An integrated performance test experimental platform for a rotary-wing aircraft

Abstract

The present invention discloses a comprehensive performance test experimental platform for a rotorcraft, which includes a platform base, a platform support, a spatial motion mechanism A, and a fixing buckle. The platform base includes a platform base B1, a platform base B2, and a platform base B3. The platform support includes a platform support B4, a platform support B5, a platform support B6, and a platform support B7. The spatial motion mechanism A includes an active three-degree-of-freedom rotation assembly, a three-degree-of-freedom motion slide rail assembly, and a two-degree-of-freedom passive rotation assembly. The present invention integrates functions such as training, experiment, teaching, and scientific research. The detection method is simple and advanced, and it can accurately detect the spatial position, spatial attitude, and load vector force of the aircraft, which is of great significance for further promoting the development of rotorcraft theory and technology, the expansion of application fields, the popularization of intelligent technology education, the training and cultivation of relevant application talents.

Description

Technical Field

[0001] The present invention relates to the technical field of rotorcraft testing, and particularly to a comprehensive performance test experimental platform for rotorcraft. Background Art

[0002] The development of social economy has brought unprecedented opportunities and challenges to unmanned aircraft technology. On the one hand, the increasingly mature UAV technology and the continuous rise of social demand have prompted people to focus on the development and application of UAV technology from various aspects, making the existing theoretical and method research unable to meet the research needs of current information environment control, integration of computing and communication, and integration of control, decision-making and management. On the other hand, with the civilian development of unmanned aircraft, the civilian market demand for unmanned aircraft has also been increasing. As a tool with an entertainment nature, its safety has received more and more attention. At the same time, the unique popular science tool attribute of unmanned aircraft has promoted the gradual entry of unmanned aircraft into middle and high school classrooms. The rotorcraft technology has gradually been applied to a popular robot expansion training project. In competition activities at different levels such as middle and high schools, the rotorcraft technology is also widely used. However, most of the existing rotorcraft experimental platforms on the market have single functions, low degrees of freedom of the experimental platform, and cannot well complete the human-computer interaction function, making it difficult to achieve good training effects. In addition, in the simulated flight of rotorcraft, due to the limitations of the selection and installation positions of relevant sensors, and the lack of relevant interference items in the simulated flight compared with real air flight, there will be error items that are difficult to eliminate between the test results and the results in the real environment. Therefore, based on the above deficiencies, it is of great practical significance to provide a comprehensive test experimental platform and its test method that integrates scientific research, training, experiment, teaching, etc., and can realize the stability detection, load vector force detection, spatial positioning, and control law correction of rotorcraft. Summary of the Invention

[0003] The purpose of the present invention is to provide a comprehensive performance test experimental platform for rotorcraft to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: An integrated UAV test experimental platform, including a platform base, a platform support, a spatial motion mechanism A, and a fixed buckle. The platform base includes platform base B1, platform base B2, and platform base B3. The platform support includes platform support B4, platform support B5, platform support B6, and platform support B7. The spatial motion mechanism A includes an active three-degree-of-freedom rotation component, a three-degree-of-freedom motion slide rail component, and a two-degree-of-freedom passive rotation component. The spatial motion mechanism A is fixed to the fixed buckle by bolts;

