An Attitude Parameter Tuning Test Bench for Electric Multi-Rotor Configuration

Abstract

The present invention discloses an attitude parameter adjustment test bench for an electric multi-rotor configuration, which includes a bench frame. A heading attitude control system and a pitch attitude control system are arranged on the bench frame. A plurality of pneumatic test seats are arranged on the bench frame, and a tilting mechanism, a rotor mechanism and a data acquisition mechanism are arranged on each of the plurality of pneumatic test seats. A driving assembly controls the displacement of the plurality of pneumatic test seats. Through the heading attitude control system and the pitch attitude control system, the yaw and pitch attitudes of multiple rotors during flight can be simulated. By setting the tilting mechanism, the tilting action of the rotor can be simulated. The aerodynamic force, anti-torque and tilting moment in each direction of the rotor are measured by a six-component balance. By respectively controlling the positions of the plurality of pneumatic test seats through the driving assembly, the front-back spacing, left-right spacing and height spacing of the multiple rotors can be changed. Cooperating with the data acquisition system to obtain measurement parameters, the aerodynamic characteristics of the multiple rotors in different flight attitudes are studied.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-rotor characteristic tests, and specifically to an attitude parameter adjustment test bench for an electric multi-rotor configuration. Background Technique

[0002] A multi-rotor aircraft can drive the rotors by the rotation of the motors on each axis, thereby generating lift and thrust. By changing the relative rotational speeds between different rotors, the magnitude of the single-axis propulsion force can be changed, thereby controlling the flight trajectory of the aircraft. During the manufacturing process of a multi-rotor aircraft, it is necessary to study the aerodynamic interference and parameters of the rotors in different attitudes. Therefore, the function of the multi-rotor characteristic test bench is to be used for parameter debugging during the development process.

[0003] The prior art, such as the Chinese patent with the application number 202210459215.4, discloses "an attitude balance parameter adjustment test bench for a multi-rotor unmanned aerial vehicle", which includes a base, a lower rotating disk, a central shaft block assembly, and a UAV fixed disk. Among them, the lower rotating disk and the base are both circular in shape, and the lower rotating disk and the base are coaxially arranged up and down. After the UAV is fixed on this test bench, it can freely and flexibly move in the three axes of pitch, roll, and yaw, realizing the debugging work of the attitude control parameters without losing control of the UAV. Such test benches have a single function, cannot simulate the aerodynamic interference between multiple rotors, and cannot simulate tilt rotors. Summary of the Invention

[0004] The purpose of the present invention is to provide an attitude parameter adjustment test bench for an electric multi-rotor configuration to solve the problems raised in the background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An attitude parameter adjustment test bench for an electric multi-rotor configuration, including a bench frame, on which a yaw attitude control system and a pitch attitude control system are provided; the yaw attitude control system drives the bench frame to rotate in the horizontal plane, and the pitch attitude control system drives the longitudinal beam to swing in the vertical plane.

[0006] A plurality of pneumatic test seats are provided on the bench frame, and a tilt mechanism, a rotor mechanism, and a data acquisition mechanism are provided on each of the plurality of pneumatic test seats. The tilt mechanism is provided on the pneumatic test seat. The data acquisition mechanism includes a six-component balance, and the six-component balance captures the aerodynamic force, anti-torque, and tilt torque of the rotor mechanism in each direction. The bench frame also includes a drive assembly, and the drive assembly controls the displacement of the plurality of pneumatic test seats.

[0007] Through the above technical solutions, the yaw and pitch postures of multiple rotors during flight can be simulated; by setting up a tilting mechanism, a rotor mechanism, and a pneumatic test seat, the tilting action of the rotor is simulated, and the vertical takeoff and landing, transition, and level flight postures of the rotor mechanism are simulated; the aerodynamic forces, counter torques, and tilting torques in all directions of the rotor are measured by a six-component balance; by driving components to control the positions of multiple pneumatic test seats respectively, the front-back spacing, left-right spacing, and height spacing of multiple rotors can be changed; in cooperation with the data acquisition system to obtain measurement parameters, the aerodynamic characteristics of multiple rotors in different flight postures are studied.

