A rotorcraft comprehensive test experiment simulation platform and test method

Abstract

The present invention relates to a rotary-wing aircraft comprehensive test experiment simulation platform, comprising a platform support, a three-rotational freedom component, a motion slide bar, a space rotation mechanism, and a flexible four-cable motion mechanism, wherein the flexible four-cable motion mechanism comprises four groups of tension sensor components and springs; one end of the motion slide bar is connected to the three-rotational freedom component, and the other end passes through the space rotation mechanism and is connected to one end of the spring, and the other end of the spring is fixedly connected to the side wall of the platform support through the tension sensor component; the space motion mechanism can provide the rotary-wing aircraft with six degrees of freedom simulation flight within a certain range, including lifting, left and right, front and back, pitching, rolling, and yaw; a flexible attitude detection device can detect the angle and position information of the space motion mechanism, and the real-time state of the rotary-wing aircraft can be obtained by solving the information. The present invention integrates the functions of training, experiment, teaching, scientific research, etc., and can realize accurate detection of the spatial position, spatial attitude, and load vector force of the rotary-wing aircraft.

Description

Technical Field

[0001] The invention belongs to the technical field of rotorcraft testing, and in particular relates to a rotorcraft comprehensive testing experimental simulation platform and a testing method. Background Art

[0002] At present, the development of aircraft control faces unprecedented opportunities and challenges, and the application of rotorcraft is becoming more and more extensive, involving military, civilian, educational, scientific research and other fields. On the one hand, the development of new aircraft technologies is changing with each passing day, and it is necessary to further strengthen the research on theories and methods, strengthen the integration of control, computing and communication, and the integration of control, decision-making and management for the information environment. The complex dynamics model of aircraft, the analysis and design characteristics of multidisciplinary cross-disciplines, as well as the research on the methods and real-time algorithms of composite control, decoupling control, and reconstruction control, anti-interference precision control, unmanned system autonomy, situational awareness and evaluation, and its adaptability to uncertainty, have put forward higher requirements for the testing and experiment of aircraft and their flight effects. On the other hand, with the development of artificial intelligence technology and unmanned autonomous technology, rotorcraft as a popular science intelligent technology has gradually entered the classrooms of universities, high schools, vocational schools, and primary and secondary schools. At the same time, many regions have used rotorcraft technology as a robot expansion training project and carried out competition activities at different levels of universities, middle schools, and primary schools. At present, the experimental platforms for rotorcraft are generally for training with relatively simple functions. They do not have functions such as human-machine interaction, and the degrees of freedom they can achieve are relatively small. They cannot realize the three-dimensional six-degree-of-freedom flight simulation of the aircraft, and it is difficult to achieve intuitive, high-precision, and multi-information test effects and experimental and training purposes.

[0003] In addition, in the simulated flight of the rotorcraft, the detection of the space load vector force and the position of the aircraft is difficult due to the limitations of sensor selection and installation conditions.

[0004] Therefore, based on these problems, it is of great practical significance to provide a comprehensive test experimental simulation platform and test method for rotorcraft, which integrates training, experiment, teaching, scientific research and other functions and can accurately detect the spatial position, spatial attitude and load vector force of the rotorcraft. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a rotorcraft comprehensive test experiment simulation platform and test method that integrates training, experiment, teaching, scientific research and other functions and can accurately detect the spatial position, spatial attitude, and load vector force of the rotorcraft.

[0006] The present invention solves the technical problem by adopting the following technical solutions:

[0007] A rotary-wing aircraft comprehensive test experimental simulation platform comprises a platform support, a space motion mechanism, and a flexible attitude detection device, wherein the space motion mechanism comprises a three-rotational-freedom component and a motion slide bar; the flexible attitude detection device comprises a space rotation mechanism and a flexible four-cable motion mechanism, and the flexible four-cable motion mechanism comprises four groups of tension sensing components and a spring; the space rotation mechanism is fixed on the platform support, one end of the motion slide bar is connected to the three-rotational-freedom component, and the other end passes through the space rotation mechanism and is connected to one end of a spring, and the other end of the spring is fixedly connected to a side wall of the platform support through the tension sensing component;

[0008] The rotorcraft can be mounted on top of the three-degree-of-freedom rotation assembly, and the space motion mechanism can provide the rotorcraft with six-degree-of-freedom simulated flight within a certain range, including lift, left and right, front and back, pitch, roll, and yaw;

[0009] The flexible attitude detection device can detect the angle and position information of the space motion mechanism, and the real-time status of the rotorcraft can be obtained by solving the information.

[0010] Furthermore, the three-degree-of-rotational-freedom assembly includes an x” rotating shaft, an x” right bearing support, an x” left bearing support, a y” rotating shaft, a y” bearing support, a conductive slip ring, a z” rotating shaft, a z” bearing sleeve, and an aircraft fixed support plate; the y” bearing support is a door frame type structure, and one end of the motion slide rod is fixedly connected to one end of the z” rotating shaft; the z” rotating shaft is connected to the z” bearing sleeve through the z” bearing, so that the z” bearing sleeve can rotate around the z” rotating shaft, the upper end of the z” bearing sleeve is fixedly connected to the z” bearing end cover, one end of the conductive slip ring is inserted into the z” bearing end cover, and is connected to the z” bearing end cover through the protrusion at its lower end The groove on the top of the "z" shaft is matched and installed, the y" bearing support is fixed on the upper end surface of the z" bearing end cover and can rotate with the z" bearing sleeve, the y" shaft is fixed on the two side walls of the y" bearing support through bearings, the y" shaft is orthogonally inserted into the middle position of the x" shaft and fixedly connected to the x" shaft, the two ends of the x" shaft are respectively connected to the x" left bearing support and the x" right bearing support through bearings, the x" left bearing support and the x" right bearing support are fixedly connected to the aircraft fixed support plate, and the x" left bearing support and the x" right bearing support are located at both ends of the y" bearing support.