[0005] Preferably, the active three-degree-of-freedom rotation assembly includes a first motor bracket, a first z-axis rotation shaft, a second motor bracket, a first y-axis rotation shaft, a third motor bracket, a third motor drive shaft, and a first x-axis rotation shaft. One end of the first motor bracket is fixed to the C-shaped fixed buckle bottom plate by bolts. One end of the first z-axis rotation shaft is clamped to the bottom plate of the first motor bracket, and the other end is fixed to the top of the second motor bracket by bolts. Four bolt holes A1 are drilled at the inner side plate of the second motor bracket for fixing the second motor. Installation holes A3 are provided on both sides of the second motor bracket. Both sides of the first y-axis rotation shaft are installed in the installation holes A3 on both sides of the second motor bracket. The third motor bracket is provided with a first bolt hole and a second bolt hole. The first y-axis rotation shaft includes a shaft bracket, a central gear, and two sets of rotating ratchet gears. The central gear is fixed to the center of the shaft bracket through the first bolt hole. The third motor drive shaft is provided with a third bolt hole. Half of the rotating ratchet gear is connected to the central gear through the second bolt hole, and the other half is fixed to the third motor bracket through the third bolt hole. The third motor bracket is installed inside the second motor bracket, and an a4 installation hole is provided at the top of the third motor bracket, and the a4 installation hole is coaxial with the installation holes A3 on both sides of the second motor bracket. The third motor bracket can rotate with the first y-axis rotation shaft. A motor installation hole a1 is provided at the inner side plate of the third motor bracket. The third motor drive shaft is installed at the installation hole a3 on the other side of the third motor bracket. The first x-axis rotation shaft is installed in the a2 installation hole at the bottom end of the third motor bracket. The first x-axis rotation shaft has the same structure as the first y-axis rotation shaft;

[0006] Preferably, the three-degree-of-freedom motion slide rail assembly includes an x-direction chute assembly, an x-direction motion slider, a y-direction chute assembly, and a y-direction motion slider. A rotating shaft bracket is provided at the top of the x-direction chute assembly. Installation holes and bolt holes are provided on the rotating shaft bracket. The first x-axis rotation shaft is installed in the installation hole in the top rotating shaft bracket. Half of the rotating ratchet gear in the first x-axis rotation shaft is fixed to the bolt hole on the top rotating shaft bracket by bolts. An x-direction chute is provided at the bottom of the x-direction chute assembly. An x-direction slider is provided at the upper part of the x-direction motion slider, and a z-direction slider is provided at the bottom. The x-direction slider is installed in the x-direction chute at the bottom of the x-direction chute assembly. A z-direction chute is provided at the top of the y-direction chute assembly, and a y-direction chute is provided at the bottom. The bottom slider of the x-direction motion slider is installed in the z-direction chute at the top of the y-direction chute assembly. The y-direction motion slider is installed in the y-direction chute at the bottom of the y-direction chute assembly. The bottom of the y-direction motion slider is a y-direction rotation shaft bracket, and installation holes are provided on the y-direction rotation shaft bracket;

[0007] Preferably, the two-degree-of-freedom passive rotation assembly includes a first rotation shaft, a second rotation shaft, and a drone fixing plate. The first rotation shaft is installed on the rotation shaft bracket mounting hole at the bottom of the y-direction movement slider. A rotation shaft mounting hole perpendicular to the rotation shaft is opened in the center of the first rotation shaft. The second rotation shaft is installed in the rotation shaft mounting hole in the center of the first rotation shaft. A fixing ring is sleeved outside the second rotation shaft. The surface of the central mounting hole of the first rotation shaft is tangent to the plane of the second rotation shaft and the fixing ring. The drone fixing plate is provided with rotation shaft mounting holes. Both ends of the second rotation shaft are installed in the rotation shaft mounting holes. The test drone can be hoisted on the drone fixing plate. The spatial motion mechanism A can provide the test drone with simulated flight in six degrees of freedom, including lifting, left and right, front and back, pitching, yawing, and rolling, within a certain range.

[0008] Preferably, the three-degree-of-freedom motion slide rail assembly further includes a sensor assembly and a spring. The sensor assembly is a tensile force sensor assembly.

[0009] Preferably, the fixing buckle is C-shaped.

[0010] Preferably, the fixing buckle is composed of a spring, side plates, and a bottom plate.

[0011] Preferably, two nine-axis gyroscope assemblies are provided on the spatial motion mechanism A. The nine-axis gyroscope assemblies can respectively detect the deflection angles of the active rotation assembly and the passive rotation assembly. And the tensile force sensor assembly can record the movement displacements of the drone in three directions. By resolving the output information thereof, the real-time states of the spatial motion mechanism and the test drone can be obtained.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. The spatial motion mechanism of the present invention is used to carry the test drone and can provide it with spatial simulated flight in six degrees of freedom, including lifting, left and right, front and back, pitching, rolling, and yawing, within a safe range. The power device of the spatial motion mechanism can provide three-axis attitude disturbances for the drone, which can simply simulate the airflow interference encountered by the drone in the air and make the test results more real and reliable.