[0008] Preferably, the bench includes a plurality of X-axis movable beams, Y-axis movable beams, and a plurality of Z-axis movable beams. The plurality of X-axis movable beams are equidistantly distributed with the Y-axis movable beam as the axis, and the plurality of X-axis movable beams are slidably connected to the Y-axis movable beam. The plurality of Z-axis movable beams are equidistantly distributed with the Y-axis movable beam as the center, and the plurality of Z-axis movable beams are respectively slidably connected to the X-axis movable beams. Multiple pneumatic test seats are respectively arranged on the Z-axis movable beams; the driving components respectively drive the pneumatic test seats to move in the vertical direction on the Z-axis movable beams, drive the Z-axis movable beams to move on the Y-axis movable beams, and drive the X-axis movable beams to move on the Y-axis movable beams.

[0009] Through the above technical solutions, the displacements of each group of rotor mechanisms in the X, Y, and Z directions can be respectively controlled, so as to simulate the aerodynamic characteristics of each group of rotor mechanisms under different positional relationships.

[0010] Preferably, the driving components include a plurality of groups of oppositely arranged X-axis driving motors. Each group of X-axis driving motors is respectively arranged at both ends of the X-axis movable beam. A plurality of mounting seats are equidistantly distributed on the Y-axis movable beam. A group of X-axis lead screws are rotatably arranged between each group of X-axis driving motors and the mounting seats. Each group of X-axis driving motors respectively drive the Z-axis movable beams to move in the relative or away directions through the X-axis lead screws;

[0011] The driving components further include a plurality of groups of Y-axis driving motors, and the plurality of groups of Y-axis driving motors respectively drive the plurality of groups of X-axis movable beams to slide on the Y-axis movable beam;

[0012] The driving components further include a plurality of Z-axis driving motors, and the plurality of Z-axis driving motors respectively drive the pneumatic test seats to move in the vertical direction on the Z-axis movable beams;

[0013] The data acquisition mechanism further includes a computer, and the X-axis driving motor, the Y-axis driving motor, and the Z-axis driving motor are all electrically connected to the computer.

[0014] Through the above technical solutions, the relative positions between the respective rotor mechanisms can be automatically adjusted. Compared with the traditional manual adjustment method, the full-automatic control of the positions of the respective rotor mechanisms can be realized, which is more convenient, time-saving, and labor-saving.

[0015] Preferably, the rotor mechanism includes an intermediate shaft, on which a swashplate is distributed. The swashplate includes a fixed ring and a rotating ring. The fixed ring is installed on the rotor shaft, and the rotating ring is coaxially rotatably connected to the fixed ring through a bearing. It further includes a hub, blades, and a rotor motor. The rotor motor drives the hub to rotate, and the hub is connected to the swashplate through a linkage mechanism.

[0016] The linkage mechanism includes a number of servos and a number of linkage tie rods. One end of each of the number of linkage tie rods is fixedly connected to the output end of a servo, and the other end is connected to the fixed ring. The number of servos drives the cyclic pitch of the blades through the number of linkage tie rods.

[0017] Preferably, the tilting mechanism includes a linear cylinder and a worm and worm gear assembly. The linear cylinder drives the worm and worm gear assembly to drive the rotor mechanism to tilt. The six-component balance is arranged on the pneumatic test base and tilts synchronously with the rotor mechanism.

[0018] Through the above technical solution, when it is necessary to simulate the aerodynamic characteristics of the rotor mechanism during vertical takeoff and landing, the rotor shaft is in a vertical state; when it is necessary to simulate the aerodynamic characteristics of the rotor mechanism during horizontal flight, the linear cylinder drives the worm and worm gear assembly to rotate, driving the rotor mechanism to tilt, so that the rotor shaft is in a parallel state.

[0019] Preferably, the heading attitude control system includes an attitude control motor. The test bench further includes a bottom beam arranged vertically. One end of the bottom beam is fixedly connected to the output end of the attitude control motor, and the other end is hinged to the center of the Y-axis movable beam.

[0020] Preferably, the pitch attitude control system includes an electric cylinder. The output end of the electric cylinder is hinged to one side of the Y-axis movable beam.

[0021] Through the above technical solution, the test bench is driven by the attitude control motor to rotate around the center of the Y-axis movable beam, so as to simulate different flight attitudes; the Y-axis movable amount is driven by the electric cylinder to swing in the vertical plane to simulate the pitch attitude.

[0022] Preferably, the number of servos are arranged at intervals of 90° or 120°.

