An optimized analysis platform for IMU vibration detection in unmanned aerial vehicles

Abstract

This invention discloses an optimized analysis platform for IMU vibration detection in unmanned aerial vehicles (UAVs), comprising an electronic speed controller, a flight controller, and a buffer base. The buffer base is equipped with a buffer mechanism employing at least one level of vibration reduction. A horizontally mounted brushless motor mounting plate is synchronously fixed to the top of this buffer mechanism. A brushless motor is mounted on the bottom surface of the brushless motor mounting plate, and an adjustable sway block assembly is fixed to the upper surface of the brushless motor mounting plate. A suspension platform, suspended by multiple columns, is also mounted on the upper surface of the suspension platform. A reference inertial navigation system (IMS) or dual IMS and a test IMS are mounted on the upper surface of the platform. This platform simulates the vibration of the flight controller at specific flight speeds to test various IMS vibration reduction measures and uses the collected data for analysis of the flight controller.

Description

TECHNICAL FIELD

[0001] The present application relates to unmanned aerial vehicle vibration detection technology, especially to a kind of optimization analysis platform for unmanned aerial vehicle IMU vibration detection. BACKGROUND

[0002] With the development of science and technology, unmanned aerial vehicles are widely used in various fields of life, which can be used as reconnaissance aircraft, target aircraft and reconnaissance and attack integrated aircraft, and can also be used in aerial photography, agriculture, plant protection, micro-selfie, express delivery, disaster rescue, surveying and mapping, power patrol, disaster relief and other fields, which greatly expands the use of unmanned aerial vehicles.

[0003] However, the existing industrial unmanned aerial vehicles have various types, sizes, structures, flight tasks, distances and environments, resulting in different requirements for flight control; However, no matter how the unmanned aerial vehicle changes, the stability requirement of the flight controller becomes more and more strict, especially the stability of the inertial navigation instrument in the flight controller, which requires suitable adjustment for different models or flight environments.

[0004] At present, inertial navigation instrument (IMU) as an important sensor in flight controller, continuously detects the current acceleration, angular velocity and other data in flight process, to provide accurate data for aircraft attitude; But in the flight process of unmanned aerial vehicle, when affected by external environment, it will input excess vibration to inertial navigation instrument (IMU), and it is possible to resonate with the damping mechanism itself, resulting in that the control of controller cannot meet the control requirement, and error output is generated, which may cause unstable attitude of aircraft, and even cause aircraft to lose control and crash.

[0005] Therefore, it is urgent to need a vibration platform to simulate the flight vibration (noise) of unmanned aerial vehicle to detect the stability of flight controller and improve the reliability of product. SUMMARY

[0006] The present application provides a kind of optimization analysis platform for unmanned aerial vehicle IMU vibration detection, which is simple in structure, convenient to control, automatic to obtain relevant data, simulates flight environment, and effectively improves the reliability of inertial navigation instrument.

[0007] The technical scheme adopted by the present application to solve its technical problems is:

[0008] An optimization analysis platform for unmanned aerial vehicle IMU vibration detection is used to simulate the vibration of flight controller at a specific flight speed to test various shock absorption measures of inertial navigation instrument and analyze the flight controller according to the collected data, which comprises an electronic speed controller, a flight controller and a buffer base, and the electronic speed controller and the flight controller are respectively installed and fixed on the buffer base.

[0009] The buffer base is equipped with a buffer mechanism that employs at least one level of vibration reduction. A horizontally arranged brushless motor mounting plate is synchronously fixedly mounted on the top of the buffer mechanism. A brushless motor is fixedly mounted on the bottom surface of the brushless motor mounting plate. An adjustable slinger assembly for fine-tuning the flight controller by simulating different vibration frequencies is fixedly mounted on the upper surface of the brushless motor mounting plate.

[0010] The brushless motor mounting plate is also equipped with a placement platform suspended relative to the adjustable swing block assembly by multiple columns. A reference inertial navigation system or dual inertial navigation systems under test is installed on one side of the upper surface of the placement platform, and a test inertial navigation system for simulating the flight state of the flight controller is installed on the other side of the upper surface of the placement platform. The reference inertial navigation system or dual inertial navigation system under test and the test inertial navigation system under test are respectively connected to the flight controller via data cables.

[0011] Preferably, the buffer mechanism includes multiple sets of column buffer components and secondary buffer components. At least three sets of column buffer components, which are arranged in parallel and spaced columns, are installed on the buffer base to perform primary vibration damping by stretching and elastic deformation to buffer simulated vibrations.