[0014] 2. The present invention uses three groups of tensile force sensor components and corresponding springs to detect the real-time tensile force received by the motion mechanism. Then, through corresponding mathematical transformations, a mathematical model of the drone position and the spatial load can be established, so that the real-time position and real-time load of the drone can be calculated. At the same time, since motion limits are set for all three motion mechanisms, unnecessary failures and injuries caused by out-of-control drone testing can be effectively prevented during the drone testing process, effectively reducing the economic cost.

[0015] 3. The present invention integrates functions such as training, experiments, teaching, and scientific research. The detection method is simple and advanced, and it can accurately detect the spatial position, spatial attitude, and payload vector force of the aircraft, which is of great significance for further promoting the development of the theory and technology of rotorcraft, expanding the application fields, popularizing intelligent technology education, training relevant application talents, and cultivating them. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a general schematic diagram of the UAV test platform provided by the present invention

[0017] Figure 2 It is the small-size frame of the UAV test platform;

[0018] Figure 3 It is a general structural schematic diagram of the motion mechanism;

[0019] Figure 4 It is the No. 1 motor mount;

[0020] Figure 5 It is the No. 1 y-axis rotating shaft;

[0021] Figure 6 It is the No. 2 motor drive shaft;

[0022] Figure 7 It is the No. 2 motor mount;

[0023] Figure 8 It is the No. 1 x-axis rotating shaft;

[0024] Figure 9 It is the No. 3 motor drive shaft;

[0025] Figure 10 It is the No. 3 motor mount;

[0026] Figure 11 It is the overall structure of the No. 2 slide rail mechanism;

[0027] Figure 12 It is the x-axis chute of the No. 2 slide rail mechanism;

[0028] Figure 13 It is the x-axis slider of the No. 2 slide rail mechanism;

[0029] Figure 14 It is the y-axis chute of the No. 2 slide rail mechanism;

[0030] Figure 15 It is the y-axis slider of the No. 2 slide rail mechanism;

[0031] Figure 16 It is the overall structure of the No. 3 rotating mechanism;

[0032] Figure 17 It is the No. 1 rotating shaft of the No. 3 rotating mechanism;

[0033] Figure 18 It is the No. 3 rotating mechanism's No. 2 rotating shaft;

[0034] Figure 19 It is the fixed plate of the drone;

[0035] Figure 20 It is the fixed buckle of the spatial motion mechanism;

[0036] Figure 21 It is the structure inside the bottom plate of the fixed buckle of the spatial motion mechanism;

[0037] Figure 22 It is the schematic diagram of the first coordinate rotation change;

[0038] Figure 23 It is the schematic diagram of the second coordinate translation change;

[0039] Figure 24 It is the schematic diagram of the third coordinate rotation change;

[0040] Figure 25 It is the functional flowchart of the test platform. Specific implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] Please refer to Figures 1 - 25 , the present invention provides a technical solution: a comprehensive performance test experimental platform for a rotorcraft, including a platform base B1 - B3, a platform bracket B4 - B7, and a spatial motion mechanism A. The spatial motion mechanism A includes an active three - degree - of - freedom rotation assembly 1 - 7, a three - degree - of - freedom motion slide rail assembly 8 - 11, and a two - degree - of - freedom passive rotation assembly 12 - 14. The three - degree - of - freedom motion slide rail assembly includes a sensor assembly and a spring; the spatial motion mechanism A is fixed to the C - type fixed buckle 15 by bolts. The fixed buckle 15 includes a spring, a side plate, and a bottom plate;

[0043] The test drone can be hoisted on the drone fixed plate in the passive two - degree - of - freedom rotation assembly. The spatial motion mechanism A can provide the drone with simulated flight of six degrees of freedom including lifting, left - right, front - back, pitching, yawing, and rolling within a certain range;