[0023] Preferably, sensors are also arranged on the pneumatic test base.

[0024] Through the above technical solution, parameters such as rotational speed, current, and voltage are measured by sensors, and the cyclic pitch angle, collective pitch angle, tilting angle, yaw angle, and pitch angle are obtained through servo calibration calculations.

[0025] Beneficial effects:

[0026] Through the heading attitude control system and the pitch attitude control system, the present invention can simulate the yaw and pitch attitudes of multiple rotors during flight; by setting a tilting mechanism, a rotor mechanism, and a pneumatic test stand, the tilting action of the rotor is simulated, and the vertical takeoff and landing, transition, and level flight attitudes of the rotor mechanism are simulated; the aerodynamic forces, counter-torques, and tilting torques in all directions of the rotor are measured by a six-component balance.

[0027] By setting a tilting mechanism, a rotor mechanism, and a pneumatic test stand, the present invention simulates the tilting action of the rotor and the vertical takeoff and landing, transition, and level flight attitudes of the rotor mechanism; the aerodynamic forces, counter-torques, and tilting torques in all directions of the rotor are measured by a six-component balance; by controlling the positions of multiple pneumatic test stands respectively through a driving component, the front-back spacing, left-right spacing, and height spacing of multiple rotors can be changed; cooperating with a data acquisition system to obtain measurement parameters, the aerodynamic characteristics of multiple rotors in different flight attitudes are studied.

[0028] By setting a computer, the present invention can automatically adjust the relative positions of each rotor mechanism by setting the positional relationship of each rotor mechanism through the computer. Compared with the traditional manual adjustment method, it can achieve full-automatic control of the positions of each rotor mechanism, which is more convenient, time-saving, and labor-saving; parameters such as rotational speed, current, and voltage are measured by sensors, and parameters such as cyclic pitch angle, collective pitch angle, tilting angle, yaw angle, and pitch angle are obtained through servo calibration calculation. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the overall structure of an electric multi-rotor configuration attitude parameter adjustment test bench of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the test bench of the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the pneumatic test stand of the present invention;

[0032] Figure 4 It is a schematic diagram of the structure of the tilting mechanism of the present invention.

[0033] In the figure: 1. Test bench; 11. X-axis movable beam; 12. Y-axis movable beam; 13. Z-axis movable beam; 14. Bottom beam; 2. Pneumatic test stand; 3. Tilting mechanism; 31. Linear cylinder; 32. Worm and worm gear assembly; 4. Rotor mechanism; 41. Rotor motor; 42. Autopilot; 43. Fixed ring; 44. Rotating ring; 45. Hub; 46. Blade; 5. Six-component balance; 6. X-axis drive motor; 7. Y-axis drive motor; 8. Linkage rod; 9. Attitude control motor; 10. Electric cylinder. Detailed Embodiments

[0034] 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] The embodiments of the present invention will be elaborated in detail below:

[0036] An electric multi-rotor configuration attitude parameter adjustment test bench, as Figure 1 and Figure 2 shown, includes a bench 1, on which a yaw attitude control system and a pitch attitude control system are provided; the yaw attitude control system drives the bench 1 to rotate in the horizontal plane, and the pitch attitude control system drives the longitudinal beam to swing in the vertical plane; a plurality of pneumatic test seats 2 are provided on the bench 1, and a tilt mechanism 3, a rotor mechanism 4 and a data acquisition mechanism are provided on each of the plurality of pneumatic test seats 2. The tilt mechanism 3 is provided on the pneumatic test seat 2. The data acquisition mechanism includes a six-component balance 5, and the six-component balance 5 captures the aerodynamic force, anti-torque and tilt torque of the rotor mechanism 4 in each direction; the bench 1 further includes a driving assembly, and the driving assembly controls the displacement of the plurality of pneumatic test seats 2.

[0037] Through the yaw attitude control system and the pitch attitude control system, the yaw and pitch attitudes of multiple rotors during flight can be simulated; by setting the tilt mechanism 3, the rotor mechanism 4 and the pneumatic test seat 2, the tilt action of the rotor is simulated, and the vertical takeoff and landing, transition and horizontal flight postures of the rotor mechanism 4 are simulated; the aerodynamic force, anti-torque and tilt torque of each direction of the rotor are measured by the six-component balance 5; by controlling the positions of the plurality of pneumatic test seats 2 respectively through the driving assembly, the front-back distance, left-right distance and height distance of the multiple rotors can be changed; cooperating with the data acquisition system to obtain measurement parameters, and studying the aerodynamic characteristics of the multiple rotors in different flight postures.