[0011] Furthermore, the spatial rotation mechanism includes a first frame structure, a second frame structure, a pair of rotating shafts, a pair of encoder fixed rotating shafts and a linear bearing sleeve, the second frame structure is located in the first frame structure, the linear bearing sleeve is provided with a through hole, and a linear bearing is embedded and installed in the through hole; the first frame structure includes a pair of x'-axis fixed frame side plates, a pair of x' rotating shaft mounting plates, and the two ends of the pair of x'-axis fixed frame side plates are respectively fixedly connected to the two ends of the pair of x' rotating shaft mounting plates, thereby forming a frame structure; the second frame structure includes a pair of y'-axis fixed frame side plates, a pair of y' rotating shaft mounting plates, and the two ends of the pair of y'-axis fixed frame side plates are respectively fixedly connected to the two ends of the pair of y' rotating shaft mounting plates, thereby forming a frame structure;

[0012] One of the rotating shafts and one of the encoder fixed rotating shafts are respectively fixed on opposite sides of the linear bearing sleeve, and the rotating shaft and the encoder fixed rotating shaft are respectively assembled with a pair of y' rotating shaft mounting plates through bearings, and the encoder fixed rotating shaft passes through the y' rotating shaft mounting plate, and a hollow shaft rotary encoder is fixed at its end;

[0013] The other rotating shaft and the other encoder fixed rotating shaft are respectively fixed on a pair of side plates of the y'-axis fixed frame, and the rotating shaft and the encoder fixed rotating shaft are respectively assembled with a pair of x' rotating shaft mounting plates through bearings, and the encoder fixed rotating shaft passes through the x' rotating shaft mounting plate, and a hollow shaft rotary encoder is fixed at its end.

[0014] Furthermore, the tension sensor assembly includes a tension sensor mounting plate, a tension sensor, and a universal coupling. The tension sensor mounting plate is installed on the column of the platform bracket. The tension sensor mounting plate is connected to the tension sensor through the universal coupling. The tension sensor is fixedly connected to the spring. The other end of the spring is fixedly connected to the flange. One end of the moving slide rod passes through the linear bearing of the spatial rotating mechanism and is fixedly connected to the middle position of the flange.

[0015] Furthermore, in the initial state of the rotorcraft before the simulated flight, the elastic forces of the four springs are balanced with the gravity of the rotorcraft and the space motion mechanism, thereby offsetting the additional load of the rotorcraft during the simulated flight.

[0016] Furthermore, the platform support has at least four columns which are symmetrically distributed, so that four groups of tension sensor components are respectively installed on the four columns.

[0017] Furthermore, the installation height of the universal coupling on the tension sensor installation plate is adjustable.

[0018] A method for testing a rotorcraft using a rotorcraft comprehensive test experimental simulation platform includes the following steps:

[0019] Pitch, roll, and yaw attitude detection of rotorcraft: The pitch, roll, and yaw attitude of the rotorcraft are collected through the gyroscope sensor in the rotorcraft flight control system, and transmitted to the host computer through the flight control system communication interface and transmission line;

[0020] Three-dimensional spatial position detection of rotorcraft: According to the structural geometric relationship between the spatial rotation mechanism and the spatial motion mechanism, a rotorcraft position motion model is established to obtain the real-time spatial position of the rotorcraft;

[0021] Detection of three-dimensional space load vector force of rotorcraft: Based on the geometric relationship between the flexible four-cable motion mechanism and the moving slide bar, combined with the law of elasticity, a space vector force torque model acting on the lower end of the moving slide bar is established, and then the space load vector force of the rotorcraft is obtained based on the multi-rigid body dynamics principle.

[0022] The advantages and positive effects of the present invention are:

[0023] 1. The space motion mechanism of the present invention is used to carry the rotorcraft and provide the rotorcraft with six degrees of freedom of space simulation flight within a safe range, including lifting, left and right, front and back, pitch, roll, and yaw; the flexible attitude detection device combines the space rotation mechanism with the flexible four-cable motion mechanism to detect the angle and position information of the space motion mechanism in space, which is transmitted to the host computer, and the real-time state of the rotorcraft is calculated through a certain algorithm in combination with the geometric structure and mechanical characteristics of each physical device;

[0024] 2. The present invention uses four sets of tension sensor components and springs to detect the position and force of the lower end of the space flight mechanism, and then establishes a mathematical model of the aircraft position and the space load vector force through the method of rigid body motion, dynamic mechanism and coordinate transformation, so as to solve the real-time position of the aircraft and the space load vector force it receives; the flexible four-cable motion mechanism can detect the position of the aircraft and the space load vector force it receives, and on the other hand, it serves as a position constraint mechanism for the aircraft, and plays a protective role when the aircraft loses control during the simulated flight process, thereby avoiding unnecessary failures and injuries;

[0025] 3. The present invention integrates the functions of training, experiment, teaching, scientific research, etc. The detection method is simple and advanced, and can realize the accurate detection of the space position, space attitude, and load vector force of the aircraft. It has great significance for further promoting the development of rotorcraft theory and technology, the expansion of application fields, the popularization of intelligent technology education, and the training and cultivation of relevant application talents. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but it should be understood that these drawings are designed only for explanation purposes and are not intended to limit the scope of the present invention. In addition, unless otherwise specified, these drawings are intended only to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.