[0012] All the column buffer components are synchronously fixedly installed with a horizontally set, hollow buffer base plate at the top. At least three sets of evenly distributed secondary buffer components are installed around the buffer base plate to provide secondary vibration damping for simulated vibrations through rubber springs.

[0013] Preferably, the buffer base plate is hollow in the center, the brushless motor is fixedly installed on the bottom surface of the brushless motor fixing plate, and its lower end passes through the center of the buffer base plate.

[0014] Preferably, each set of column buffer components includes a mounting column, a primary damping lower column, a waist drum helical spring, and a primary damping upper column. The mounting column is vertically fixed on the buffer base. The lower end of the waist drum helical spring is fixedly connected to the top of the mounting column via a plug-in sleeve to the primary damping lower column. The upper end of the waist drum helical spring is directly supported and installed on the lower side of the buffer base plate via a plug-in sleeve to the primary damping upper column.

[0015] Preferably, each set of the secondary buffer components includes a secondary damping lower spring, a spherical damping rubber ring, a secondary damping upper spring, and a pin-connected aluminum post. The inner end of the secondary damping lower spring is fixedly connected to the upper side of the buffer base plate and extends obliquely upward and outward. The secondary damping upper spring corresponds to the secondary damping lower spring and its inner end is fixedly connected to the lower side of the brushless motor mounting plate. The spherical damping rubber ring is located between the outer ends of the secondary damping lower spring and the secondary damping upper spring, and the three are locked together by a pin-connected aluminum post.

[0016] Preferably, the adjustable swing block assembly includes a swing block base, a swing block, and a swing rope. The swing rope is fixed to the outer end of the swing block, and the swing block base is fixedly installed on the upper side of the brushless motor mounting plate, with an adjustment groove at its outer end that cooperates with the swing block and is used to adjust the vibration amplitude.

[0017] Preferably, the brushless motor is electrically connected to the electronic speed controller and the flight controller respectively via a communication cable.

[0018] The beneficial effects of this invention are:

[0019] This invention addresses the specific vibrations (noises) that occur when existing or under-development flight controllers are installed on different types of aircraft (single-engine or twin-engine fixed-wing, single-, twin-, and multi-rotor aircraft) during actual flight. This invention allows for low-cost, rapid, and accurate simulation and analysis of these specific vibrations, providing a basis for targeted adjustments to the flight controller's software and hardware filtering.

[0020] In this invention, a vibration test platform is set up in the laboratory, and a two-stage vibration reduction structure is adopted. Through the adjustable slinger assembly and the controllable speed brushless motor, in effective cooperation with the reference inertial navigator or dual inertial navigators under test on the platform, the working speed of the corresponding type of unmanned aerial vehicle is quickly simulated by setting the speed program. It is determined whether the current vibration reduction mechanism produces undesirable resonance near the working speed range of the unmanned aerial vehicle. Through comparison of different vibration reduction analyses, the resonance range is avoided, and the stability of the gyroscope operation is improved. [Attached Image Description]

[0021] Figure 1 This is an exploded structural diagram of the present invention;

[0022] Figure 2 This is a front-view stereoscopic structural diagram of the present invention;

[0023] Figure 3 This is a three-dimensional structural diagram of the rear view portion of the present invention;

[0024] Figure 4 This is a three-dimensional structural diagram of the dual-stage vibration reduction structure of the present invention;

[0025] Figure label:

[0026] 1. Electronic speed controller; 2. Flight controller; 3. Buffer base; 4. Column buffer assembly; 40. Mounting support column; 41. Primary damping lower column; 42. Waist drum helical spring; 43. Primary damping upper column; 5. Buffer base plate; 6. Secondary buffer assembly; 60. Secondary damping lower spring; 61. Spherical damping rubber ring; 62. Secondary damping upper spring; 63. Pin-connected aluminum column; 7. Brushless motor mounting plate; 8. Power cord; 9. Brushless motor; 10. Adjustable slinger assembly; 100. Slinger seat; 1000. Adjustment slot; 1001. Flight control power cord; 101. Slinger; 11. Column; 12. Placement platform; 13. Reference inertial navigation system or dual inertial navigation systems under test; 14. Inertial navigation system under test.