[0038] Specifically, the test bench 1 includes a number of X-axis movable beams 11, Y-axis movable beams 12, and a number of Z-axis movable beams 13. The number of X-axis movable beams 11 are equidistantly distributed with the Y-axis movable beam 12 as the axis, and the number of X-axis movable beams 11 are slidably connected to the Y-axis movable beam 12. The number of Z-axis movable beams 13 are equidistantly distributed with the Y-axis movable beam 12 as the center, and the number of Z-axis movable beams 13 are respectively slidably connected to the X-axis movable beams 11. A plurality of pneumatic test seats 2 are respectively arranged on the Z-axis movable beams 13. The driving assembly respectively drives the pneumatic test seats 2 to move in the vertical direction on the Z-axis movable beams 13, drives the Z-axis movable beams 13 to move on the Y-axis movable beams 12, and drives the X-axis movable beams 11 to move on the Y-axis movable beams 12. By setting the driving assembly and the X-axis movable beams 11, Y-axis movable beams 12, and Z-axis movable beams 13, the displacement of each group of rotor mechanisms 4 in the X, Y, and Z directions can be respectively controlled, so as to simulate the aerodynamic characteristics of each group of rotor mechanisms 4 under different positional relationships.

[0039] As a preferred embodiment, the driving assembly includes a number of groups of oppositely arranged X-axis driving motors 6. Each group of X-axis driving motors 6 are respectively arranged at both ends of the X-axis movable beam 11. A number of mounting seats are equidistantly distributed on the Y-axis movable beam 12. A group of X-axis lead screws are rotatably arranged between each group of X-axis driving motors 6 and the mounting seats. Each group of X-axis driving motors 6 respectively drive the Z-axis movable beams 13 to move in the relative or away direction through the X-axis lead screws. The driving assembly further includes a number of groups of Y-axis driving motors 7. The number of groups of Y-axis driving motors 7 respectively drive the number of groups of X-axis movable beams 11 to slide on the Y-axis movable beam 12. The driving assembly further includes a number of Z-axis driving motors. The number of Z-axis driving motors respectively drive the pneumatic test seats 2 to move in the vertical direction on the Z-axis movable beams 13. The data acquisition mechanism further includes a computer. The X-axis driving motors 6, Y-axis driving motors 7, and Z-axis driving motors are all electrically connected to the computer. By setting the positional relationships of the respective rotor mechanisms 4 through the computer, the relative positions of the respective rotor mechanisms 4 can be automatically adjusted. Compared with the traditional manual adjustment method, the full-automatic control of the positions of the respective rotor mechanisms 4 can be realized, which is more convenient, time-saving, and labor-saving.

[0040] Specifically, as Figure 3 and Figure 4As shown in the figure, the rotor mechanism 4 includes an intermediate shaft, on which a swashplate 42 is distributed. The swashplate 42 includes a fixed ring 43 and a rotating ring 44. The fixed ring 43 is installed on the rotor shaft, and the rotating ring 44 is coaxially rotatably connected to the fixed ring 43 through a bearing. It also includes a hub 45, blades 46, and a rotor motor 41. The rotor motor 41 drives the hub 45 to rotate, and the hub 45 is connected to the swashplate 42 through a linkage mechanism. The linkage mechanism includes a number of servos and a number of linkage tie rods 8. One end of the number of linkage tie rods 8 is fixedly connected to the output end of the servo, and the other end is connected to the fixed ring 43. During operation, the number of servos drive the cyclic pitch change of the blades 46 through the number of linkage tie rods 8, and the swashplate 42 moves up or down along the rotor shaft to achieve collective pitch adjustment. As a preferred embodiment, the number of servos are arranged at intervals of 90° or 120°, the linkage tie rods 8 are provided with no less than 3, and the number of servos are all electrically connected to a computer, which is convenient for obtaining the aerodynamic characteristics of the blades 46 under cyclic pitch change.

