CN205192528U - Flight data acquisition system towards light helicopter - Google Patents
Flight data acquisition system towards light helicopter Download PDFInfo
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- CN205192528U CN205192528U CN201520950687.5U CN201520950687U CN205192528U CN 205192528 U CN205192528 U CN 205192528U CN 201520950687 U CN201520950687 U CN 201520950687U CN 205192528 U CN205192528 U CN 205192528U
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Abstract
The utility model relates to a flight data acquisition system towards light helicopter, including pole volume data acquisition system, difference GPS module, inertia measuring unit, data storage module. The utility model discloses simple structure can realize powerful data acquisition, memory function with module simply, conveniently installs on small -size helicopter, through collection to data and assay, assesses aircraft state and quality, also has fine practical meaning in the aspect of the flight technical assessment of realization to the driver.
Description
Technical field
The utility model relates to a kind of flight data acquisition system towards light helicopter, specifically a kind of for gathering controlled quentity controlled variable in people's helicopter flight process and controlling the data acquisition system (DAS) of output quantity, for the post-processed of data.
Background technology
Helicopter is a very complicated control object, have nonlinearity, multivariate, strong coupling, time become, the features such as open-loop unstable.Therefore, carry out pattern-recognition to helicopter very high to data demand, and will control accurately unmanned plane in unmanned plane research, the model of helicopter must be accurately.In the research of depopulated helicopter in the past, research object is miniature model copter mainly, to the data acquisition of the model of an airplane, as long as gather signal that telepilot sends and aircraft body navigation data just can complete.
Along with unmanned plane Research tendency maximizes, the large-scale unmanned plane cost of exploitation is high separately, and therefore use has people's helicopter to repack depopulated helicopter into is now conventional large-scale depopulated helicopter development tool.But using has man-machine exploitation to there is helicopter model uncertain condition, does not also have a kind of equipment to be specifically designed to the equipment gathering driver's rod volume and flying quality in people's helicopter flight process at present at home and abroad simultaneously.Simultaneously, in the flight course of helicopter, the vibrational state of aircraft, flight quality, when not having professional equipment to test, only cannot assess accurately from the impression of driver, and the state of helicopter are closely related with the flight safety of aircraft with flight quality.Therefore a kind of not only can collection driver's rod volume, but also the equipment of flying quality can be gathered having in people's helicopter flight process is needed.
Utility model content
There is people helicopter to control rod volume and aircraft flight data this technological gap for temporarily also not gathering simultaneously both at home and abroad, the utility model proposes a kind of flight data acquisition system towards light helicopter.
The technical solution adopted in the utility model is: a kind of flight data acquisition system towards light helicopter, comprises data memory module and connected rod volume data acquisition system (DAS), differential GPS module, Inertial Measurement Unit;
Rod volume data acquisition system (DAS) is for gathering the controlled quentity controlled variable of helicopter control bar and pedal and being sent to data memory module;
Differential GPS module is for gathering the position of helicopter and velocity information and sending to data memory module;
Inertial Measurement Unit is for gathering helicopter 3-axis acceleration and three axis angular rate information send to data memory module.
Described rod volume data acquisition system (DAS) comprises A/D acquisition module and connected RS422/RS232 modular converter, stay wire sensor; Described RS422/RS232 modular converter is connected with data memory module, and stay wire sensor is connected with helicopter control bar, pedal.
Described stay wire sensor is four; First stay wire sensor is connected with the total square bar of helicopter; Second stay wire sensor, the 3rd stay wire sensor are all connected with helicopter control bar; 4th stay wire sensor is connected with helicopter pedal.
The pull wire head telescopic direction gathering exercise data in described second stay wire sensor is with that helicopter controls the cable wire head direction of motion of the cable wire of state of flight by left and right push-and-pull operating rod is consistent.
The pull wire head telescopic direction gathering exercise data in described 3rd stay wire sensor is with that helicopter controls the cable wire head direction of motion of the cable wire of state of flight by front and back push-and-pull operating rod is consistent.
Described data memory module comprises ARM chip and connected SD card; Described ARM chip is connected with rod volume data acquisition system (DAS), differential GPS module, Inertial Measurement Unit.