Detailed Implementation Methods

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] An optimized analysis platform for vibration detection of IMUs in unmanned aerial vehicles, such as Figures 1 to 4 As shown, the device is used to simulate the vibration of the flight controller 2 at a specific flight speed to test various inertial navigation system vibration reduction measures and to analyze the collected data for the flight controller. It includes an electronic speed controller 1, a flight controller 2, and a buffer base 3. The electronic speed controller 1 and the flight controller 2 are respectively mounted and fixed on the buffer base 3. The buffer base 3 is equipped with a buffer mechanism with dual-stage vibration reduction. The buffer mechanism includes multiple sets of column buffer components and secondary buffer components. Among them, four sets of column buffer components 4 are installed in parallel at the four corners in a column shape around the buffer base 3. These components provide primary vibration reduction and buffering for the simulated vibration through elastic deformation. A horizontally set, hollow buffer base plate 5 is synchronously fixed at the top of all column buffer components 4. Four sets of evenly distributed secondary buffer components 6 are installed around the buffer base plate 5. These components provide secondary vibration reduction and buffering for the simulated vibration through rubber springs.

[0029] Continue as Figures 1 to 4As shown, a horizontally arranged brushless motor mounting plate 7 is synchronously fixedly installed on the top of all secondary buffer components 6. A brushless motor 9 with its lower end passing through the center of the buffer base plate 5 and operating according to a predetermined program is fixedly installed on the bottom surface of the brushless motor mounting plate 7. The predetermined program is loaded into the reference flight controller, and a specific speed regulation signal is output from the ESC to the brushless motor 9 through the electronic speed controller 1 and the flight controller 2. The brushless motor 9 is connected to an external power supply through the power cable 8. An adjustable swaying block assembly 10, which fine-tunes the flight controller 2 to simulate different vibration frequencies, is fixedly mounted on the upper surface of the brushless motor mounting plate 7. A placement platform 12, suspended relative to the adjustable swaying block assembly 10 by four columns 11, is also mounted on the upper side of the brushless motor mounting plate 7. A reference inertial navigation system 13 is mounted on one side of the upper surface of the placement platform 12, and a test inertial navigation system 14, used to simulate the flight state of the flight controller 2, is mounted on the other side. The reference inertial navigation system 13 and the test inertial navigation system 14 are connected to the flight controller 2 via data cables (not shown in the figure). Of course, in this embodiment, the reference inertial navigation system 13 can also be replaced by dual test inertial navigation systems.

[0030] During operation, the brushless motor 9, in conjunction with the adjustable sway block assembly 10, generates vibration to simulate the vibration of the flight controller 2 at a specific flight speed, thereby generating excitation and testing various vibration reduction measures of inertial navigation units (IMUs). Based on the collected data, the flight controller analyzes the data to determine the vibration reduction effect and effectively optimize the gyroscope design.

[0031] like Figures 1 to 4 As shown, each set of column buffer components 4 includes a mounting column 40, a primary damping lower column 41, a waist drum spiral spring 42, and a primary damping upper column 43. The mounting column 40 is vertically fixed on the buffer base 3. The lower end of the waist drum spiral spring 42 is fixedly connected to the top of the mounting column 40 via a plug sleeve to the primary damping lower column 41. The upper end of the waist drum spiral spring 42 is directly supported and installed on the lower side of the buffer base plate 5 via a plug sleeve to the primary damping upper column 43.

[0032] Continue as Figures 1 to 4As shown, each secondary buffer assembly 6 includes a secondary damping lower spring 60, a spherical damping rubber ring 61, a secondary damping upper spring 62, and a pin-connected aluminum post 63. The inner end of the secondary damping lower spring 60 is fixedly connected to the upper side of the buffer base plate 5 and extends obliquely upward and outward. The secondary damping upper spring 62 corresponds to the secondary damping lower spring 60, and its inner end is fixedly connected to the lower side of the brushless motor mounting plate 7. The spherical damping rubber ring 61 is located between the outer ends of the secondary damping lower spring 60 and the secondary damping upper spring 62, and the three are locked together by the pin-connected aluminum post 63. The adjustable damping block assembly 10 includes a damping block base 100 and a damping block 101. The damping block base 100 is fixedly mounted on the upper side of the brushless motor mounting plate 7, and its outer end has an adjustment groove 1000 that cooperates with the damping block 101 and is used to adjust the vibration amplitude. A flight controller for recording reference vibration data is also installed on the damping block base 100. The flight controller is connected to an external power source through a flight control power cable 1001. During the platform test, after the program is started, the flight controller 2 controls the brushless motor 9 to increase the vibration frequency at different speeds, causing resonant excitation. After each speed stage is completed, the flight controller processor records an analysis report to determine the optimization effect of the current damping mechanism. Among them, the flight controller 2 automatically records the data of the inertial navigation system 14 (IMU) under test and automatically analyzes it, specifically including the following steps:

[0033] 1. Collect the approximate rotational speed of the target unmanned aerial vehicle (e.g., 4000 rpm);

[0034] 2. Write 10 stepped speed ranges (3500-4500 rpm, each segment is 100 rpm) into the program code;

[0035] 3. Place the inertial navigation device 14 (IMU) under test symmetrically on the placement platform 12, and connect the data cable to the flight controller 2;

[0036] 4. After starting the equipment, the brushless motor 9 will run at the set step speed according to the program until the end;

[0037] 5. Then, the flight controller 2 saves the analyzed data to the SD card, and then connects the SD card to the computer to view the analyzed data, determine the defects of the current shock absorption mechanism, and further optimize it.

