propeller II (7) is arranged on DC brushless motor I (3), DC brushless motor II (8) is gone up and is driven by it, horizontal side shaft (12) is arranged on pitch axis (11) one end by hinge II (26), pitch axis (11) other end is equipped with balance block (6), pitch axis (11) is arranged on S. A. (10) by hinge I (25), hinge I (25) and S. A. (10) are connected, current colector (5) is arranged on S. A. (10), spline sheet (20) is arranged on top base (5) and goes up and be connected with current colector (5) shell, S. A. (10) is fixed on pedestal (9), power supply (13) is arranged on pedestal (9), pitch axis (11) and horizontal side shaft (12) junction are provided with position transduser III (24), pitch axis (11) and hinge I (25) junction are provided with position transduser II (23), position transduser I (4) is equipped with in S. A. (10) bottom, position transduser II (23), position transduser III (24) is respectively by coupler I (21), coupler II (22) and hinge I (25), hinge II (26) connects, coupler I (21), coupler II (22) under the effect of holding screw its two ends respectively with position transduser II (23), position transduser III (24) and hinge I (25), hinge II (26) locking.
2. three degree of freedom helicopter real-time simulation platform according to claim 1, it is characterized in that: pedestal (9) comprises upper backup pad (14), lower supporting plate (15), four pillar stiffeners (16), tapered roller bearing (17), bearing seat (18), upper backup pad (14) and lower supporting plate (15) are supported by four pillar stiffeners (16), tapered roller bearing (17) is installed in bearing seat (18), bearing seat (18) is fixed on lower supporting plate (15), S. A. (10) is arranged in tapered roller bearing (17), position transduser I (4) is arranged on bearing seat (18) top, spring plate (19) is contained in the lower surface of position transduser I (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420438926.4U CN204056316U (en) | 2014-08-06 | 2014-08-06 | A kind of three degree of freedom helicopter real-time simulation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420438926.4U CN204056316U (en) | 2014-08-06 | 2014-08-06 | A kind of three degree of freedom helicopter real-time simulation platform |
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| CN204056316U true CN204056316U (en) | 2014-12-31 |
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| CN201420438926.4U Expired - Fee Related CN204056316U (en) | 2014-08-06 | 2014-08-06 | A kind of three degree of freedom helicopter real-time simulation platform |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547676A (en) * | 2015-12-25 | 2016-05-04 | 北京航空航天大学 | Multifunctional swing-arm type rotor wing test stand |
| CN106200658A (en) * | 2016-07-21 | 2016-12-07 | 华中科技大学 | A kind of varistructure many rotor wing unmanned aerial vehicles experiment porch |
| CN106628247A (en) * | 2016-12-07 | 2017-05-10 | 大连理工大学 | Wireless three-freedom helicopter experiment platform |
| CN107651213A (en) * | 2017-04-26 | 2018-02-02 | 天津中德应用技术大学 | Dynamic equilibrium machinery arm |
| CN107664953A (en) * | 2017-09-27 | 2018-02-06 | 昆明理工大学 | A kind of Three Degree Of Freedom helicopter semi-matter simulating system and its control method |
| CN108645425A (en) * | 2018-03-14 | 2018-10-12 | 东南大学 | Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system |
| CN109515747A (en) * | 2018-11-28 | 2019-03-26 | 中国农业大学 | Lap siding unmanned plane experimental rig |
| CN109823566A (en) * | 2018-12-29 | 2019-05-31 | 清华大学 | A kind of vertically taking off and landing flyer flight control system test platform |
| CN113173259A (en) * | 2021-04-20 | 2021-07-27 | 余姚市浙江大学机器人研究中心 | Flight test platform for near space aircraft |
| CN113920832A (en) * | 2021-11-08 | 2022-01-11 | 南京航空航天大学 | Multi-degree-of-freedom rotation speed sensor test teaching experiment table and application thereof |
| CN114063629A (en) * | 2021-11-17 | 2022-02-18 | 南京航空航天大学 | Portable two-degree-of-freedom flight attitude control experiment table |
| CN114307101A (en) * | 2021-12-31 | 2022-04-12 | 武汉大学 | Simulated flight system |
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2014
- 2014-08-06 CN CN201420438926.4U patent/CN204056316U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547676A (en) * | 2015-12-25 | 2016-05-04 | 北京航空航天大学 | Multifunctional swing-arm type rotor wing test stand |
| CN105547676B (en) * | 2015-12-25 | 2018-01-12 | 北京航空航天大学 | A kind of arm-type rotor model.test system of multifunctional rotary |
| CN106200658A (en) * | 2016-07-21 | 2016-12-07 | 华中科技大学 | A kind of varistructure many rotor wing unmanned aerial vehicles experiment porch |
| CN106628247A (en) * | 2016-12-07 | 2017-05-10 | 大连理工大学 | Wireless three-freedom helicopter experiment platform |
| CN107651213A (en) * | 2017-04-26 | 2018-02-02 | 天津中德应用技术大学 | Dynamic equilibrium machinery arm |
| CN107664953A (en) * | 2017-09-27 | 2018-02-06 | 昆明理工大学 | A kind of Three Degree Of Freedom helicopter semi-matter simulating system and its control method |
| CN107664953B (en) * | 2017-09-27 | 2024-05-03 | 昆明理工大学 | Three-degree-of-freedom helicopter semi-physical simulation system and control method thereof |
| CN108645425B (en) * | 2018-03-14 | 2022-03-08 | 东南大学 | Small-size rotor unmanned aerial vehicle gyroscope structure test system based on six-dimensional force sensor |
| CN108645425A (en) * | 2018-03-14 | 2018-10-12 | 东南大学 | Small-sized rotor wing unmanned aerial vehicle gyroscope arrangement based on six-dimension force sensor tests system |
| CN109515747A (en) * | 2018-11-28 | 2019-03-26 | 中国农业大学 | Lap siding unmanned plane experimental rig |
| CN109515747B (en) * | 2018-11-28 | 2024-03-22 | 中国农业大学 | Tandem unmanned aerial vehicle test device |
| CN109823566A (en) * | 2018-12-29 | 2019-05-31 | 清华大学 | A kind of vertically taking off and landing flyer flight control system test platform |
| CN113173259A (en) * | 2021-04-20 | 2021-07-27 | 余姚市浙江大学机器人研究中心 | Flight test platform for near space aircraft |
| CN113173259B (en) * | 2021-04-20 | 2022-08-12 | 余姚市浙江大学机器人研究中心 | Flight test platform for near space aircraft |
| CN113920832A (en) * | 2021-11-08 | 2022-01-11 | 南京航空航天大学 | Multi-degree-of-freedom rotation speed sensor test teaching experiment table and application thereof |
| CN114063629A (en) * | 2021-11-17 | 2022-02-18 | 南京航空航天大学 | Portable two-degree-of-freedom flight attitude control experiment table |
| CN114307101A (en) * | 2021-12-31 | 2022-04-12 | 武汉大学 | Simulated flight system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20150806 |
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| EXPY | Termination of patent right or utility model |