The utility model has following beneficial effect and advantage:
1. the utility model achieves in a system, have employed multiple stay wire sensor, in conjunction with differential GPS module and Inertial Measurement Unit, collects the flying quality handling rod volume and aircraft simultaneously;
2. the manipulated variable that collects of data memory module energy real-time storage of the present utility model and flying quality, for the pattern identification in later stage;
3. the utility model structure is simple, can realize powerful data acquisition, memory function with module simply.
4. the utility model has stronger versatility and stronger systematicness, and operability of the present utility model, illustrative are all comparatively strong, and being applied to easily variously light-dutyly to have in the experiment of helicopter flight data acquisition under people's driving environment.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present utility model;
Fig. 2 is rod volume data acquisition system (DAS) structure and connection block diagram in the utility model;
Fig. 3 is data memory module structured flowchart in the utility model;
Fig. 4 is structural representation in the utility model;
Wherein, 1 rod volume data acquisition system (DAS), 2 data memory modules, 3 differential GPS modules, 4 Inertial Measurement Units; 1-1 first stay wire sensor, 1-2 second stay wire sensor, 1-3 the 3rd stay wire sensor, 1-4 the 4th stay wire sensor, 1-5A/D acquisition module, 1-6RS422/RS232 modular converter, 2-1ARM chip, 2-2SD card.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is illustrated.
In existing depopulated helicopter design, because new architecture cost of development is higher, relatively more conventional method repacks people's helicopter product that has of maturation into depopulated helicopter, in order to reach, helicopter is controlled more accurately in repacking, need to carry out pattern-recognition to helicopter, all controlled quentity controlled variables of helicopter and control output quantity are recorded in SD card by the utility model energy high-frequency ground accurately, for post analysis helicopter time domain and frequency-domain model provide Data support, provide guarantee for controlling helicopter more accurately.Simultaneously in the flight course of helicopter, the vibrational state of aircraft, flight quality be not when having professional equipment to test, only cannot assess accurately from the impression of driver, the utility model can be arranged on Mini Tele-Copter easily, by to the collection of data and analysis, according to data assessment aircraft state and quality, can also have good Practical significance in realization in the airmanship assessment of driver.
Towards a flight data acquisition system for light helicopter, comprise rod volume data acquisition system (DAS), data memory module, differential GPS module, Inertial Measurement Unit.
Rod volume data acquisition system (DAS) function is the controlled quentity controlled variable to total distance, pitching, rolling and course four operating rods in the frequency collection helicopter flight process with 10HZ; Rod volume data acquisition system (DAS) is communicated by RS-232 with data memory module, for realizing, the controlled quentity controlled variable in total for the operating rod collected distance, pitching, rolling and course is sent to data memory module;
Differential GPS functions of modules be with the frequency collection helicopter longitude of 10HZ, latitude, highly, X-axis speed, Y-axis speed and Z axis velocity information; Communicated by RS-232 with data memory module, for realizing the longitude collected, latitude, highly, three axle speed send to data memory module;
Inertial Measurement Unit function is with the frequency collection helicopter X-axis acceleration of 300HZ, Y-axis acceleration, Z axis acceleration, X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity information; Being communicated by RS-232 with data memory module, for realizing, the 3-axis acceleration collected and three axis angular rates being sent to data memory module;
The all data collected are stored in SD card with 300HZ frequency by data memory module in the form of text.
Described rod volume data acquisition system (DAS) comprises:
Stay wire sensor 1 gathers collective-pitch lever amount, exports to A/D acquisition module with 0-5V voltage form; Stay wire sensor 2 gathers pitching rod volume, exports to A/D acquisition module with 0-5V voltage form; Stay wire sensor 3 gathers rolling rod volume, exports to A/D acquisition module with 0-5V voltage form; Stay wire sensor 4 gathers course rod volume, exports to A/D acquisition module with 0-5V voltage form.
The digital quantity of the analog quantity conversion of the total distance collected, pitching, rolling and course rod volume exports, by exporting to data memory module by RS232 interface after RS422/RS232 modular converter with RS422 form by A/D acquisition module.
Described data memory module comprises:
ARM9 chip by RS232 interface from the controlled quentity controlled variable information comprising total distance of rod volume data acquisition system (DAS), pitching, rolling and course four operating rods; The longitude of differential GPS module, latitude, highly, X-axis speed, Y-axis speed and Z axis velocity information; The X-axis acceleration of Inertial Measurement Unit, Y-axis acceleration, Z axis acceleration, X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity information.And write in the form of text in SD card with the frequency of 300HZ.
