Gyroscope structure test system for small rotor UAV based on six-dimensional force sensor

A six-dimensional force sensor, unmanned rotor technology, applied in instruments, measuring devices, etc., can solve problems such as inability to accurately measure flight data, difficulty in simulating the flight state of UAVs, and achieve the effect of optimizing engine design and improving engine design.

Active Publication Date: 2022-03-08
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 unmanned aerial vehicle test platform, which is difficult to simulate the real flight state of the unmanned aerial vehicle, and cannot accurately measure the flight data.

Method used

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  • Gyroscope structure test system for small rotor UAV based on six-dimensional force sensor
  • Gyroscope structure test system for small rotor UAV based on six-dimensional force sensor
  • Gyroscope structure test system for small rotor UAV based on six-dimensional force sensor

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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

[0076] 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:

[0077] (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-scale rotor UAV gyroscope structure test system based on a six-dimensional force sensor, including a three-degree-of-freedom motion test platform based on a three-axis gyroscope structure, which is used for pitching and rolling of a small UAV and yaw three-degree-of-freedom arbitrary motion; a UAV state measurement module based on a combination of multi-source sensors, including six-dimensional force sensors, inertial attitude sensors and UAV external sensors; a test platform ground station control module, including flight control The device and test platform controller are used to operate various motion modes of the UAV and the observation parameter model of the measurement platform to realize UAV motion measurement, state perception, data transmission and PC-side visualization; a principle of multi-source data fusion and analysis Model. The first aspect of the invention is that it can satisfy the three-degree-of-freedom motion state estimation and indoor training functions of the micro-rotor UAV, and realize the flight attitude estimation, vibration analysis, actual motion display and indoor flight training of the UAV.

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 the airborne equipment it carries. 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 f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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