[0044] Two nine-axis gyroscope assemblies located on the spatial motion mechanism can respectively detect the deflection angles of the active rotation assembly and the passive rotation assembly. At the same time, the tension sensor assembly in the three-axis slide rail assembly of the spatial motion mechanism can record the movement displacements of the UAV in three directions. The real-time states of the spatial motion mechanism and the test UAV can be obtained through the calculation of its output information;

[0045] The spatial motion mechanism A provided in this embodiment includes an active three-degree-of-freedom rotation assembly, a three-degree-of-freedom motion slide rail assembly, and a two-degree-of-freedom passive rotation assembly. The active three-degree-of-freedom rotation assembly includes a first motor frame 1, a first z-axis rotation shaft 2, a second motor frame 3, a second motor drive shaft 4, a first y-axis rotation shaft 4, a third motor frame 5, a third motor drive shaft 6, and a first x-axis rotation shaft 7. One end of the first motor frame 1 is fixed to the C-shaped fixed buckle bottom plate by bolts. One end of the first z-axis rotation shaft 2 is clamped to the bottom plate of the first motor frame 1, and the other end is fixed to the top of the second motor frame 3 by bolts. Four bolt holes A1 are drilled at the inner side plate of the second motor frame 3 for fixing the second motor. The second motor drive shaft 4 is installed at the hole position A2 of the side plate of the second motor frame 3. The two sides of the first y-axis rotation shaft 5 are installed in the two side mounting holes A3 of the second motor frame 3. The first y-axis rotation shaft includes a shaft frame, a central gear, and two sets of rotating ratchet gears. The central gear is fixed to the center of the shaft frame through the bolt hole 5-1. Half of the rotating ratchet gear is connected to the central gear through the hole 5-2, and the other half is fixed to the third motor frame through the bolt hole 6-1. The third motor frame 6 is installed inside the second motor frame, and the a4 mounting hole at the top of the third motor frame is coaxial with the two side mounting holes A2 of the second motor frame. The third motor frame can rotate with the first y-axis rotation shaft 5. The inner side plate of the third motor frame is provided with a motor mounting hole a1. The third motor drive shaft is installed at the other mounting hole a3 of the third motor frame. The first x-axis rotation shaft 7 is installed in the a2 mounting hole at the bottom end of the third motor frame. The first x-axis rotation shaft has the same structure as the first y-axis rotation shaft. The three-degree-of-freedom motion slide rail assembly includes an x-direction chute assembly 8, an x-direction motion slider 9, a y-direction chute assembly 10, and a y-direction motion slider 11. A rotating shaft frame is provided at the top of the x-direction chute assembly 8. The first x-axis rotation shaft is installed in the mounting hole 8-2 of the top rotating shaft frame. Half of the rotating ratchet gear in the first x-axis rotation shaft is fixed to the bolt hole 8-3 of the top rotating shaft frame by bolts. An x-direction chute is provided at the bottom of the x-direction chute assembly 8. The upper part of the x-direction motion slider is an x-direction slider 8-1, and the bottom is a z-direction slider 10-2. The x-direction slider 8-1 is installed in the x-direction chute at the bottom of the x-direction chute assembly 8. The top of the y-direction chute assembly is a z-direction chute 10-2, and the bottom is a y-direction chute 10-1. The bottom slider 10-2 of the x-direction motion slider is installed in the z-direction chute 10-2 at the top of the y-direction chute assembly. The y-direction motion slider 11 is installed in the y-direction chute 10-1 at the bottom of the y-direction chute assembly. The bottom of the y-direction motion slider is a y-direction rotation shaft bracket.The two-degree-of-freedom passive rotation assembly includes a first rotation shaft 12, a second rotation shaft 13, and a drone fixing plate 14. The first rotation shaft is installed on the mounting hole of the rotation shaft bracket 11-1 at the bottom of the y-direction movement slider. A rotation shaft mounting hole 13-2 perpendicular to the rotation shaft is opened in the center of the first rotation shaft. The second rotation shaft is installed in the rotation shaft mounting hole 13-2 in the center of the first rotation shaft. The surface of the central mounting hole of the first rotation shaft is tangent to the plane of the second rotation shaft 13-1. The drone fixing plate is provided with a rotation shaft mounting hole 13-3, and both ends of the second rotation shaft are installed in the rotation shaft mounting hole 13-3;