[0027] Figure 1 A schematic diagram of the structure of a rotorcraft comprehensive test experiment simulation platform provided by an embodiment of the present invention;

[0028] Figure 2 for Figure 1 The schematic diagram of the structure after removing the operating table, the side panels of the stand and the rotorcraft;

[0029] Figure 3 A schematic diagram of the structure of a spatial motion mechanism provided in an embodiment of the present invention;

[0030] Figure 4 A structural cross-sectional view of a spatial motion mechanism provided in an embodiment of the present invention;

[0031] Figure 5 It is a schematic structural diagram of a three-rotational-degree-of-freedom component of a spatial motion mechanism provided in an embodiment of the present invention;

[0032] Figure 6 It is a schematic structural diagram of the x" right bearing support and the x" left bearing support of the spatial motion mechanism provided in an embodiment of the present invention;

[0033] Figure 7 Schematic diagram of the structure of the x" axis of rotation of the spatial motion mechanism provided in an embodiment of the present invention;

[0034] Figure 8 It is a schematic structural diagram of the y" axis of rotation of the spatial motion mechanism provided in an embodiment of the present invention;

[0035] Fig. 9 It is a structural schematic diagram of a "y" bearing support of a spatial motion mechanism provided in an embodiment of the present invention;

[0036] Fig.10 A schematic diagram of the structure of a conductive slip ring of a space motion mechanism provided in an embodiment of the present invention;

[0037] Fig.11 Schematic diagram of the structure of the z" axis of the spatial motion mechanism provided in an embodiment of the present invention;

[0038] Fig.12 It is a structural schematic diagram of a "z" bearing sleeve of a spatial motion mechanism provided in an embodiment of the present invention;

[0039] Fig.13This is a schematic structural diagram of a "z" bearing end cover of a spatial motion mechanism provided in an embodiment of the present invention;

[0040] Fig.14 It is a schematic structural diagram of an x" bearing end cover of a spatial motion mechanism provided in an embodiment of the present invention;

[0041] Fig.15 A schematic diagram of the structure of a rotary-wing aircraft test experimental space rotation mechanism provided in an embodiment of the present invention;

[0042] Fig.16 It is a schematic diagram of the structure of a fixed frame M provided in an embodiment of the present invention;

[0043] Fig.17 This is a schematic diagram of the structure of the framework Y provided in an embodiment of the present invention;

[0044] Fig.18 It is a schematic structural diagram of a rotating body S provided in an embodiment of the present invention;

[0045] Fig.19 It is a schematic structural diagram of a fixed rotating shaft of an encoder provided in an embodiment of the present invention;

[0046] Fig. 20 It is a schematic diagram of the structure of the rotating shaft provided in an embodiment of the present invention;

[0047] Fig.21 It is a structural schematic diagram of a tension sensor assembly provided in an embodiment of the present invention;

[0048] Fig. 22 A schematic diagram of the structure of signal transmission provided in an embodiment of the present invention;

[0049] Fig.23 is a simplified structural diagram provided in an embodiment of the present invention;

[0050] Fig.24 : is a schematic diagram of the projection of the position coordinates of point E provided in an embodiment of the present invention;

[0051] Fig.25 is a schematic diagram of the coordinate translation of the space position of an aircraft provided in an embodiment of the present invention;

[0052] Fig.26 It is a schematic diagram of the force analysis of the aircraft load vector force provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] First of all, it should be noted that the specific structure, features and advantages of the present invention will be specifically described below by way of example, but all descriptions are only for illustration and should not be understood as limiting the present invention in any way. In addition, any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature displayed or implied in the drawings, can still be combined or deleted between these technical features (or their equivalents) to obtain more other embodiments of the present invention that may not be directly mentioned in this document. In addition, in order to simplify the drawings, the same or similar technical features may be marked only in one place in the same drawing.

[0054] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0055] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0056] The following is combined Figures 1 to 26 The present invention will be described in detail.

[0057] Example 1

[0058] like Figures 1 to 26 As shown, the present embodiment provides a rotary-wing aircraft comprehensive test experimental simulation platform, comprising a platform bracket 5, a space motion mechanism 2, and a flexible attitude detection device, wherein the space motion mechanism 2 comprises a three-rotational degree of freedom component and a motion slide bar 7; the flexible attitude detection device comprises a space rotation mechanism 8, a flexible four-cable motion mechanism, and the flexible four-cable motion mechanism comprises four groups of tension sensor components 9 and a spring 10; the space rotation mechanism 8 is fixed on the platform bracket 5, one end of the motion slide bar is connected to the three-rotational degree of freedom component, and the other end passes through the space rotation mechanism 8 and is connected to one end of the spring, and the other end of the spring is fixedly connected to the side wall of the platform bracket 5 through the tension sensor component;

[0059] The rotorcraft 3 can be installed on the top of the three-degree-of-freedom rotation assembly, and the space motion mechanism 2 can provide the rotorcraft 3 with six-degree-of-freedom simulated flight within a certain range, including lifting, left and right, front and back, pitching, rolling, and yaw;

[0060] The flexible attitude detection device can detect the angle and position information of the space motion mechanism 2, and the real-time state of the rotorcraft 3 can be obtained by solving the information.

[0061] And, if Figure 1 As shown, the top surface of the platform bracket 5 is covered with an operating table 1, and the platform bracket 5 is fixed with a platform side panel 4 around it.

[0062] The spatial motion mechanism provided in this embodiment includes a three-degree-of-freedom rotation component 6 and a motion slide bar 7. The three-degree-of-freedom rotation component 6 includes an x" rotating shaft 14, an x" right bearing support 23, an x" left bearing support 12, a y" rotating shaft 15, a y" bearing support 16, a conductive slip ring 17, a z" rotating shaft 19, a z" bearing sleeve 21, and an aircraft fixed support plate 24; the y" bearing support 16 is a door frame type structure, one end of the motion slide bar 7 is fixedly connected to one end of the z" rotating shaft 19; the z" rotating shaft 19 is connected to the z" bearing sleeve 21 through the z" bearing 18, so that the z" bearing sleeve 21 can rotate around the z" rotating shaft 19, and the upper end of the z" bearing sleeve 21 is fixedly connected to the z" bearing end cover 22. In this embodiment, they are fixed together by screws, one end of the conductive slip ring 17 is inserted into the z" bearing end cover 22, and is fixed by the convex end of the conductive slip ring 17. The y" bearing support 16 is fixed on the upper end surface of the z" bearing end cover 22 and can rotate with the z" bearing sleeve 21. The y" shaft 15 is fixed on the two side walls of the y" bearing support 16 through bearings. The y" shaft 15 is orthogonally inserted into the middle position of the x" shaft 14 and fixedly connected to the x" shaft 14. The two ends of the x" shaft 14 are respectively connected to the x" left bearing support 12 and the x" right bearing support 23 through x" bearings 13 (not shown in the figure). The x" left bearing support 12 and the x" right bearing support 23 are both provided with x" bearing end covers 25. The x" left bearing support 12 and the x" right bearing support 23 are fixedly connected to the aircraft fixed support plate 24 through screws, and the x" left bearing support 12 and the x" right bearing support 23 are located at both ends of the y" bearing support 16.

