Measuring apparatus for motor tension linearity of multi-rotor type aircraft, and control system and method thereof

Abstract

The present invention discloses a measuring apparatus for a motor tension linearity of a multi-rotor type aircraft, and a control system and method thereof. The measuring apparatus provided by the invention comprises a tension sensor, a light pull bar, a motor to be detected and a support. The bottom end of the light pull bar is connected with a tension end of the tension sensor, the top end of the light pull bar is connected with a mounting base, and fixed collars sleeve the light pull bar; a motor base is arranged at the bottom of the motor to be detected, and a paddle is installed at the top of the motor to be detected; and the motor base may be fixed on the mounting base. According to the invention, the measurement and the analysis of the motor tension linearity are performed to form an analytical curve of the linearity; programming developers may perform linearity compensations of each point according to the analytical curve of the linearity to allow the motor tension linearity to approximate to be linear so as to facilitate the post control of the aircraft; and random PWM (pulse width modulated signal) values are given to the motor for observing the tension of the point in such a manner to contribute to the stable hovering regulation of the aircraft. The measuring apparatus for the motor tension linearity of the multi-rotor type aircraft, and the control system and the method thereof have the advantages of simple structure, low cost, short debugging period and high accuracy of debugging parameters, thereby bringing users convenience.

Description

technical field [0001] The invention belongs to the field of mechatronics, and in particular relates to a multi-rotor aircraft motor tension linearity measurement device and its control system and method. Background technique [0002] The motor pull linearity of multi-rotor aircraft is not good, and the control amount applied to the same pull point is different for the same batch of motor linearity, which brings difficulties to programmers. Traditional motor linearity analysis tools It is impossible to systematically analyze the linearity of each pull point of the motor, and it is impossible to correct the linearity of the nonlinear motor. Contents of the invention [0003] Purpose of the invention: The present invention provides a multi-rotor aircraft motor tension linearity measurement device and its control system and method to solve the poor linearity of the motor tension in the prior art, and the linearity of the same batch of motors at the same tension point The amo...

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Problems solved by technology

[0003] Purpose of the invention: The present invention provides a multi-rotor aircraft motor tension linearity measurement device and its control system and method, to solve the poor linearity of the motor tension in the prior art, the linearity of the same batch of motors at the same tension point The amount of control imposed on the

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