[0041] As a preferred embodiment, the tilting mechanism 3 includes a linear cylinder 31 and a worm and worm gear assembly 32. The linear cylinder 31 drives the worm and worm gear assembly 32 to drive the rotor mechanism 4 to tilt. The six-component balance 5 is arranged on the pneumatic test seat 2 and tilts synchronously with the rotor mechanism 4. When it is necessary to simulate the aerodynamic characteristics of the rotor mechanism 4 during vertical takeoff and landing, the rotor shaft is in a vertical state; when it is necessary to simulate the aerodynamic characteristics of the rotor mechanism 4 in the level flight state, the linear cylinder 31 drives the worm and worm gear assembly 32 to rotate, driving the rotor mechanism 4 to tilt, so that the rotor shaft is in a parallel state.

[0042] As a preferred embodiment, the heading attitude control system includes an attitude control motor 9. The test bench 1 also includes a bottom beam 14 arranged vertically. One end of the bottom beam 14 is fixedly connected to the output end of the attitude control motor 9, and the other end is connected to the center of the Y-axis movable beam 12. The test bench 1 is driven by the attitude control motor 9 to rotate around the center of the Y-axis movable beam 12, so as to simulate different flight attitudes.

[0043] As a preferred embodiment, the pitch attitude control system includes an electric cylinder 10. The output end of the electric cylinder 10 is hinged to one side of the Y-axis movable beam 12. The pitch attitude is simulated by driving the Y-axis movable amount to swing in the vertical plane through the electric cylinder 10.

[0044] As a preferred embodiment, sensors are also arranged on the pneumatic test seat 2. Parameters such as rotational speed, current, and voltage are measured by the sensors, and the cyclic pitch angle, collective pitch angle, tilting angle, yaw angle, and pitch angle are obtained through servo calibration calculation.

[0045] Working principle:

[0046] During operation, the attitude control motor 9 drives the gantry 1 to rotate around the center of the Y-axis movable beam 12, thereby simulating different flight attitudes; the electric cylinder 10 drives the Y-axis movable amount to swing in the vertical plane to simulate the pitch attitude. A plurality of the servo motors drive the cyclic pitch change of the blades 46 through a plurality of linkage rods 8, and the swashplate 42 moves up or down along the rotor axis to achieve the collective pitch adjustment; when it is necessary to simulate the aerodynamic characteristics of the rotor mechanism 4 during vertical takeoff and landing, the rotor axis is in the vertical state; when it is necessary to simulate the aerodynamic characteristics of the rotor mechanism 4 during level flight, the linear cylinder 31 drives the worm and worm gear assembly 32 to rotate, driving the rotor mechanism 4 to tilt, so that the rotor axis is in a parallel state.

[0047] By setting the positional relationship of each rotor mechanism through a computer, the relative positions of each rotor mechanism can be automatically adjusted. Compared with the traditional manual adjustment method, the full-automatic control of the positions of each rotor mechanism can be realized, which is more convenient, time-saving and labor-saving. The aerodynamic forces, anti-torque and tilting moments in all directions of the rotor are measured by a six-component balance, and the cyclic pitch angle, collective pitch angle, tilting angle, yaw angle, pitch angle, etc. are obtained through servo calibration calculation. By setting the drive assembly and the X-axis movable beam, Y-axis movable beam and Z-axis movable beam, the displacements of each group of rotor mechanisms in the X, Y, and Z directions can be controlled respectively, so as to simulate the aerodynamic characteristics of each group of rotor mechanisms under different positional relationships.

[0048] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed claims.