[0063] Specifically, in this embodiment, the x" shaft 14 is provided with two mutually orthogonal holes, and the y" shaft 15 is orthogonally inserted into one of the holes of the x" shaft 14. A threaded hole is provided on the y" shaft 15. When the y" shaft 15 passes through one of the holes of the x" shaft 14, the threaded hole on the y" shaft 15 is aligned with the other hole of the x" shaft 14 and fixed by screws to form a cross structure.

[0064] Furthermore, it can be further considered that the z" rotating shaft 19 and the moving slide rod 7 are hollow shafts, and the lower end outlet wire of the conductive slip ring 17 can pass through the z" rotating shaft 19 and the moving slide rod 7 to be connected to the communication interface of the upper computer; the y" bearing support 16 has a center hole in the center and side holes on both sides, and the upper end outlet wire of the conductive slip ring 17 can pass through the center hole of the y" bearing support 16 and pass through the side holes.

[0065] In this embodiment, the inner hole of the motion slide bar 7 has an internal thread, and the lower end of the z" rotating shaft 19 has an external thread, and the motion slide bar 7 and the z" rotating shaft 19 are fixedly connected by threads.

[0066] Moreover, in the present embodiment, a support plate 20 is radially arranged around the cylindrical conductive slip ring 17, the z" bearing end cover 22 has a through hole, one end of the conductive slip ring 17 is inserted into the through hole of the z" bearing end cover 22, and is clamped on the z" bearing end cover 22 through the support plate 20, so that after assembly, the axial movement of the z" rotating shaft 19 can be limited by the support plate 20, and the protrusion 1701 at one end of the conductive slip ring 17 is matched and installed with the groove 1901 at the top of the z" rotating shaft 19.

[0067] The spatial rotation mechanism of this embodiment includes a first frame structure, a second frame structure, a pair of rotating shafts, a pair of encoder fixed rotating shafts and a linear bearing sleeve 34, the second frame structure is located in the first frame structure, the linear bearing sleeve 34 is provided with a through hole, and a linear bearing 33 is embedded and installed in the through hole; the first frame structure includes a pair of x'-axis fixed frame side plates, a pair of x'-rotating shaft mounting plates, the two ends of the pair of x'-axis fixed frame side plates are respectively fixedly connected to the two ends of a pair of x'-rotating shaft mounting plates, thereby forming a frame structure, and the pair of x'-axis fixed frame side plates They are all fixed with a universal rotation mechanism mounting side plate, and the space rotation mechanism is mounted on the bracket through the universal rotation mechanism mounting side plate; specifically: the universal rotation mechanism mounting side plate 36 and the universal rotation mechanism mounting side plate 36* have threaded holes, which are fixed together with the x'-axis fixed frame side plate 29 and the x'-axis fixed frame side plate 29* by bolts; the end faces of the x'-axis mounting plate 30 and the x'-axis mounting plate 30* have threaded holes, which are fixed together with the two x'-axis fixed frame side plates 29 and the x'-axis fixed frame side plates 29* by screws to form a fixed frame M, such as Fig.16 As shown;

[0068] The second frame structure includes a pair of y'-axis fixed frame side plates and a pair of y'-shaft mounting plates. The two ends of the pair of y'-axis fixed frame side plates are respectively fixedly connected to the two ends of the pair of y'-shaft mounting plates, thereby forming a frame structure; a rotating shaft and an encoder fixed rotating shaft are respectively fixed on the pair of y'-axis fixed frame side plates, and the rotating shaft and the encoder fixed rotating shaft are respectively assembled with a pair of x'-shaft mounting plates through bearings, and the encoder fixed rotating shaft passes through the x'-shaft mounting plate, and a hollow shaft rotary encoder is fixed at its end. Specifically: the flange surface of the encoder fixed shaft 37 is mounted on the y'-axis fixed frame side plate 31 by means of screws that cooperate with each other, and the flange surface of the shaft 32 is mounted on the y'-axis fixed frame side plate 31* by means of screws that cooperate with each other. The y'-axis fixed frame side plates 31 and 31* have threaded holes on their end surfaces. The two y'-axis fixed frame side plates 31 and 31* are assembled between the two y'-shaft mounting plates 35 and 35* by means of bolts. Due to the symmetric structure, a frame Y that can rotate around the encoder fixed shaft 37 and the shaft 32 is formed, as shown in FIG. Fig.17 As shown; the encoder fixed shaft 37 passes through the x' shaft mounting plate 30 through the bearing, the shaft 32 is mounted on the x' shaft mounting plate 30* through the bearing, the frame Y can rotate around the x' axis, and the hollow shaft rotary encoder 28 is mounted on the encoder fixed shaft 37, which can detect the angle of rotation of the frame Y around the x' axis;

[0069] A rotating shaft and an encoder fixed rotating shaft are respectively fixed on opposite sides of the linear bearing sleeve, and the rotating shaft and the encoder fixed rotating shaft are respectively assembled with a pair of y' rotating shaft mounting plates through bearings, and the encoder fixed rotating shaft passes through the y' rotating shaft mounting plate, and a hollow shaft rotary encoder is fixed at its end; specifically: the flange surface of the encoder fixed rotating shaft 37* is assembled on the left side of the linear bearing sleeve 34 by screws, and the flange surface of the rotating shaft 32* is assembled on the right side of the linear bearing sleeve 34 by screws, forming a rotating body S, such as Fig.18 As shown; the linear bearing sleeve 34 has an inner hole, and the linear bearing 33 is embedded and installed in the inner hole of the linear bearing sleeve 34; the encoder fixed shaft 37* is assembled on the y' shaft mounting plate 35* through a bearing, and the shaft 32* is assembled on the y' shaft mounting plate 35 through a bearing, and the hollow shaft rotary encoder 28* is mounted on the encoder fixed shaft 37*, which can detect the angle of rotation of the rotating body S around the y' axis;

[0070] The left and right universal rotating mechanism mounting side plates 36 and 36* of the spatial rotating mechanism 8 each have two screw holes on the upper part, which are respectively mounted between the left mounting bracket 26 of the universal rotating mechanism and the right mounting bracket 27 of the universal rotating mechanism by screws. The left mounting bracket 26 of the universal rotating mechanism and the right mounting bracket 27 of the universal rotating mechanism are mounted on the platform bracket 5.