As shown in Fig. 1 structured flowchart:
Rod volume data acquisition system (DAS) 1 is with the frequency collection helicopter of 10HZ controlled quentity controlled variable to total distance, pitching, rolling and course four operating rods in flight course; By RS-232, the controlled quentity controlled variable in total for the operating rod collected distance, pitching, rolling and course is sent to data memory module 2;
Differential GPS module 3, adopts the NOVATELOEM615 differential GPS module of Novatel company.With the frequency collection helicopter longitude of 10HZ, latitude, highly, X-axis speed, Y-axis speed and Z axis velocity information; By RS-232 by the longitude collected, latitude, highly, three axle speed send to data memory module 2;
Inertial Measurement Unit 4, adopts the ADIS16365 of AnalogDevices company, with the frequency collection helicopter X-axis acceleration of 300HZ, Y-axis acceleration, Z axis acceleration, X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity information; By RS-232, the 3-axis acceleration collected and three axis angular rates are sent to data memory module 2;
The all data collected are stored in SD card with 300HZ frequency by data memory module 2 in the form of text.
As shown in Fig. 2 rod volume data acquisition system (DAS) structured flowchart:
Stay wire sensor adopts the MPS-S-200MM-R wiring sensor of MIRAN company; Five stay wire sensors gather the rod volume in the total distance of operating rod, pitching, rolling and course respectively;
A/D acquisition module 1-5 adopts the ADAM-41178 road Analog input mModule of Yan Hua company, the digital quantity of the analog quantity conversion of the total distance collected, pitching, rolling and course rod volume is exported, by exporting to data memory module 2 by RS232 interface after RS422/RS232 modular converter 1-6 with RS422 form.RS422/RS232 modular converter 1-6 adopts Yan Hua company ADAM-4520RS-232 to turn 422/485 serial converter module.
As shown in Fig. 3 data memory module structured flowchart:
ARM9 chip 2-1 adopts the LPC3250 chip of En Zhi Pu semiconductor company, by RS232 interface from the controlled quentity controlled variable information comprising total distance of rod volume data acquisition system (DAS) 1, pitching, rolling and course four operating rods; The longitude of differential GPS module 3, latitude, highly, X-axis speed, Y-axis speed and Z axis velocity information; The X-axis acceleration of Inertial Measurement Unit 4, Y-axis acceleration, Z axis acceleration, X-axis angular velocity, Y-axis angular velocity and Z axis angular velocity information.And write in the form of text in SD card 2-2 with the frequency of 300HZ.SD card 2-2 adopts Kingston2GBSD card.
As shown in Figure 4:
Component serial number stay wire sensor 1-1, stay wire sensor 1-2, stay wire sensor 1-3, stay wire sensor 1-4 in figure, data memory module 2, differential GPS module 3, Inertial Measurement Unit IMU4.Stay wire sensor 1-1 connects main rotor shaft collection collective-pitch lever amount and sends to data memory module 2, and the pull wire head of stay wire sensor 1-1 is stretched along near linear, and rectilinear direction is the connecting rod connecting total square pull bar end and cross plate total square control gear end; Stay wire sensor 1-2 connects operating rod collection pitching rod volume and sends to data memory module 2; Stay wire sensor 1-3 connects operating rod collection rolling rod volume and sends to data memory module 2; Stay wire sensor 1-4 connecting pin pedal gathers course rod volume and sends to data memory module 2, and the pull wire head direction of motion of stay wire sensor 1-4 is consistent with along the cable wire telescopic direction connected on the footrests; Meanwhile, differential GPS module 3 gathers helicopter longitude, latitude, highly, three axle velocity informations send to data memory module 2; Inertial Measurement Unit 4 gathers helicopter 3-axis acceleration, three axis angular rate information send to data memory module 2.Wherein, the pull wire head telescopic direction gathering exercise data in stay wire sensor 1-2 is with that helicopter controls the cable wire head direction of motion of the cable wire of state of flight by left and right push-and-pull operating rod is consistent; This helicopter controls state of flight by cable wire, cable wire is made up of the vulcanie integument of 1/4 inch diameter steel wire and wrapped wire, steel wire can be free to slide in rubber integument, the two ends of rubber integument are all connected with bolt, be separately fixed at control screw propeller state the total square of cross plate on and in frame in cabin; Cable wire one end in rubber layer is fixed on cross plate, and the other end is fixed on helicopter pilot's operating rod.The pull wire head telescopic direction gathering exercise data in stay wire sensor 1-3, with that helicopter controls the cable wire head direction of motion of the cable wire of state of flight by front and back push-and-pull operating rod is consistent, can gather out pitching and the roll data of helicopter respectively.
