An Unmanned Aerial Vehicle (UAV) Manipulation System Loading Test Bench

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and discloses a loading test bench for an unmanned aerial vehicle control system, comprising: a test bench frame, a transmission mechanism, a simulated control surface mechanism, a loading mechanism and a loading control mechanism; the transmission mechanism is connected to the test bench frame; the simulated control surface mechanism is connected to the action end of the transmission mechanism; the loading mechanism is connected to the test bench frame, and its action end is connected to the simulated control surface mechanism; the loading control mechanism is used to control the actions of the transmission mechanism and the loading mechanism, and monitor the data information of the simulated control surface mechanism; in this solution, the loading mechanism is used to load the simulated control surface mechanism, the transmission mechanism is used to adjust the transmission of the simulated control surface mechanism, and the loading control mechanism is used to perform closed-loop control on the transmission mechanism and the loading mechanism, so as to more realistically simulate the actual force condition of the control surface during the flight of the unmanned aerial vehicle, and can more comprehensively perform loading tests on the control system, with a large loading force value range, a wide loading frequency band and stronger versatility.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned aerial vehicles, and particularly relates to a loading test bench for an unmanned aerial vehicle control system. Background Art

[0002] An unmanned aerial vehicle is a self-powered, radio-controlled or autonomous flying, reusable unmanned aerial vehicle that can perform multiple tasks. To achieve the autonomous flight of an unmanned aerial vehicle and successfully complete the specified tasks, its flight control, navigation, and guidance are the most critical technologies.

[0003] The basic task of an unmanned aerial vehicle automatic flight control system is to maintain the stability of the aircraft attitude and flight path when the unmanned aerial vehicle is disturbed in the air, and to change the aircraft attitude and flight path according to the requirements of ground wireless transmission instructions, and to complete navigation calculations, telemetry data transmission, mission control and management, etc.

[0004] Modern large unmanned aerial vehicles are developing towards high altitude, high speed, high maneuverability, long endurance, etc. At present, supersonic unmanned aerial vehicles, high-maneuverability unmanned aerial vehicles, high-altitude long-endurance solar unmanned aerial vehicles, etc. have emerged one after another. With the continuous expansion of the flight envelope of unmanned aerial vehicles, the aerodynamic loads on their control surfaces during flight are also increasing step by step, and the performance requirements for the actuators and transmission mechanisms that drive the control surfaces are also getting higher and higher.

[0005] In order to verify the various functions and performance indicators of the control system of an unmanned aerial vehicle under wide-range external loads, a loading test of the control system needs to be carried out before the unmanned aerial vehicle flight test.

[0006] The existing control systems of unmanned aerial vehicles mainly include actuators, transmission mechanisms, fixed supports, and control surfaces, etc. The existing loading test benches generally directly connect the loading mechanism to the output shaft of the actuator and conduct a loading test.

[0007] This loading method has a simple structure and convenient control, but this loading method can only evaluate the performance of the actuator itself, without considering the influence of the control surface and the intermediate transmission mechanism on the actuator performance. At present, some loading test benches also simulate the influence of the control surface on the actuator by means of software conversion or adding weights, but this kind of loading method does not conduct dynamic testing on the force of the intermediate transmission mechanism, and there are relatively large errors implicitly. Summary of the Invention

[0008] The purpose of the present invention is to provide a loading test bench for an unmanned aerial vehicle control system to solve at least one of the problems raised in the above background art.

[0009] To solve the above technical problems, the specific technical solutions of the present invention are as follows:

[0010] In some embodiments of the present application, a loading test bench for an unmanned aerial vehicle (UAV) control system is provided, including:

[0011] A test bench frame;

[0012] A transmission mechanism connected to the test bench frame;

[0013] A simulated control surface mechanism connected to the moving end of the transmission mechanism;

[0014] A loading mechanism connected to the test bench frame, with its moving end connected to the simulated control surface mechanism, and the performance of the simulated control surface mechanism can be tested through the transmission mechanism and the loading mechanism;

[0015] A loading control mechanism for controlling the movements of the transmission mechanism and the loading mechanism and monitoring the data information of the simulated control surface mechanism.