[0071] It should be noted that the rotating shaft, such as Fig. 20 As shown, the diameter change is to adapt to the bearing holes of the x' shaft mounting plate 30* and the y' shaft mounting plate 35; similarly, the encoder fixed shaft, such as Figure 5 As shown, for the convenience of installation, a diameter-variable structure can be made; and both the hollow shaft rotary encoder 28 and the hollow shaft rotary encoder 28* can adopt existing products.

[0072] The frame M, frame Y, rotating body S, hollow shaft rotary encoder 28, hollow shaft rotary encoder 28* form a rotating mechanism. The rotorcraft can be connected to one end of the slide rod. By passing the slide rod through the middle linear bearing 33, the slide rod can slide up and down along the linear bearing 33, and rotate in space around the center of the rotating mechanism together with the rotating body S. Due to structural limitations, the three-degree-of-freedom flight requirements of the aircraft within a safe range, namely, lifting, forward and backward, and left and right, can be met.

[0073] The tension sensor assembly 9 includes a tension sensor mounting plate 38, a tension sensor 39, and a universal coupling 40. The tension sensor mounting plate 38 is installed on the column of the platform bracket 5. The tension sensor mounting plate 38 is connected to the tension sensor 39 through the universal coupling 40. The tension sensor 39 is fixedly connected to a spring, and the other end of the spring is fixedly connected to the flange 11. One end of the moving slide rod passes through the linear bearing of the spatial rotating mechanism 8 and is fixedly connected to the middle position of the flange 11.

[0074] In the initial state before the rotorcraft 3 performs simulated flight, the elastic forces of the four springs are balanced with the gravity of the rotorcraft 3 and the space motion mechanism 2, thereby offsetting the additional load of the rotorcraft during simulated flight.

[0075] Specifically: there is a threaded hole in the middle of the flange 11, which is connected to the moving slide rod 7 through threaded cooperation; the four holes on the flange 11 are respectively hung with four springs 10, and the other end of the spring 10 is hung with a tension sensor 39. The tension sensor is installed on the tension sensor mounting plate 38 through a universal joint 40. There are three holes a, b, and c on the tension sensor mounting plate 38 for fine-tuning the installation height of the tension sensor. The tension sensor mounting plate 38 is fixed to the column of the platform bracket 5 by screws; and the platform bracket 5 has at least four columns, and they are symmetrically distributed, so that four groups of tension sensor components 9 are respectively installed on the four columns.

[0076] It should be noted that the tension sensor mounting plate 38 has mounting holes g and h, and three mounting holes a, b, and c. The tension sensor mounting plate 38 is mounted on the platform bracket 5 by screws at the mounting holes g and h. Both ends of the universal coupling 40 have threaded holes. The universal coupling 40 is fixed to the tension sensor mounting plate 38 by screws at the mounting hole b. Both ends of the tension sensor 39 have mounting screws, one end of the screw has a small hole, and the end without a hole is connected to the universal coupling by matching threads. The end of the tension sensor 39 mounting screw with a small hole is used to hang the spring 10, and the other end of the spring is hung on the flange 11.

[0077] It should be noted that the moving slide bar 7 has a certain rigidity or slight bendable elasticity, and the material can be a lightweight aluminum alloy pipe, a carbon fiber pipe, etc., but is not limited to other lightweight materials.

[0078] The method of using the rotorcraft comprehensive test experimental simulation platform to test the rotorcraft mainly includes three aspects:

[0079] Pitch, roll, and yaw attitude detection of rotorcraft: The pitch, roll, and yaw attitude of the rotorcraft are collected through the gyroscope sensor in the rotorcraft flight control system, and transmitted to the host computer through the flight control system communication interface and transmission line;

[0080] Three-dimensional spatial position detection of the rotorcraft: According to the structural geometric relationship between the spatial rotation mechanism 8 and the spatial motion mechanism 2, a rotorcraft position motion model is established to obtain the real-time spatial position of the rotorcraft;

[0081] Detection of the three-dimensional space load vector force of the rotorcraft: Based on the geometric relationship between the flexible four-cable motion mechanism and the motion slide bar, combined with the law of elasticity, a space vector force torque model acting on the lower end of the motion slide bar 7 is established, and then the space load vector force of the rotorcraft is obtained based on the multi-rigid body dynamics principle.