Someone drives helicopter flight data acquisition system (DAS) can simultaneously by the controlled quentity controlled variable of rod volume data acquisition system helicopter total distance, pitching, rolling and course four operating rods in flight course; By differential GPS module acquires helicopter longitude and latitude, highly, three axle speed; 3-axis acceleration, three axis angular rates are gathered by Inertial Measurement Unit (IMU).With the frequency of 300HZ, data are stored in SD card in a text form simultaneously.These data can be used for there is man-machine Model Distinguish, so that after repacking, reach the accurate control of helicopter.Pass through the collection to data and analysis simultaneously, can, according to data assessment aircraft state and quality, realize assessing the airmanship of driver.
Claims (4)
1. towards a flight data acquisition system for light helicopter, it is characterized in that: comprise data memory module (2) and connected rod volume data acquisition system (DAS) (1), differential GPS module (3), Inertial Measurement Unit (4);
Described rod volume data acquisition system (DAS) (1) comprises A/D acquisition module (1-5) and connected RS422/RS232 modular converter (1-6), stay wire sensor; Described RS422/RS232 modular converter (1-6) is connected with data memory module (2), and stay wire sensor is connected with helicopter control bar, pedal;
Described stay wire sensor is four; First stay wire sensor (1-1) is connected with the total square bar of helicopter; Second stay wire sensor (1-2), the 3rd stay wire sensor (1-3) are all connected with helicopter control bar; 4th stay wire sensor (1-4) is connected with helicopter pedal.
2. a kind of flight data acquisition system towards light helicopter according to claim 1, to control the cable wire head direction of motion of the cable wire of state of flight consistent with helicopter passing through left and right push-and-pull operating rod for the pull wire head telescopic direction that it is characterized in that gathering in described second stay wire sensor (1-2) exercise data.
3. a kind of flight data acquisition system towards light helicopter according to claim 1, to control the cable wire head direction of motion of the cable wire of state of flight consistent with helicopter passing through front and back push-and-pull operating rod for the pull wire head telescopic direction that it is characterized in that gathering in described 3rd stay wire sensor (1-3) exercise data.
4. a kind of flight data acquisition system towards light helicopter according to claim 1, is characterized in that described data memory module (2) comprises ARM chip (2-1) and connected SD card (2-2); Described ARM chip (2-1) is connected with rod volume data acquisition system (DAS) (1), differential GPS module (3), Inertial Measurement Unit (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520950687.5U CN205192528U (en) | 2015-11-25 | 2015-11-25 | Flight data acquisition system towards light helicopter |
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| CN201520950687.5U CN205192528U (en) | 2015-11-25 | 2015-11-25 | Flight data acquisition system towards light helicopter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556457A (en) * | 2016-11-11 | 2017-04-05 | 中国科学院长春光学精密机械与物理研究所 | For the digital data recording system of small aircraft |
| CN106768008A (en) * | 2015-11-25 | 2017-05-31 | 中国科学院沈阳自动化研究所 | A kind of flight data acquisition system towards light helicopter |
| CN113075879A (en) * | 2020-01-03 | 2021-07-06 | 中国科学院沈阳自动化研究所 | Engine control system of tilt rotor unmanned aerial vehicle |
-
2015
- 2015-11-25 CN CN201520950687.5U patent/CN205192528U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106768008A (en) * | 2015-11-25 | 2017-05-31 | 中国科学院沈阳自动化研究所 | A kind of flight data acquisition system towards light helicopter |
| CN106556457A (en) * | 2016-11-11 | 2017-04-05 | 中国科学院长春光学精密机械与物理研究所 | For the digital data recording system of small aircraft |
| CN113075879A (en) * | 2020-01-03 | 2021-07-06 | 中国科学院沈阳自动化研究所 | Engine control system of tilt rotor unmanned aerial vehicle |
| CN113075879B (en) * | 2020-01-03 | 2022-02-01 | 中国科学院沈阳自动化研究所 | Engine control system of tilt rotor unmanned aerial vehicle |
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