[0046] A method for conducting drone flight tests using a drone integrated test platform mainly includes four aspects:

[0047] Detection of the pitch, roll, and yaw attitudes of the drone: The nine-axis microcomputer gyroscope sensor installed on the drone fixing plate of the 3rd rotation mechanism collects the pitch, roll, and yaw attitudes of the drone on the platform and transmits them into the upper computer through the serial port of the microcontroller;

[0048] Detection of the three-dimensional spatial position of the drone: Based on the rotation angle data of the 1st rotation mechanism and the 3rd rotation mechanism, the displacement data of the 2nd slide rail mechanism, and the spatial geometric relationship among the three mechanisms, a drone position motion model is established to obtain the real-time spatial position of the drone;

[0049] Simulation test of gust disturbance for the drone: By controlling the three stepping motors of the 1st rotation mechanism to drive the drone installed on the 3rd drone fixing plate to perform controllable rotation in three directions, the attitude changes of the drone when encountering gust disturbance in the real environment can be simply simulated, and the attitude data can be input into the upper computer through the serial port;

[0050] Detection of the spatial load force of the drone: The three tension sensors and spring assemblies located in the 2nd slide rail mechanism record the pulling and pushing forces of the drone in three axial directions, and combined with the angle data of the two rotation mechanisms, the current load force model of the drone can be obtained.

[0051] The test principle designed by the above test method is as follows: The three attitude angle information of pitch, roll, and yaw of the drone itself is detected by the gyroscope sensor installed on the drone fixing plate, and the obtained data is transmitted into the upper computer through the serial port; The three stepping motors located in the three motor brackets output a predetermined interference amount under the control of the upper computer; The tension sensors and spring assemblies located in the 2nd slide rail mechanism are used to record the load forces in three axial directions, and the elongation of each spring can be calculated through Hooke's law;

[0052] Taking the center point of the drone fixing plate 14 as the origin o3, the unit vector perpendicular to the platform crossbeam B7 and downward passing through the origin as the z-axis, the unit vector parallel to the platform crossbeam B7 and pointing to the drone longitudinal beam B6 passing through the origin as the y-axis, and the unit vector perpendicular to the y-axis direction and pointing backward passing through the origin as the x-axis. In the initial state, the attitude angles of all rotating mechanisms are zero. The vertical distance from the origin to the center of the first rotating axis is a, the vertical distance from the center of the first rotating axis to the center of the top of the y-direction chute assembly is b, the length of the z-direction slider below the x-direction slider in the default state is c, the vertical distance from the bottom of the x-direction chute assembly to the center of the first x-axis rotating axis is d, and the vertical distance from the center of the first x-axis rotating axis to the center of the first y-axis rotating axis is e;

[0053] According to the three sub-motion modules of the spatial motion mechanism, the rotation matrix from the coordinate axis established with the center of the spatial motion snap bottom plate to the coordinate axis established with the center of the drone fixing plate can be divided into three sub-matrices;

[0054] The coordinate system established with the center point o1 of the spatial motion mechanism bottom plate is F1, the coordinate system established with the center point o2 of the x-direction motion chute is F2, and the length from o1 to o2 is p, as Figure 22 shown. From the system F1 to the system F2, first, a translational motion in the z1 direction is required, and then a three-axis rotational motion is required. Let the three-axis rotation angles be l, m, and n respectively. According to the rotation matrix method, we can obtain

[0055] T1 = Trans(x, Z1) * Rot(n, Z1) * Rot(m, Y1) * Rot(l, X1)

[0056] where

[0057]

[0058] Taking the center of the first rotating axis of the No. 3 rotating mechanism o3 as the origin, and taking the three directions of the No. 2 slide rail mechanism as the coordinate axes, a new coordinate system F3 is established, as Figure 23 shown. Let the moving distances in the three directions of the slide rail mechanism be u, v, and w respectively. Then the transformation matrix from the coordinate system F2 to the coordinate system F3 is