[0016] In a preferred embodiment of the above UAV control system loading test bench, the test bench frame includes:

[0017] A frame base;

[0018] An equipment support connected to the top of the frame base, the simulated control surface mechanism is hinged to the equipment frame; the transmission mechanism is connected to the equipment frame and is in transmission connection with the simulated control surface mechanism; the loading mechanism is connected to the frame base, and its moving end is connected to the simulated control surface mechanism.

[0019] In a preferred embodiment of the above UAV control system loading test bench, the transmission mechanism includes:

[0020] A first connection component connected to the equipment support;

[0021] A second connection component connected to the equipment support, corresponding to the first connection component and connected to the simulated control surface mechanism;

[0022] An actuator, whose fixed end and moving end are respectively hinged to the first connection component and the second connection component.

[0023] In a preferred embodiment of the above UAV control system loading test bench, the simulated control surface mechanism includes:

[0024] A third connection component connected to the equipment support;

[0025] A control surface housing connected to the third connection component and hinged to the equipment support through the third connection component.

[0026] In a preferred embodiment of the above UAV control system loading test bench, the loading mechanism includes:

[0027] Connecting base, connected to the frame base;

[0028] Motor, connected to the connecting base;

[0029] Rocking arm assembly, one end of which is connected to the output shaft of the motor and the other end is connected to the control surface housing.

[0030] In the preferred solution of the above-mentioned UAV control system loading test bench, there are two groups of the loading mechanisms, which are respectively arranged at both ends of the control surface housing.

[0031] In the preferred solution of the above-mentioned UAV control system loading test bench, the rocking arm assembly includes:

[0032] Rocking arm component, one end of which is connected to the output shaft of the motor;

[0033] Loading connecting rod, connected to the other end of the rocking arm component;

[0034] Loading pressure rod, connected to the loading connecting rod and connected to the control surface housing.

[0035] In the preferred solution of the above-mentioned UAV control system loading test bench, the bottom of the rocking arm component is an annular structure with an open side wall, sleeved on the output shaft of the motor, and a connecting plate and a spring plate extend from the opening to the top. Adjustment strip holes are provided at corresponding positions of the connecting plate and the spring plate, and at least two adjustment bolts are detachably connected to the adjustment strip holes of the connecting plate and the spring plate for adjusting the length of the spring plate connected to the rocking arm component.

[0036] In the preferred solution of the above-mentioned UAV control system loading test bench, the loading control mechanism includes:

[0037] Transmission control system, connected to the actuator; capable of controlling the angle of the control surface housing;

[0038] Angle monitoring component, connected to the control surface housing for monitoring its angle change;

[0039] Real-time simulation system, connected to the transmission control system and the angle monitoring component, for generating analog sensing signals, transmitting the analog sensing signals to the transmission control system, and receiving the real-time data of the angle monitoring component to form an angle control closed loop;

[0040] Pressure monitoring component, connected between the loading pressure rod and the control surface housing for monitoring the pressure borne by the control surface housing;

[0041] The loading control system is respectively connected to the motor, the pressure monitoring component and the real-time simulation system, receives the analog sensor signal of the real-time simulation system, controls the motor, and receives the real-time data of the pressure monitoring component to form a force control closed loop.

[0042] In the preferred embodiment of the above-mentioned UAV control system loading test bench, one end of the pressure monitoring component is connected to the rocker arm assembly, and the other end is hinged to the control surface shell through a hinge support.

[0043] It can be seen from the above technical solution that, compared with the prior art, the beneficial effects of the present invention are:

[0044] This solution loads the simulated rudder surface mechanism through the loading mechanism, performs transmission adjustment on the simulated rudder surface mechanism through the transmission mechanism, and performs closed-loop control of the transmission mechanism and the loading mechanism through the loading control mechanism. It can more realistically simulate the actual force conditions of the control surface of the UAV during flight, and can more comprehensively perform loading tests on the control system. It has a large loading force value range, a wide loading frequency band, and greater versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0046] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of the structure of another angle of the embodiment of the present invention;

[0048] Figure 3 It is a schematic diagram of the structure of the test bench in an embodiment of the present invention;