[0082] The three aspects of the test principles involved in the above test method are as follows: the three attitude information of the rotorcraft 3, namely, the pitch, roll and yaw, are detected by the gyroscope in the flight control system and sent to the host computer through the communication line; the hollow shaft rotary encoder 28 is used to detect the angle of rotation of the frame Y around the x' axis, that is, the angle of rotation of the moving slide bar 7 of the space motion mechanism 2 around the x' axis, the hollow shaft rotary encoder 28* is used to detect the angle of rotation of the rotating body S around the y' axis, that is, the angle of rotation of the moving slide bar 7 of the space motion mechanism 2 around the y' axis, and the output line of the encoder is directly transmitted to the host computer; the tension sensor 39 is used to detect the tension of the corresponding four springs 11, and the elongation of each spring can be detected by applying the law of elasticity;

[0083] The platform bracket 5 is a table-type stand made of aluminum alloy profiles, the top surface of which is covered with an operating table 1, and the platform bracket 5 is fixed with a stand side plate 4 around it. The operating table 1 and the stand side plate 4 are not limited to metal plates, such as Figure 2 As shown, a coordinate system o-xyz is established with the center of the plane where the four points ABCD of the platform bracket 5 are located as the origin, as shown in Fig.23 As shown, the coordinates of the four points A, B, C, and D are determined, and the lengths of the four springs are l1, l2, l3, and l4 respectively. Then, the coordinates of the point E in the coordinate system o-xyz can be solved by using the relevant mathematical theory knowledge; and it is known that the length of the moving slide bar 7 is L, and the angles of rotation of the moving slide bar 7 around the x' axis and the y' axis of the coordinate system o'-x'y'z' can be measured. Then, the position of the rotorcraft spatial position N' point relative to the point E can be solved by using the relevant mathematical theory knowledge, and thus the coordinates of the aircraft spatial position N' point in the coordinate system o-xyz can be solved, thereby determining the spatial position of the aircraft;

[0084] like Fig.23 As shown, the forces on the four springs can be measured by tension sensors, and the direction of the forces can be determined according to the spatial position of point E to obtain the vector relationship of the four spatial forces. The relevant theories of spatial force systems can then be used to deduce the resultant force of the four spring tensions at point E, thereby solving the vector force generated by the rotorcraft flying in space, and then decomposing the components of the aircraft along the three axes of x, y, and z in the spatial coordinate system o-xyz, namely: the load forces of lifting, left and right, and front and back.

[0085] Specifically, the space attitude, position and load vector force detection model of the aircraft is established:

[0086] (1) Aircraft space attitude detection method

[0087] The pitch, roll, and yaw attitude detection of the aircraft relies on the gyroscope sensor installed in the aircraft flight control system to collect the data, which is then transmitted to the host computer through the flight control system communication interface and transmission line.

[0088] (2) Position model of the lower end E of the slide bar

[0089] like Fig.23As shown, the three-dimensional space position detection device of the aircraft is a space three-dimensional motion system composed of a space rotation mechanism 8 and a space motion mechanism 2. According to the geometric relationship of their structures, an aircraft position motion model is established to obtain the real-time space position of the aircraft; the detection of the three-dimensional space load vector force of the aircraft is due to the four springs 11 connected to the bottom end of the motion slide bar 7 and a flexible cable force measuring mechanism composed of a tension sensor. According to the elastic law and the geometric relationship of the structure, a space vector force torque model of the lower end of the motion slide bar 7 is established, and then the space load vector force model of the aircraft is obtained according to the multi-rigid body dynamics principle analysis;

[0090] like Figure 1 and Fig.24 As shown, it is assumed that the length of the moving slide bar 7 is L, the length and width of the platform bracket 5 are equal and both are 2a, and the coordinates of the four points A, B, C, and D on the plane o-xy in the four-point coordinate system o-xyz are A(-a, a), B(-a, -a), C(a, -a), and D(a, a), respectively. The four springs are lightweight springs with completely consistent performance. The springs are selected according to the structural size of the moving slide bar and the movement limit range to ensure that the springs are in a tension state during the simulated flight and are not in a completely relaxed state. The original length is l0 and the elastic coefficient is K. When the aircraft is stationary, the four springs The spring is in a completely symmetrical state. Under the action of gravity of the aircraft and the space motion mechanism, point E is located below the plane o-xy, and for flight safety, the aircraft is not allowed to fly too high. The z-axis coordinate of point E is required to be negative. The real-time lengths of springs AE, BE, CE, and DE are l1, l2, l3, and l4, respectively. The corresponding telescopic lengths of springs AE, BE, CE, and DE are △l1, △l2, △l3, and △l4, respectively. The real-time tension is measured by the corresponding tension sensors, which are f1, f2, f3, and f4, respectively. Under the above agreed conditions, the coordinate to be determined is E(ξ,η,ζ).

[0091] According to Hooke's law,

[0092] f1=K·△l1, (Formula 1)

[0093] So,

[0094]

[0095] The same can be said

[0096]

[0097]

[0098]

[0099] Wherein, f1, f2, f3, f4 are the tensions of springs l1, l2, l3, l4, respectively, which can be detected by corresponding tension sensors; therefore, in the following description, l1, l2, l3, l4 are considered known parameters.

[0100] like Fig.24 As shown, the center of the plane where points A, B, C, and D are located is the origin of the coordinate system o-xyz. The coordinate of point E is below the plane o-xy, that is, on the negative semi-axis side of the z-axis of the coordinate system o-xyz. In order to solve the coordinate of point E, let the projection of point E on the plane o-xy be point E′. Then, the projections of AE, BE, CE, and DE on the plane o-xy are AE′, BE′, CE′, and DE′ respectively. Draw perpendicular lines E′F, E′G, and E′H to AD, AB, and BC through point E′ respectively, and connect EF, EG, and EH. From the theorem of three perpendicular lines, we can see that E′F, E′G, and E′H are the projections of EF, EG, and EH on the plane o-xy respectively.

[0101] Analyze the triangle △EAD composed of AE, DE, and AD. Its three sides are l1, l4, and 2a respectively. According to the cosine theorem, we can get

[0102]

[0103] So,

[0104]

[0105] Similarly, analyzing triangle △EAB, we can get

[0106]

[0107] Analyzing the triangle △EBC, we can get

[0108]

[0109] Since AD / / BC, H, E', and F are collinear, and FH = 2a. Analyzing triangle △EFH, we can get from the law of cosines:

[0110]

[0111] Therefore,

[0112]

[0113]

[0114] In the right triangle R t In △EE′G,

[0115]

[0116] So, there is

[0117]

[0118] Therefore, the coordinate components of the coordinate E(ξ,η,ζ) can be obtained as

[0119] ξ=l E′G -a, (Formula 15)

[0120] η=al E′F , (Formula 16)

[0121] ζ=-l EE′ . (Formula 17)

[0122] From the above analysis, we can know that the coordinates E(ξ,η,ζ) can be completely calculated from the lengths of the four springs. In other words, the coordinate components of E(ξ,η,ζ) are all functions of the spring lengths, denoted as

[0123]

[0124]

[0125]

[0126] Therefore, according to (Equation 18)-(Equation 20), if the spring length (l1, l2, l3, l4) at each moment is detected, the coordinates E(ξ, η, ζ) can be obtained.