[0059] T2 = Trans(u, X2) * Trans(w, Z2) * Trans(v, Y2)

[0060] where

[0061]

[0062]

[0063] Taking o3 as the origin to establish the coordinate system F3, and its three-axis directions are as shown above, as Figure 24, let the rotation angles required for coordinate system F3 be i, j, and k respectively. Coordinate system F3 can be transformed into coordinate system F4 through rotation and translation motions, and its transformation matrix is

[0064] T3 = Trans(d, Z3) * Rot(i, X3) * Rot(j, Y3) * Rot(k, Z3)

[0065] where

[0066]

[0067] Let

[0068] sin(a) = sa

[0069] cos(a) = ca

[0070] Then there is

[0071]

[0072] Combining the above coordinate transformations, the transformation matrix from coordinate system F1 to coordinate F4 can be obtained as

[0073] T = T1 * T2 * T3

[0074]

[0075] A1 = sm * (si * sk - ci * ck * sj) - cm * sn * (ci * sk + ck * si * sj) + cj * ck * cm * cn

[0076] A2 = sm * (ck * si + ci * sj * sk) - cm * sn * (ci * ck - si * sj * sk) - cj * cm * cn * sk

[0077] A3 = ci * cj * sm + cm * cn * sj + cj * cm * si * sn

[0078] A4 = d * sm + sm * w + cm * cn * u - cm * sn * v

[0079] B1 = (ci * sk + ck * si * sj) * (cl * cn - sl * sm * sn) + cj * ck * (cl * sn + cn * sl * sm) - cm * sl * (si * sk - ci * ck * sj)

[0080] B2 = (ci * ck - si * sj * sk) * (cl * cn - sl * sm * sn) - cm * sl * (ck * si + ci * sj * sk) - cj * sk * (cl * sn + cn * sl * sm)

[0081] B3 = sj * (cl * sn + cn * sl * sm) - cj * si * (cl * cn - sl * sm * sn) - ci * cj * cm * sl

[0082] B4 = u * (cl * sn + cn * sl * sm) + v * (cl * cn - sl * sm * sn) - cm * d * sl - cm * sl * w

[0083] C1 = (ci * sk + ck * si * sj) * (cn * sl + cl * sm * sn) + cl * cm * (si * sk - ci * ck * sj) + cj * ck * (sl * sn - cl * cn * sm)

[0084] C2 = (ci * ck - si * sj * sk) * (cn * sl + cl * sm * sn) + cl * cm * (ck * si + ci * sj * sk) - cj * sk * (sl * sn - cl * cn * sm)

[0085] C3 = sj * (sl * sn - cl * cn * sm) - cj * si * (cn * sl + cl * sm * sn) + ci * cj * cl * cm

[0086] C4 = p + u * (sl * sn - cl * cn * sm) + v * (cn * sl + cl * sm * sn) + cl * cm * d + cl * cm * w Let the coordinate system F1 be represented as (x1, y1, z1), and the coordinate system F4 be represented as (x4, y4, z4)

[0087] Then there is

[0088]