[0049] Figure 4 It is a transmission principle diagram of the connecting component 2 in the embodiment of the present invention;

[0050] Figure 5 It is a structural schematic diagram of a loading mechanism in an embodiment of the present invention;

[0051] Figure 6 It is a structural schematic diagram of a rocker arm component in an embodiment of the present invention;

[0052] Figure 7 It is a structural schematic diagram of a simulated rudder mechanism in an embodiment of the present invention;

[0053] Figure 8 Schematic diagram of the installation of the angle monitoring component in the embodiment of the present invention;

[0054] Figure 9 Schematic diagram of the installation of the pressure monitoring component in the embodiment of the present invention;

[0055] Figure 10 Principle block diagram of loading in the embodiment of the present invention.

[0056] In the figure:

[0057] 1. Test bench; 10. Frame base; 11. Equipment support; 2. Transmission mechanism; 21. First connection component; 211. First support connection seat; 212. Actuator hinge support; 22. Second connection component; 221. Second support connection seat; 222. Fixed rotating shaft; 223. Transmission connection part; 224. Link hinge support; 225. Transmission link; 23. Actuator; 3. Simulated rudder surface mechanism; 31. Third connection component; 311. Third support connection seat; 312. Rudder surface hinge support; 32. Control surface housing; 4. Loading mechanism; 40. Connection base; 41. Motor; 42. Rocker arm assembly; 421. Rocker arm part; 4211. Connection plate; 4212. Spring plate; 4213. Adjusting slotted hole; 4214. Adjusting bolt; 422. Loading link; 423. Loading pressure bar; 5. Loading control mechanism; 50. Angle monitoring component; 51. Pressure monitoring component; 52. Sensor support; 53. Sensor rotor support; 54. Ball hinge support. Detailed implementation manners

[0058] The following further describes in detail the specific implementation manners of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0059] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0060] The terms "first" and "second" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "plurality" is two or more.

[0061] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0062] To better understand the purpose, structure, and function of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0063] Refer to Figures 1-9 As shown, a loading test bench for an unmanned aerial vehicle control system according to an embodiment of the present application is described, including: a test bench frame 1, a transmission mechanism 2, a simulated control surface mechanism 3, a loading mechanism 4, and a loading control mechanism 5; wherein, the transmission mechanism 2 is connected to the test bench frame 1; the simulated control surface mechanism 3 is connected to the action end of the transmission mechanism 2; the loading mechanism 4 is connected to the test bench frame 1, and its action end is connected to the simulated control surface mechanism 3. The performance of the simulated control surface mechanism 3 can be tested through the transmission mechanism 2 and the loading mechanism 4; the loading control mechanism 5 is used to control the actions of the transmission mechanism 2 and the loading mechanism 4, and monitor the data information of the simulated control surface mechanism 3.

[0064] Through the above technical solution, the technical effect that the present application can achieve is: different from the traditional test method in which the loading point is set on the actuator 23, in this solution, the loading point is set on the simulated control surface mechanism 3. This loading method is closest to the real stress state of the control surface and can test the performance of the entire control system (including the transmission mechanism 2 and the simulated control surface mechanism 3) under the load state.

[0065] In the preferred solution of the above embodiment, the test bench frame 1 includes: a frame base 10 and an equipment support 11; wherein, the frame base 10 is a square bracket with reinforcing ribs on the side, and is welded into a frame structure using steel profiles. Its bottom is provided with a floor bolt mounting plate and is fixedly connected to the ground rail of the test site through floor bolts to ensure its overall stability; at the four corners of its top, square connecting flanges one are respectively provided;

[0066] The equipment support 11 is a square structure corresponding to the frame base 10, and is designed as a force-closed structural form by welding and bolt connection using high-quality steel profiles. Its bottom is provided with a connecting flange two, and is detachably connected to the top of the frame base 10 through the connecting flange two and the connecting flange one. The simulated control surface mechanism 3 is hinged to the mounting beam of the equipment frame; the transmission mechanism 2 is connected to the equipment frame and is in transmission connection with the simulated control surface mechanism 3; the loading mechanism 4 is connected to the top side wall of the frame base 10, and its action end is connected to the simulated control surface mechanism 3.

