Small unmanned rotorcraft gyroscope structure test system based on six-dimensional force sensor

A six-dimensional force sensor, unmanned rotor technology, applied in the direction of instruments, measuring devices, etc., can solve the problems that it is difficult to simulate the flight state of drones, and the flight data cannot be accurately measured

Active Publication Date: 2018-10-12
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is a multi-rotor gyroscope structure test platform designed for the above-mentioned existing unman

Method used

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  • Small unmanned rotorcraft gyroscope structure test system based on six-dimensional force sensor
  • Small unmanned rotorcraft gyroscope structure test system based on six-dimensional force sensor
  • Small unmanned rotorcraft gyroscope structure test system based on six-dimensional force sensor

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Experimental program
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Effect test

Embodiment 1

[0049] Such as Figure 5 As shown, the test platform of the present invention includes an aluminum alloy support frame 1, a spherical support frame 2, an annular support frame 3, two kinds of connecting parts 4, a support rod 5, a fixing part 6, a sensor 7, a deep groove ball bearing 8 and a linear Bearing 9. Among them, the spherical support frame 2 is assembled into an outer spherical frame through the connecting piece 4; the connecting piece 4 is equipped with a deep groove ball bearing 8, and the connecting piece 4 is inserted into the linear bearing 9 through the rotating shaft; the linear bearing 9 is embedded in the aluminum alloy support frame 1; Both ends of the support rod 5 are connected to the ring support frame 3 through shafts, and the drone is connected to the support rod 5 through the fixing part 6; the sensor 7 is connected to the middle part of the aluminum alloy support frame 1 through screws.

[0050] 1. The aluminum alloy support frame 1 is connected by s...

Embodiment 2

[0065] Such as figure 1 , figure 2 , image 3 As shown, the small rotor UAV test and analysis system based on the six-dimensional force sensor includes:

[0066] The three-degree-of-freedom mechanical structure used as a test platform is used for small unmanned aerial vehicles to perform arbitrary movements of three degrees of freedom in pitch, roll and yaw, including: test frame, spherical support frame, circular support frame, connectors, and support rods , fixed parts, deep groove ball bearings and linear bearings; wherein the spherical support frame is assembled into an outer spherical frame through the connecting parts; the deep groove ball bearings are installed in the connecting parts, and the connecting parts are inserted into the straight line through the rotating shaft In the bearing; the linear bearing is embedded in the support frame; both ends of the support rod are connected to the ring support frame through a shaft, and the fixing member is connected to the s...

Embodiment 3

[0077] On the one hand, the data analysis method of the test platform can use the three-dimensional force sensor and the internal sensor of the UAV flight control to obtain flight lift, thrust and other data in the general flight state, combined with air velocity, etc., so as to perform flight dynamics analysis and aerodynamic analysis; On the one hand, the simulation of the real flight attitude of the UAV can be realized through the three-degree-of-freedom test platform; Figure 10 The sensors in the test platform shown are all treated with three defenses. By placing the test platform in different environments (such as high and low temperature, wind tunnel, electromagnetic field, etc.), the flight attitude and force of the drone under special conditions can be simulated. situation, so as to analyze the influence of special conditions on all aspects of the UAV and the stability of the UAV:

[0078] (1) High and low temperature test. The test platform is placed in a vacuum ins...

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Abstract

The invention discloses a small unmanned-rotorcraft gyroscope structure test system based on a six-dimensional force sensor. The small unmanned-rotorcraft gyroscope structure test system comprises: athree-degree-of-freedom motion test platform based on a triaxial gyroscope structure, which is used for testing three-degree-of-freedom arbitrary motions of pitching, rolling and yawing of a small unmanned craft; an unmanned craft state measurement module based on a multi-source sensor combination, which comprises a six-dimensional force sensor, an inertial attitude sensor and an unmanned craft external sensor; a test platform ground station control module, which comprises a flight controller and a test platform controller and is used for operating a plurality of motion modes of the unmanned craft and an observation parameter model of a measurement platform to realize motion measurement, state perception, data transmission and PC-side visualization for the unmanned craft; and a multi-source data fusion and analysis principle model. The small unmanned-rotorcraft gyroscope structure test system provided by the invention can meet the demand for the functions of three-degree-of-freedom motion state estimation and indoor training of a tiny unmanned rotorcraft, and realizes flight attitude estimation, vibration analysis, actual motion display and indoor flight training of the unmanned craft.

Description

technical field [0001] The invention relates to a dynamic test platform mechanism and multi-sensor data acquisition and fusion integration technology, belonging to the technical field of machinery and control systems. Background technique [0002] In recent years, drone companies headed by Shenzhen Dajiang Innovation Technology Co., Ltd. have become more and more popular in the industry worldwide, which has also driven a group of outstanding technological innovation companies to invest in the research and development team of drones. among. As an aerial platform, UAV can have multiple functions through its on-board equipment. Because multi-rotor aircraft has many advantages such as vertical lift, low cost, simple structure, and stable performance, more and more companies are focusing on the research of multi-rotor aircraft industry applications (such as aerial photography, plant protection, logistics, low-altitude detection, etc.). [0003] However, the current field of dro...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 阳媛余康宁张卓然高畅张一涛赵浩祯马群
Owner SOUTHEAST UNIV
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