Ground test platform and method for integrated research of aircraft dynamics and control

Abstract

This invention discloses a ground-based test platform and method for integrated research on aircraft dynamics and control, relating to fields such as mechanics, aircraft dynamics and control technology, information technology, and testing technology. The ground-based test platform for integrated research on aircraft dynamics and control includes a support base, moving components, sensor components, and a control component. The sensor components are primarily force-measuring components. The support base is used to mount the force-measuring components, and the force-measuring components are used to mount the moving components. The moving components are used to mount the element under test (DUT). The control component receives signals transmitted from the sensor components and generates control commands to control the DUT. Based on this test platform, the required moving components can be assembled, thereby enabling testing of different DUTs.

Description

TECHNICAL FIELD

[0001] The present application relates to the fields of machinery, aircraft dynamics and control technology, information technology, testing technology, and the like, and particularly relates to a ground test platform and method for integrated research on aircraft dynamics and control. BACKGROUND

[0002] With the increasing requirements for the task diversity of military and civilian aircraft, low-speed VTOL aircraft that take into account both the vertical take-off and landing capability and the efficient and rapid cruising capability have emerged and have been rapidly developed in research and application fields.

[0003] Compared with conventional fixed wings, the low-speed VTOL aircraft does not rely on runways and other take-off and landing facilities, reduces the requirements for the take-off and landing conditions of the aircraft, and effectively improves the environmental adaptability and practicality of the aircraft in jungles, cities and other spaces. Compared with conventional helicopters, the aircraft has the aerodynamic characteristic advantage of fixed wings, effectively increases the flight speed and range of the aircraft, and improves the flight efficiency and the task diversity of the aircraft. The development of low-speed VTOL aircraft involves a series of key problems of dynamics and control, and a large number of ground aerodynamic optimization and flow control experiments need to be carried out before flight tests to reduce the operating cost of flight experiments and the risk of crashing.

[0004] The aircraft ground test platforms on the market currently usually have single functions, some research the six-degree-of-freedom aerodynamic characteristics of the aircraft to be tested, and some research the three-degree-of-freedom attitude control, without realizing the complete six-degree-of-freedom control of the aircraft, and without realizing closed-loop feedback control through sensor monitoring of aerodynamic performance data. In general, the aircraft dynamics and control integration research capability has not been formed. Moreover, the general versatility is poor, and the platforms can usually only support the research of one kind of aircraft, such as rotors or fixed wings, and it is difficult to meet the experimental research needs of the vertical take-off, take-off to level flight, level flight, level flight to landing, and vertical landing of the rotor-fixed wing fusion low-speed VTOL aircraft in the whole process and in all modes. Based on the above considerations, a dynamics and control integration ground test platform with the functions of real-time measurement and control of the six-degree-of-freedom of the rotor-fixed wing fusion low-speed VTOL aircraft in the whole process and in all modes is very needed in the industry. SUMMARY

[0005] The present application provides a ground test platform and method for integrated research on aircraft dynamics and control, which can be used to assemble the required moving parts, and thus realize the test of different elements to be tested.

[0006] The technical scheme of the present application is as follows:

[0007] According to the first aspect of the present application, a ground test platform for integrated research of aircraft dynamics and control is provided, comprising a support base 1, a motion component, a sensor component, and a control component, wherein the sensor component is mainly a force measuring component; the support base 1 is used for mounting the force measuring component, and the force measuring component is used for mounting the motion component; the motion component is used for mounting a to-be-tested element; and the control component receives signals transmitted by the sensor component and generates control instructions to control the to-be-tested element.

[0008] The to-be-tested element is a VTOL aircraft 9 or a local power system of the VTOL aircraft 9.

[0009] When the to-be-tested element is the VTOL aircraft 9, the motion component adopts a first motion component; when the to-be-tested element is the local power system of the VTOL aircraft 9, the motion component adopts a second motion component, and the sensor component further comprises a rotating speed sensor 16 connected with the local power system.

[0010] The first motion component comprises an integrated disc thread support rod 5, an adapter 6, a first connecting piece 7, and a universal conversion device 8; one end of the integrated disc thread support rod 5 is connected with the force measuring component, the other end of the integrated disc thread support rod 5 is connected with one end of the first connecting piece 7 through the adapter 6, the other end of the first connecting piece 7 is connected with one end of the universal conversion device 8, and the other end of the universal conversion device 8 is used for mounting the VTOL aircraft 9.