[0067] Specifically, according to the actual position of the tested UAV control system, the transmission mechanism 2 and the loading mechanism 4 are installed at the corresponding positions of the equipment support 11.

[0068] Through the above technical solution, the technical effect that the present application can achieve is that: adopting a split-type frame body can facilitate the adjustment of the installation position without the need for re-design, and has stronger versatility.

[0069] In the preferred solution of the above UAV control system loading test bench, the transmission mechanism 2 includes: a first connection component 21, a second connection component 22, and an actuator 23; where,

[0070] The first connection component 21 is connected to the equipment support 11; the second connection component 22 is connected to the equipment support 11, corresponding to the first connection component 21, and is connected to the simulated rudder surface mechanism 3; the fixed end and the moving end of the actuator 23 are respectively hinged to the first connection component 21 and the second connection component 22.

[0071] Specifically, the first connection component 21 includes a first support connection seat 211 and an actuator hinge support 212. The first support connection seat 211 is detachably connected to the installation beam of the equipment support 11 by bolts, and the actuator hinge support 212 is detachably connected to the top of the first support connection seat 211 by bolts. One end of the actuator 23 forms a hinge structure with the actuator hinge support 212.

[0072] Specifically, the second connection component 22 includes a second support connection seat 221, a fixed rotating shaft 222, a transmission connection member 223, a connecting rod hinge support 224, and a transmission connecting rod 225; where, the second support connection seat 221 is a U-shaped structure and is fixed to the equipment support 11 at the bottom; the fixed rotating shaft 222 is vertically fixed between the two side walls of the second support connection seat 221; the transmission connection member 223 is a triangular plate-like structure, and each corner is provided with a connection hole. One of the connection holes is sleeved and rotatably connected to the fixed rotating shaft 222 and is between the two walls of the second support connection seat 221; the connecting rod hinge support 224 is fixedly connected to one side of the simulated rudder surface mechanism 3, and the two ends of the transmission connecting rod 225 are respectively hinged to the corresponding connection holes of the connecting rod hinge support 224 and the transmission connection member 223; the output end of the actuator 23 is hinged to the remaining one of the connection holes of the transmission connection member 223. Through the telescopic movement of the actuator 23, the transmission connection member 223 can be driven to rotate around the fixed rotating shaft 222, thereby driving the transmission connecting rod 225 to move, pushing the simulated rudder surface mechanism 3 to deflect up and down, resulting in an angle change. The transmission method is more reasonable and the transmission stability is stronger.

[0073] It should be noted that the technical state of the drive mechanism 2 selected as the actuator 23 is the same as the technical state of the actual actuator 23 on the UAV. The motion of the actuator 23 is transmitted to the simulated control surface mechanism 3 to ensure that the technical state of the drive mechanism 2 of the loading test platform is the same as the technical state of the actual drive system on the UAV to be tested.

[0074] In the preferred solution of the above embodiment, the simulated control surface mechanism 3 includes: a third connecting component 31 and a control surface housing 32; where

[0075] The third connecting component 31 is connected to the equipment support 11; the control surface housing 32 is connected to the third connecting component 31 and is hinged to the equipment support 11 through the third connecting component 31.

[0076] Specifically, multiple third connecting components 31 are provided, which are respectively arranged between the equipment support 11 and the control surface housing 32 and are on the same axis, so that the control surface housing 32 and the equipment support 11 form a transmission connection, ensuring that the control surface housing 32 deflects smoothly on the equipment support 11 without jamming.

[0077] Specifically, the third connecting component 31 includes a third bracket connecting seat 311 and a control surface hinge support 312. The third bracket connecting seat 311 is connected to the equipment support 11; the control surface hinge support 312 is connected to the connecting side of the control surface housing 32, and an articulated structure is formed through the third bracket connecting seat 311 and the control surface hinge support 312.

[0078] It should be noted that the control surface housing 32 is mainly used to simulate the shape, weight, center of gravity and moment of inertia of the actual control surface of the UAV. Generally, it can be made of steel plate stamping, riveting or welding. The technical states of the control surface housing 32, the third connecting component 31 and the connecting parts on the UAV to be tested are the same.