[0089] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0090] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An experimental platform for comprehensive performance testing of a rotary-wing aircraft, Characterized in that: It includes a platform base, a platform bracket, a spatial motion mechanism A, and a fixed buckle. The platform base includes platform base B1, platform base B2, and platform base B3. The platform bracket includes platform bracket B4, platform bracket B5, platform bracket B6, and platform bracket B7. The spatial motion mechanism A includes an active three-degree-of-freedom rotation component, a three-degree-of-freedom motion slide rail component, and a two-degree-of-freedom passive rotation component. The active three-degree-of-freedom rotation component includes a first motor bracket, a first z-axis rotation shaft, a second motor bracket, a second motor drive shaft, a first y-axis rotation shaft, a third motor bracket, a third motor drive shaft, and a first x-axis rotation shaft. One end of the first motor bracket is fixed to the C-shaped fixed buckle bottom plate by bolts. One end of the first z-axis rotation shaft is stuck in the bottom plate of the first motor bracket, and the other end is fixed to the top of the second motor bracket by bolts. Four bolt holes A1 are drilled at the inner side plate of the second motor bracket for fixing the second motor. The second motor drive shaft is installed at the hole position A2 of the side plate of the second motor bracket. The two sides of the first y-axis rotation shaft are installed in the two side mounting holes A3 of the second motor bracket. The first y-axis rotation shaft includes a shaft bracket, a central gear, and two sets of rotating ratchet gears. The central gear is fixed to the center of the shaft bracket through bolt holes. Half of the rotating ratchet gear is connected to the central gear through holes, and the other half is fixed to the third motor bracket through bolt holes. The third motor bracket is installed inside the second motor bracket, and the top mounting hole a4 of the third motor bracket is coaxial with the two side mounting holes A2 of the second motor bracket. The third motor bracket can rotate with the first y-axis rotation shaft. The inner side plate of the third motor bracket is provided with a motor mounting hole a1. The third motor drive shaft is installed at the other side mounting hole a3 of the third motor bracket. The first x-axis rotation shaft is installed in the bottom mounting hole a2 of the third motor bracket. The first x-axis rotation shaft has the same structure as the first y-axis rotation shaft. The three-degree-of-freedom motion slide rail component includes an x-direction chute component, an x-direction moving slider, a y-direction chute component, and a y-direction moving slider. The top of the x-direction chute component is provided with a rotating shaft bracket, and installation holes and bolt holes are provided on the rotating shaft bracket. The first x-axis rotation shaft is installed in the installation hole of the top rotating shaft bracket. Half of the rotating ratchet gear in the first x-axis rotation shaft is fixed to the bolt hole on the top rotating shaft bracket by bolts. The bottom of the x-direction chute component is provided with an x-direction chute. The upper part of the x-direction moving slider is provided with an x-direction slider, and the bottom is provided with a z-direction slider. The x-direction slider is installed in the x-direction chute at the bottom of the x-direction chute component. The top of the y-direction chute component is provided with a z-direction chute, and the bottom is provided with a y-direction chute. The bottom slider of the x-direction moving slider is installed in the z-direction chute at the top of the y-direction chute component. The y-direction moving slider is installed in the y-direction chute at the bottom of the y-direction chute component. The bottom of the y-direction moving slider is a y-direction rotation shaft bracket, and installation holes are provided on the y-direction rotation shaft bracket. The two-degree-of-freedom passive rotation component includes a first rotation shaft, a second rotation shaft, and a drone fixing plate.The first rotating shaft is installed on the rotating shaft bracket mounting holes at the bottom of the y-direction moving slider. A rotating shaft mounting hole perpendicular to the rotating shaft is opened in the center of the first rotating shaft. The second rotating shaft is installed in the rotating shaft mounting hole in the center of the first rotating shaft. A fixing ring is sleeved outside the second rotating shaft. The surface of the central mounting hole of the first rotating shaft is tangent to the plane of the second rotating shaft and the fixing ring. The rotating shaft mounting holes are provided on the UAV fixing plate. The two ends of the second rotating shaft are installed in the rotating shaft mounting holes. The test UAV can be hoisted on the UAV fixing plate. The spatial motion mechanism A can provide the UAV with simulated flight in six degrees of freedom of lifting, left and right, front and back, pitching, yawing and rolling within a certain range.

2. The experimental platform for comprehensive performance testing of a rotary-wing aircraft according to claim 1, Characterized in that: The three-degree-of-freedom motion slide rail assembly further includes a sensor assembly and a spring, and the sensor assembly is a tensile force sensor assembly.

3. The experimental platform for comprehensive performance testing of a rotary-wing aircraft according to claim 2, Characterized in that: The fixed buckle is C-shaped.

4. The experimental platform for comprehensive performance testing of a rotary-wing aircraft according to claim 3, Characterized in that: The fixed buckle is composed of a spring, a side plate and a bottom plate.

5. The experimental platform for comprehensive performance testing of a rotary-wing aircraft according to claim 4, Characterized in that: Two nine-axis gyroscope assemblies are provided on the spatial motion mechanism A.

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