[0127] (3) Aircraft spatial position

[0128] like Figure 2 and Fig.23 As shown, the position of the upper end N′(ξ′,η′,ζ′) of the moving slide bar 7 determines the spatial position of the aircraft; Fig.25 As shown, o′ is the center of the facing rotation mechanism, the moving slide bar 7 can rotate around point o′ in space, and can translate axially along the axis of the moving slide bar 7, the length of the slide bar is L, the coordinate system o′-x′y′z′ is obtained by translating the coordinate system o-xyz upward along the z-axis by h, the coordinate of E in the coordinate system o-xyz is E(ξ,η,ζ), let the projection of point o on the plane Γ passing through point E and parallel to o-xy be o E , the projection of point E on the plane o′-x′y′ is E * , whose coordinate in the coordinate system o′-x′y′z′ is marked as E * (ξ * ,η * ,0); the projection of the N′ plane o′-x′y′ on the upper end of the moving slide bar 7 is N * (ξ′,η′,0); therefore,

[0129]

[0130]

[0131]

[0132] like Fig.25 As shown in Figure 2, from the geometric relationship, we can see that the angle between the slide bar and the z′ axis is

[0133]

[0134]

[0135]

[0136] The projection coordinate of N′ on the z′ axis of the coordinate system o′-x′y′z′ is ζ′, then,

[0137] ζ′=l o′N′ cosα (Equation 27)

[0138] Depend on Fig.25 As shown, the sliding rod (20) has a o′N′ The projection of the segment in the plane o′-x′y′ is o′N * , then, there is

[0139]

[0140] like Fig.25 As shown, from the geometric relationship, we can know

[0141]

[0142] Among them, E y′ For E * Projection on the y′ axis, N y′ N * Projection onto the x′ axis.

[0143] Therefore, we can get

[0144]

[0145] Obviously, N y′ The projection coordinate value on the y′ axis is

[0146]

[0147] Similarly, N x′ The projection coordinate value on the x′ axis is

[0148]

[0149] Combining (Equation 27), (Equation 31), and (Equation 32), we can obtain the function of the spatial position N′(ξ′,η′,ζ′) of the aircraft in the coordinate system o′-x′y′z′ and the spring length, which is expressed as

[0150]

[0151]

[0152]

[0153] Therefore, according to (Equation 33)-(Equation 35), if the spring length (l1, l2, l3, l4) at each moment is detected, the spatial position N′(ξ′, η′, ζ′) of the aircraft in the coordinate system o′-x′y′z′ can be obtained.

[0154] (3) Space load vector force of aircraft

[0155] like Fig.24 As shown, the tension of the four springs is represented by f1, f2, f3, and f4 respectively. Fig.26 As shown, the projection of the tension f4 on the plane Γ where E is located is f 4x 、f 4y , and the projection on the z-axis f 4z ;like Fig.25 As shown, the horizontal force on the lower end point E of the moving slide bar 7 is The resultant force in the vertical z-axis direction is The lift of the aircraft on the upper end N' of the moving slide bar 7 is The lateral horizontal force is The gravity of the aircraft and space motion mechanism is G.

[0156] The following agreement is made: the friction between the slide bar and the linear bearing in the space rotation mechanism 8 is ignored; because the safe flight range and flight speed of the aircraft are relatively small during simulated flight, the angle α is relatively small, and the lift of the aircraft is relatively small. The resultant force of gravity G and the spring in the vertical z-axis direction is Approximately equal; the lateral horizontal force of the aircraft Horizontal force with spring For this purpose, the tension f1, f2, f3, and f4 are measured by the tension sensor, and then the longitudinal force is decomposed to obtain the longitudinal force. and horizontal force The lift of the aircraft can be calculated and lateral force

[0157] like Fig.26As shown, the tension f4 can be decomposed into f 4x 、f 4y 、f 4z According to the spatial geometric relationship, we can get

[0158]

[0159] Among them, l EE′ It can be obtained from (Equation 12); then,

[0160] f 4z =f4sin∠EDE′, (Equation 37)

[0161] f 4xy =f4cos∠EDE′, (Equation 38)

[0162] again

[0163]

[0164] Among them, l E′F From (Equation 11), we can get

[0165] f 4x =f4cos∠EDE′sin∠D′EF′, (Formula 40)

[0166] f 4y =f4cos∠EDE′cos∠D′EF′; (Formula 41)

[0167] From (Equation 37), (Equation 40), and (Equation 41), we can get the spatial vector of the pulling force f4: Similarly, we can get I will not go into details here; then, it is easy to get

[0168]

[0169] f x =f 1x +f 2x +f 3x +f 4x , (Formula 43)

[0170] f y =f 1y +f 2y +f 3y +f 4y , (Formula 44)

[0171] Thus, we get

[0172]

[0173] According to the principle of force and moment balance, it is easy to calculate the lift of the aircraft and lateral force When calculating force, you need to pay attention to the positive and negative directions of the force.