[0079] In the preferred solution of the above embodiment, two sets of loading mechanisms 4 are provided and are respectively arranged at both ends of the control surface housing 32. By adopting the double-point symmetric loading method, the stability of loading can be ensured.

[0080] In the preferred solution of the above embodiment, the loading mechanism 4 includes: a connecting base 40, a motor 41 and a rocker arm assembly 42; where

[0081] The connecting base 40 is connected to the frame base 10; the motor 41 is connected to the connecting base 40; one end of the rocker arm assembly 42 is connected to the output shaft of the motor 41, and the other end is connected to the control surface housing 32.

[0082] Specifically, the connecting base 40 is an installation base adapted to the motor 41. The two sides of the top of the connecting base 40 are fixed. The main body of the motor 41 is fixed to the connecting base 40, and its output shaft penetrates the side wall of the connecting base 40 and faces the control surface housing 32.

[0083] It should be noted that the motor 41 is a prior art. It can be preferably a low-speed high-torque servo loading motor 41 with a control accuracy of ≤0.1% F.S., a rated torque of not less than 200 Nm, a rated loading force of up to 2000 N, and a loading hinge moment of up to 500 Nm, thus ensuring a larger loading force range.

[0084] Specifically, the rocker arm assembly 42 includes: a rocker arm member 421, a loading link 422, and a loading pressure bar 423; among them,

[0085] One end of the rocker arm member 421 is connected to the output shaft of the motor 41; the loading link 422 is connected to the other end of the rocker arm member 421; the loading pressure bar 423 is connected to the loading link 422 and is connected to the control surface housing 32.

[0086] Specifically, the bottom of the rocker arm member 421 is an annular structure with an open side wall, sleeved on the output shaft of the motor 41 to form a key connection, and a connecting plate 4211 and a spring plate 4212 extend from the opening to the top to form a U-shaped structure, and adjustment slot holes 4213 are opened at corresponding positions of the connecting plate 4211 and the spring plate 4212. At least two adjustment bolts 4214 are detachably connected to the adjustment slot holes 4213 of the connecting plate 4211 and the spring plate 4212 for adjusting the length of the spring plate 4212 connected to the rocker arm member 421. The rotation of the shaft of the motor 41 drives the rocker arm member 421 with variable stiffness to swing reciprocally, and further transmits the force to the loading pressure bar 423 through the loading link 422, and the loading pressure bar 423 transmits the loading force to the control surface housing 32.

[0087] Specifically, one of the adjustment bolts 4214 is always fixed at the bottom of the adjustment slot hole 4213; the position of the other adjustment bolt 4214 in the adjustment slot hole 4213 can be adjusted up and down: when the upper adjustment bolt 4214 moves downward close to the adjustment bolt 4214 fixed at the bottom, the length of the spring plate 4212 connected to the loading system is shorter and the system stiffness becomes weaker; when the upper adjustment bolt 4214 moves upward away from the adjustment bolt 4214 fixed at the bottom, the length of the spring plate 4212 connected to the loading system is longer and the system stiffness becomes stronger. For different operating systems, the stiffness of the loading system can be changed by adjusting the position of the upper adjustment bolt 4214, so as to optimize the loading performance.

[0088] Specifically, the rocker arm member 421 can be processed from high-strength and high-toughness materials such as 30CrMnSiA to form a rocker arm with variable stiffness, which can continuously adjust the loading stiffness of the system for different control systems of unmanned aerial vehicles, so as to adapt to different test bandwidth requirements.

[0089] Specifically, the loading connecting rod 422 is an arc-shaped plate structure, and its two ends are respectively connected to the corresponding ends of the connecting plate 4211 and the loading pressure rod 423.

[0090] Specifically, the loading pressure rod 423 is a strip-shaped plate structure, and its two ends are respectively connected to the loading connecting rods 422 on the corresponding sides.

[0091] It should be noted that the loading connecting rod 422 and the loading pressure rod 423 are fixedly connected, converting the rotational motion of the servo motor into an arc motion synchronized with the control surface housing 32, and applying the load of the servo motor to the control surface housing 32 to achieve loading.