[0011] The universal conversion device 8 comprises a universal damping ball head 8-1 and a universal joint coupling 8-2; the universal damping ball head 8-1 comprises a damping piece and a ball head piece, the damping piece is used for connecting the first connecting piece 7 and the ball head piece, and is used for adjusting the damping size of the ball head piece; one end of the ball head piece is matched with the damping piece, and the other end of the ball head piece is used for connecting one end of the universal joint coupling 8-2, and the other end of the universal joint coupling 8-2 is connected with the VTOL aircraft 9.

[0012] The second motion component comprises an integrated disc thread support rod 5, an adapter 6, a second connecting piece 11, a connecting sheet 13, and a duct position adjusting fixing device 10; one end of the integrated disc thread support rod 5 is connected with the force measuring component, the other end of the integrated disc thread support rod 5 is connected with one end of the second connecting piece 11 through the adapter 6, the other end of the second connecting piece 11 is connected with the local power system of the VTOL aircraft 9 through the connecting sheet 13; the local power system of the VTOL aircraft 9 comprises a direct-current brushless motor 14 and a rotor 15, and the center point of the direct-current brushless motor 14 is vertically overlapped with the center point of the force measuring component.

[0013] The duct position adjusting fixing device 10 comprises a mounting part 10-2 provided with an adjusting hole, the integrated disc threaded support rod 5 passes through the adjusting hole, so that the mounting part 10-2 moves along the axial direction of the integrated disc threaded support rod 5, and is limited by the fixing part and the integrated disc threaded support rod 5; the duct connecting part is peripherally and interval mounted on the mounting part 10-2, and the duct 12 is provided with a connecting part for connecting with the duct connecting part.

[0014] The integrated disc threaded support rod 5 comprises a force measuring connecting part for connecting a force measuring part and a switching connecting part for connecting the switching head 6, the force measuring connecting part is a disc structure, and the switching connecting part is integrated and arranged along the axial direction of the end surface of the disc structure.

[0015] According to the second aspect of the present application, a test method of a ground test platform for integrated research on aircraft dynamics and control is provided,

[0016] The ground test platform for integrated research on aircraft dynamics and control is constructed based on the first moving part, the VTOL aircraft 9 is installed, and the translation in the ground coordinate system of the VTOL aircraft 9 is constrained; the platform constructs a feedback connection of the force measuring element to the control part of the VTOL aircraft 9, and the control loop of the aircraft-force measuring element-control part of the ground test platform is equivalent to the control loop of the aircraft-inertial navigation element-controller in the flight process of the aircraft; the damping of the universal conversion device 8 is adjusted as follows: if the damping of the universal conversion device 8 is adjusted to zero, the rotation of the VTOL aircraft 9 is not constrained, at this time, the sensor part replaces the accelerometer in the inertial navigation element, and the force signal fed back to the controller is equivalent to the feedback of the speed and linear acceleration information of the VTOL aircraft 9, that is, the translation information of the VTOL aircraft 9 is equivalent to the feedback; if the damping of the universal conversion device 8 is adjusted to the preset maximum, at this time, the force measuring part completely replaces the inertial navigation element, and the force and torque signals fed back are equivalent to the feedback of the position, attitude, speed and acceleration information of the VTOL aircraft 9, that is, the translation and rotation information of the VTOL aircraft 9 are simultaneously equivalent to the feedback; or,

[0017] The ground test platform for integrated research on aircraft dynamics and control is constructed based on the second moving part, the VTOL aircraft 9 is installed, and the local power system of the VTOL aircraft 9 is installed; the force measuring sensor 2 and the rotating speed sensor 16 are connected with the single-chip microcomputer 17, the single-chip microcomputer 17 is connected with the direct current brushless motor 14 through an electric governor, and the single-chip microcomputer 17 communicates with the upper computer through USART serial ports.