[0174] The above embodiments describe the present invention in detail, but the contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A rotorcraft comprehensive test simulation platform, characterized by: It comprises a platform support, a space motion mechanism, and a flexible attitude detection device, wherein the space motion mechanism comprises a three-rotational-freedom component and a motion slide bar; the flexible attitude detection device comprises a space rotation mechanism and a flexible four-cable motion mechanism, and the flexible four-cable motion mechanism comprises four groups of tension sensing components and a spring; the space rotation mechanism is fixed on the platform support, one end of the motion slide bar is connected to the three-rotational-freedom component, and the other end passes through the space rotation mechanism and is connected to one end of the spring, and the other end of the spring is fixedly connected to the side wall of the platform support through the tension sensing component; The rotorcraft can be mounted on top of the three-degree-of-freedom rotation assembly, and the space motion mechanism can provide the rotorcraft with six-degree-of-freedom simulated flight within a certain range, including lift, left and right, front and back, pitch, roll, and yaw; The flexible attitude detection device can detect the angle and position information of the space motion mechanism, and the real-time status of the rotorcraft can be obtained by solving the information.

2. The rotary-wing aircraft comprehensive test experimental simulation platform according to claim 1, characterized in that: The three-degree-of-freedom rotation assembly includes an x" shaft, an x" right bearing support, an x" left bearing support, a y" shaft, a y" bearing support, a conductive slip ring, a z" shaft, a z" bearing sleeve, and an aircraft fixed support plate; the y" bearing support is a door frame type structure, one end of the motion slide rod is fixedly connected to one end of the z" shaft; the z" shaft is connected to the z" bearing sleeve through the z" bearing, so that the z" bearing sleeve can rotate around the z" shaft, the upper end of the z" bearing sleeve is fixedly connected to the z" bearing end cover, one end of the conductive slip ring is inserted into the z" bearing end cover, and is connected to the z" shaft through the protrusion at its lower end. The groove at the top of the shaft is installed in a matching manner, the y" bearing support is fixed on the upper end surface of the z" bearing end cover and can rotate with the z" bearing sleeve, the y" rotating shaft is fixed on the two side walls of the y" bearing support through bearings, the y" rotating shaft is orthogonally inserted into the middle position of the x" rotating shaft and fixedly connected to the x" rotating shaft, the two ends of the x" rotating shaft are respectively connected to the x" left bearing support and the x" right bearing support through bearings, the x" left bearing support and the x" right bearing support are fixedly connected to the aircraft fixed support plate, and the x" left bearing support and the x" right bearing support are located at both ends of the y" bearing support.

3. A rotorcraft comprehensive test experimental simulation platform according to claim 1 or 2, characterized in that: The spatial rotation mechanism includes a first frame structure, a second frame structure, a pair of rotating shafts, a pair of encoder fixed rotating shafts and a linear bearing sleeve, the second frame structure is located in the first frame structure, the linear bearing sleeve is provided with a through hole, and a linear bearing is embedded and installed in the through hole; the first frame structure includes a pair of x'-axis fixed frame side plates, a pair of x' rotating shaft mounting plates, and the two ends of the pair of x'-axis fixed frame side plates are respectively fixedly connected to the two ends of the pair of x' rotating shaft mounting plates, thereby forming a frame structure; the second frame structure includes a pair of y'-axis fixed frame side plates, a pair of y' rotating shaft mounting plates, and the two ends of the pair of y'-axis fixed frame side plates are respectively fixedly connected to the two ends of the pair of y' rotating shaft mounting plates, thereby forming a frame structure; One of the rotating shafts and one of the encoder fixed rotating shafts are respectively fixed on opposite sides of the linear bearing sleeve, and the rotating shaft and the encoder fixed rotating shaft are respectively assembled with a pair of y' rotating shaft mounting plates through bearings, and the encoder fixed rotating shaft passes through the y' rotating shaft mounting plate, and a hollow shaft rotary encoder is fixed at its end; The other rotating shaft and the other encoder fixed rotating shaft are respectively fixed on a pair of side plates of the y'-axis fixed frame, and the rotating shaft and the encoder fixed rotating shaft are respectively assembled with a pair of x' rotating shaft mounting plates through bearings, and the encoder fixed rotating shaft passes through the x' rotating shaft mounting plate, and a hollow shaft rotary encoder is fixed at its end.

4. The rotary-wing aircraft comprehensive test experimental simulation platform according to claim 3, characterized in that: The tension sensor assembly includes a tension sensor mounting plate, a tension sensor, and a universal coupling. The tension sensor mounting plate is installed on the column of the platform bracket. The tension sensor mounting plate is connected to the tension sensor through the universal coupling. The tension sensor is fixedly connected to a spring. The other end of the spring is fixedly connected to a flange. One end of the motion slide rod passes through the linear bearing of the spatial rotation mechanism and is fixedly connected to the middle position of the flange.

5. The rotary-wing aircraft comprehensive test experimental simulation platform according to claim 4, characterized in that: In the initial state of the rotorcraft before the simulated flight, the elastic force of the four springs is balanced with the gravity of the rotorcraft and the space motion mechanism, thereby offsetting the additional load of the rotorcraft during the simulated flight.

6. A rotorcraft comprehensive test experimental simulation platform according to claim 4 or 5, characterized in that: The platform support has at least four columns which are symmetrically distributed, so that four groups of tension sensor components are respectively installed on the four columns.

7. The rotary-wing aircraft comprehensive test experimental simulation platform according to claim 6, characterized in that: The installation height of the universal joint on the tension sensor installation plate is adjustable.

8. A method for testing a rotorcraft using a rotorcraft comprehensive test experimental simulation platform according to any one of claims 1 to 7, characterized in that: Pitch, roll, and yaw attitude detection of rotorcraft: The pitch, roll, and yaw attitude of the rotorcraft are collected through the gyroscope sensor in the rotorcraft flight control system, and transmitted to the host computer through the flight control system communication interface and transmission line; Three-dimensional spatial position detection of rotorcraft: According to the structural geometric relationship between the spatial rotation mechanism and the spatial motion mechanism, a rotorcraft position motion model is established to obtain the real-time spatial position of the rotorcraft; Detection of three-dimensional space load vector force of rotorcraft: Based on the geometric relationship between the flexible four-cable motion mechanism and the moving slide bar, combined with the law of elasticity, a space vector force torque model acting on the lower end of the moving slide bar is established, and then the space load vector force of the rotorcraft is obtained based on the multi-rigid body dynamics principle.

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