[0092] In the preferred solution of the above embodiment, the loading control mechanism 5 includes: a transmission control system, an angle monitoring component 50, a real-time simulation system, a pressure monitoring component 51, and a loading control system; where

[0093] The transmission control system is connected to the actuator 23; it can control the angle of the control surface housing 32; the angle monitoring component 50 is connected to the control surface housing 32 and is used to monitor the angle change thereof; the real-time simulation system is connected to the transmission control system and the angle monitoring component 50, is used to generate analog sensing signals, transmits the analog sensing signals to the transmission control system, and receives the real-time data of the angle monitoring component 50 to form an angle control closed loop;

[0094] The pressure monitoring component 51 is connected between the loading pressure rod 423 and the control surface housing 32 and is used to monitor the pressure borne by the control surface housing 32; the loading control system is respectively connected to the motor 41, the pressure monitoring component 51, and the real-time simulation system, receives the analog sensing signals of the real-time simulation system, controls the motor 41, and receives the real-time data of the pressure monitoring component 51 to form a force control closed loop.

[0095] It should be noted that the transmission control system is a prior art, realized by the flight control and management computer, is electrically connected to the actuator 23, can adjust the angle of the control surface housing 32 through the actuator 23, the connection component one 21, and the connection component two 22; and feeds back the action data of the actuator 23 through a linear displacement sensor.

[0096] It should be noted that the angle monitoring component 50 is a prior art, preferably an angular displacement sensor, with a measurement range of ±60° and a measurement accuracy of ≤0.05% F.S.

[0097] Specifically, a sensor bracket 52 is connected to the connecting end of the device bracket 11. A sensor rotor bracket 53 is fixed to the corresponding bracket connecting seat three 311. The angle monitoring component 50 is fixed to the sensor bracket 52, and its rotor penetrates through the sensor bracket 52 and is connected to the sensor rotor bracket 53. When the control surface housing 32 rotates, the angle monitoring component 50 rotates following the control surface housing 32, realizing the angle monitoring of the control surface housing 32.

[0098] It should be noted that the real-time simulation system is a prior art and can be implemented by a real-time simulation computer.

[0099] Referring to Figure 10 , the real-time simulation computer can generate simulated sensor signals and send the signals to the flight control and management computer. The flight control and management computer calculates and generates control signals according to the simulated sensor signals to drive the actuator 23 to perform telescopic motion. The connecting component one 21 and the connecting component two 22 convert the telescopic motion of the actuator 23 into the rotational deflection motion of the control surface housing 32 around the axis. The angle monitoring component 50 feeds back the actual deflection angle of the simulated control surface of the control surface housing 32 to the real-time simulation computer, forming a control closed-loop.

[0100] It should be noted that the pressure monitoring component 51 is a prior art, preferably a force sensor, with a measurement range of 0 to ±5000N and a measurement accuracy of ≤0.05% F.S.

[0101] It should be noted that the loading control system is a prior art and mainly consists of a standard cabinet, a power module, a KVM component, a loading control computer, two servo controllers, a sensor signal conditioner, and supporting connecting cables;

[0102] Referring to Appendix Figure 10 , the loading instructions received by the loading control computer can have two sources: one is that the test personnel set typical loading functions (such as constant function, step function, ramp function, sine function, etc.) and input them into the loading control computer; the other is that the real-time simulation computer outputs the flight parameters of the UAV, and the actual load on the UAV control surface under the current state is found by calling the payload database and input into the loading control computer; the loading control computer calculates the control instructions for the servo motor according to the input loading instructions and the current loading state parameters fed back by the angular displacement sensor and the force sensor, and this instruction is output to the corresponding servo motor via the servo controller. The servo motor acts on the control surface housing 32 through the rocker arm assembly 42 and the force sensor.

[0103] In the preferred solution of the above embodiment, one end of the pressure monitoring component 51 is connected to the rocker arm assembly 42, and the other end is hinged to the control surface housing 32 through a spherical hinge support 54.