Claims

1. An attitude parameter adjustment test bench for an electric multi-rotor configuration, characterized in that: It includes a test bench (1) with a heading attitude control system and a pitch attitude control system arranged thereon; the heading attitude control system drives the test bench (1) to rotate in the horizontal plane, and the pitch attitude control system drives the longitudinal beam to swing in the vertical plane; A plurality of pneumatic test seats (2) are arranged on the test bench (1), and a tilting mechanism (3), a rotor mechanism (4) and a data acquisition mechanism are arranged on each of the plurality of pneumatic test seats (2). The tilting mechanism (3) is arranged on the pneumatic test seat (2). The data acquisition mechanism includes a six-component balance (5), and the six-component balance (5) captures the aerodynamic force, anti-torque and tilting moment of the rotor mechanism (4) in all directions. The test bench (1) further includes a driving assembly, and the driving assembly controls the displacement of the plurality of pneumatic test seats (2); The test bench (1) includes a plurality of X-axis movable beams (11), Y-axis movable beams (12) and a plurality of Z-axis movable beams (13). The plurality of X-axis movable beams (11) are equidistantly distributed with the Y-axis movable beam (12) as the axis, and the plurality of X-axis movable beams (11) are slidably connected to the Y-axis movable beam (12). The plurality of Z-axis movable beams (13) are equidistantly distributed with the Y-axis movable beam (12) as the center, and the plurality of Z-axis movable beams (13) are respectively slidably connected to the X-axis movable beams (11). A plurality of pneumatic test seats (2) are respectively arranged on the Z-axis movable beams (13). The driving assembly respectively drives the pneumatic test seats (2) to move in the vertical direction on the Z-axis movable beams (13), drives the Z-axis movable beams (13) to move on the Y-axis movable beams (12), and drives the X-axis movable beams (11) to move on the Y-axis movable beams (12); The heading attitude control system includes an attitude control motor (9). The test bench (1) further includes a bottom beam (14) arranged vertically. One end of the bottom beam (14) is fixedly connected to the output end of the attitude control motor (9), and the other end is hingedly connected to the center of the Y-axis movable beam (12); The pitch attitude control system includes an electric cylinder (10), and the output end of the electric cylinder (10) is hingedly connected to one side of the Y-axis movable beam (12).

2. The electric multi-rotor configuration attitude parameter adjustment test bench according to claim 1, wherein: The driving assembly includes a plurality of groups of oppositely arranged X-axis driving motors (6). Each group of X-axis driving motors (6) is respectively arranged at both ends of the X-axis movable beam (11). A plurality of mounting seats are equidistantly distributed on the Y-axis movable beam (12). A set of X-axis lead screws are rotatably arranged between each group of X-axis driving motors (6) and the mounting seats. Each group of X-axis driving motors (6) drives the Z-axis movable beams (13) to move in the relative or away direction through the X-axis lead screws; The driving assembly further includes a plurality of groups of Y-axis driving motors (7), and the plurality of groups of Y-axis driving motors (7) respectively drive the plurality of groups of X-axis movable beams (11) to slide on the Y-axis movable beam (12); The driving assembly further includes a plurality of Z-axis driving motors, and the plurality of Z-axis driving motors respectively drive the pneumatic test seats (2) to move in the vertical direction on the Z-axis movable beams (13); The data acquisition mechanism further includes a computer, and the X-axis driving motor (6), the Y-axis driving motor (7) and the Z-axis driving motor are all electrically connected to the computer.

3. The electric multi-rotor configuration attitude parameter adjustment test bench according to claim 1, characterized in that: The rotor mechanism (4) includes an intermediate shaft, and an automatic swashplate (42) is distributed on the intermediate shaft. The automatic swashplate (42) includes a fixed ring (43) and a rotating ring (44). The fixed ring (43) is installed on the rotor shaft, and the rotating ring (44) is coaxially rotatably connected to the fixed ring (43) through a bearing. It further includes a hub (45), a blade (46), and a rotor motor (41). The rotor motor (41) drives the hub (45) to rotate, and the hub (45) is connected to the automatic swashplate (42) through a linkage mechanism. The linkage mechanism includes a plurality of servos and a plurality of linkage tie rods (8). One end of each of the plurality of linkage tie rods (8) is fixedly connected to the output end of the servo, and the other end is connected to the fixed ring (43). The plurality of servos drive the cyclic pitch change of the blade (46) through the plurality of linkage tie rods (8).

4. The electric multi-rotor configuration attitude parameter adjustment test bench according to claim 3, characterized in that: The tilting mechanism (3) includes a linear cylinder (31) and a worm and worm gear assembly (32). The linear cylinder (31) drives the worm and worm gear assembly (32) to drive the rotor mechanism (4) to tilt. The six-component balance (5) is arranged on the pneumatic test seat (2) and tilts synchronously with the rotor mechanism (4).

5. The electric multi-rotor configuration attitude parameter adjustment test bench according to claim 3, characterized in that: The plurality of servos are arranged at intervals of 90° or 120°.

6. The electric multi-rotor configuration attitude parameter adjustment test bench according to claim 1, characterized in that: Sensors are also arranged on the pneumatic test seat (2).

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