[0038] By comparing different vibration reduction analyses, the resonance range can be avoided, effectively improving the stability of the gyroscope's operation.

[0039] In the description of this invention, it should be noted that the terms "upper," "lower," "top," "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0040] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. All equivalent changes made in accordance with the shape, structure and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. An optimized analysis platform for UAV IMU vibration detection for simulating the vibration conditions of flight controller at specific flight rotational speeds to test various inertial navigation shock absorbing measures and analysis of the collected data for flight controller control, characterized by, Including electronic speed governor, flight controller and buffer base, the electronic speed governor and flight controller are respectively installed and fixed on the buffer base; The buffer mechanism is installed on the buffer base and is at least subjected to one-stage damping treatment, the top end of the buffer mechanism is synchronously fixedly installed with a horizontally arranged brushless motor fixing plate, the bottom surface of the brushless motor fixing plate is fixedly installed with a brushless motor, and the upper surface of the brushless motor fixing plate is fixedly installed with an adjustable flail assembly for fine adjustment of different vibration frequencies of the flight controller. A placement platform is further installed on the upper side of the brushless motor fixing plate and is suspended relative to the adjustable flail assembly through a plurality of stand columns, a reference inertial navigation instrument or a double measured inertial navigation instrument is installed on one side of the upper surface of the placement platform, a measured inertial navigation instrument for simulating the flight state of the flight controller is installed on the other side of the upper surface of the placement platform, and the reference inertial navigation instrument or the double measured inertial navigation instrument is connected with the measured inertial navigation instrument to the flight controller through data lines. The buffer mechanism comprises a plurality of stand column buffer assemblies and a two-stage buffer assembly, and at least three groups of stand column buffer assemblies which are in parallel and spaced apart in a stand column shape and perform primary damping buffering on simulated vibration through elastic deformation are installed on the buffer base. The top end of all the stand column buffer assemblies is synchronously fixedly installed with a horizontally arranged and hollow buffer bottom plate, and at least three groups of two-stage buffer assemblies which are uniformly distributed and perform two-stage damping buffering on simulated vibration through rubber springs are installed on the circumferential periphery of the buffer bottom plate. Each group of the stand column buffer assemblies comprises a mounting support, a first-stage damping lower column, a waist drum spiral spring and a first-stage damping upper column, the mounting support is vertically fixed on the buffer base, the lower end of the waist drum spiral spring is fixedly connected with the top end of the mounting support through a first-stage damping lower column in the form of a sleeve connection, and the upper end of the waist drum spiral spring is directly received and installed on the lower side of the buffer bottom plate through a first-stage damping upper column in the form of a sleeve connection. Each group of the two-stage buffer assemblies comprises a two-stage damping lower elastic sheet, a spherical damping rubber ring, a two-stage damping upper elastic sheet and a pin-connected aluminum column, the inner side end of the two-stage damping lower elastic sheet is fixedly connected to the upper side of the buffer bottom plate and extends obliquely upward and outward, the two-stage damping upper elastic sheet corresponds to the two-stage damping lower elastic sheet and is fixedly connected to the lower side of the brushless motor fixing plate at the inner side end, and the spherical damping rubber ring is located between the outer ends of the two-stage damping lower elastic sheet and the two-stage damping upper elastic sheet and is locked through the pin-connected aluminum column.

2. The optimized analysis platform for UAV IMU vibration detection of claim 1, wherein: The buffer bottom plate is centrally hollow, and the brushless motor is fixedly installed on the bottom surface of the brushless motor fixing plate and passes through the center of the buffer bottom plate.

3. The optimized analysis platform for UAV IMU vibration detection of claim 1, wherein: The adjustable flail assembly comprises a flail seat, a flail and a flail rope, the flail rope is fixed to the outer side end of the flail, the flail seat is fixedly installed on the upper side of the brushless motor fixing plate and is provided with an adjusting groove at the outer side end for adjusting the vibration amplitude in cooperation with the flail.

4. The optimized analysis platform for UAV IMU vibration detection of claim 1, wherein: The brushless motor is electrically connected with the electronic speed governor and the flight controller through communication cables.

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