[0104] Specifically, one end of the pressure monitoring component 51 is connected to the bottom of the loading pressure rod 423, and the other end is hinged to the control surface housing 32 through a spherical hinge structure, so that there is a certain angular installation margin between the connection of the pressure monitoring component 51 and the control surface housing 32.

[0105] Specifically, two pressure monitoring components 51 are provided, which are respectively located near both ends of the loading pressure rod 423.

[0106] Through the above technical solutions, compared with the prior art, the beneficial effects of the present invention are as follows: by adopting a double closed-loop feedback control method of pressure closed-loop and angle closed-loop, and selecting high-precision force sensors and angular displacement sensors, high-precision loading control can be achieved.

[0107] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0108] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned aerial vehicle (UAV) control system loading test bench, characterized in that, Comprising: A test bench; A transmission mechanism, connected to the test bench; A simulated rudder surface mechanism, connected to the action end of the transmission mechanism; A loading mechanism, connected to the test bench, and its action end is connected to the simulated rudder surface mechanism. The performance of the simulated rudder surface mechanism can be tested through the transmission mechanism and the loading mechanism; A loading control mechanism, used to control the actions of the transmission mechanism and the loading mechanism, and monitor the data information of the simulated rudder surface mechanism; The test bench includes: A frame base; An equipment support, connected to the top of the frame base. The simulated rudder surface mechanism is hinged to the equipment support; the transmission mechanism is connected to the equipment support and is in transmission connection with the simulated rudder surface mechanism; the loading mechanism is connected to the frame base, and its action end is connected to the simulated rudder surface mechanism; The transmission mechanism includes: A connection component one, connected to the equipment support; A connection component two, connected to the equipment support, corresponding to the connection component one, and connected to the simulated rudder surface mechanism; An actuator, whose fixed end and action end are respectively hinged to the connection component one and the connection component two; The simulated rudder surface mechanism includes: A connection component three, connected to the equipment support; A control surface housing, connected to the connection component three and hinged to the equipment support through the connection component three; The loading mechanism includes: A connection base, connected to the frame base; A motor, connected to the connection base; A rocker arm assembly, one end of which is connected to the output shaft of the motor, and the other end is connected to the control surface housing; There are two sets of the loading mechanisms, and they are respectively arranged at both ends of the control surface housing; The rocker arm assembly includes: A rocker arm part, one end of which is connected to the output shaft of the motor; A loading connecting rod, connected to the other end of the rocker arm part; A loading pressure rod, connected to the loading connecting rod and connected to the control surface housing; The bottom of the rocker arm part is a ring structure with a side wall opening, sleeved on the output shaft of the motor, and a connecting plate and a spring plate extend from the opening to the top. Adjustment strip holes are opened at the corresponding positions of the connecting plate and the spring plate, and at least two adjustment bolts are detachably connected to the adjustment strip holes of the connecting plate and the spring plate for adjusting the length of the spring plate connected to the rocker arm part; The loading connecting rod is an arc-shaped plate structure, and its two ends are respectively connected to the corresponding ends of the connecting plate and the loading pressure rod; The loading pressure rod is a strip-shaped plate structure, and its two ends are respectively connected to the corresponding side loading connecting rods.

2. The loading test bench for an unmanned aerial vehicle control system according to claim 1, characterized in that The loading control mechanism includes: A transmission control system, connected to the actuator; capable of controlling the angle of the control surface housing; An angle monitoring component, connected to the control surface housing, used to monitor the angle change of it; A real-time simulation system, connected to the transmission control system and the angle monitoring component, used to generate simulated sensing signals, transmit the simulated sensing signals to the transmission control system, and receive the real-time data of the angle monitoring component to form an angle control closed loop; A pressure monitoring component, connected between the loading pressure rod and the control surface housing, used to monitor the pressure borne by the control surface housing; The loading control system is respectively connected to the motor, the pressure monitoring component and the real-time simulation system, receives the analog sensing signal of the real-time simulation system, controls the motor, and receives the real-time data of the pressure monitoring component to form a force control closed loop.

3. The loading test bench for an unmanned aerial vehicle control system according to claim 2, characterized in that One end of the pressure monitoring component is connected to the rocker arm assembly, and the other end is hinged to the control surface housing through a hinge support.

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