[0018] The present application has the following beneficial effects:

[0019] Firstly, compared with the traditional ground test platform, the ground test platform for the integrated research of aircraft dynamics and control constructs the feedback connection from the force measuring component to the control component, adopts the force signal to realize the real-time equivalent feedback of the position, attitude, speed and acceleration changes near the balance position of the aircraft, and initiates the real-time control of the full state of the position, attitude, speed and acceleration of the aircraft on the ground test platform.

[0020] Secondly, the combination of the motion component, the sensor component and the control component can realize the ground test simulation of the flight process of the low-speed VTOL aircraft, including the whole process and full mode of vertical take-off, take-off to flat flight, flat flight, flat flight to landing, vertical landing, and the aerodynamic performance data can be monitored in real time through the sensor for closed-loop feedback control, so that the integrated research of dynamics and control can be carried out at a certain level to replace the flight experiment and reduce the operation cost and the risk of blowing up the aircraft. In addition, the integrated research of dynamics and control of the local system of the aircraft can also be carried out at the same time.

[0021] Thirdly, the integrated research of aerodynamic optimization and flow control can be carried out through the cooperation of the motion component, the sensor component and the control component. The motion component mainly realizes the full coverage of the six-degree-of-freedom motion state of the low-speed VTOL aircraft through the universal conversion device and the integrated disc thread support rod. The motion component mainly has a small volume and strong strength, so that the overall stability of the platform is good, the vibration is small, the influence on the airflow is small, the influence on the flow control of the aircraft is reduced, and the aerodynamic optimization and flow control research of the aircraft can be better carried out. The force measuring component mainly realizes the real-time measurement of the three-axis force and moment of the measured device X, Y and Z, so as to realize the real-time monitoring of the six-degree-of-freedom aerodynamic characteristics of the low-speed VTOL aircraft in different motion states and the aerodynamic characteristics of the local model of the power system. The control component mainly receives the signals transmitted by the sensor such as the force measuring component, calculates the position, attitude, speed and acceleration of the aircraft through data analysis, and generates control instructions to realize the real-time manned or unmanned control of the low-speed VTOL aircraft in different motion states and the local system such as the power system. Through the combination of the motion component, the sensor component and the control component, the control of the six-degree-of-freedom flight of the low-speed VTOL aircraft in the whole process of vertical take-off, take-off to flat flight, flat flight, flat flight to landing and vertical landing can be realized, the anti-interference ability of the low-speed VTOL aircraft under the disturbance of crosswind can be tested, and the flight performance of the aircraft under different load conditions can be tested through the equivalent variable load principle.

[0022] In summary, the experimental platform of the application is based on real hardware, which can verify and optimize the dynamics and control design of low-speed VTOL aircraft. This can ensure that the low-speed VTOL aircraft has good aerodynamic characteristics during flight, and the effect of the control algorithm reaches the expected value, thereby improving the flight performance, safety and economy of the aircraft. At the same time, the experimental platform of the application has a refined structure and a low cost, and can realize multiple test functions with a simple structure. The experimental platform of the application can simulate the whole process of low-speed VTOL aircraft from vertical take-off, take-off to flat flight, flat flight, flat flight to landing, and vertical landing in a ground environment, and can replace flight experiments to some extent to carry out integrated research on dynamics and control, thereby reducing the operation cost of flight experiments and the risk of crashing the aircraft. The experimental platform of the application can collect various data in real time during flight for analysis, thereby providing more accurate data support for the design and research and development of the aircraft. The platform has strong compatibility and adaptability to various types of low-speed VTOL aircraft and various flight control strategies. The experimental platform of the application can complete the verification and optimization of the control strategy in a short time, and at the same time, complete the measurement of the overall or local aerodynamic characteristics of the low-speed VTOL aircraft to be tested, thereby greatly shortening the research and development cycle of the aircraft and improving the research and development efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 Fig. 1 is a structural schematic diagram of the experimental platform in a flat flight state using the first moving component;

[0024] Figure 2 Fig. 2 is a structural schematic diagram of the experimental platform in a vertical take-off and landing state using the first moving component;

[0025] Figure 3 Fig. 3 is a structural schematic diagram of the experimental platform using the second moving component;

[0026] Figure 4 Fig. 4 is a structural schematic diagram of the support base;

[0027] Figure 5 Fig. 5 is an assembly schematic diagram of the force sensor and the data acquisition card;

[0028] Figure 6 Fig. 6 is a structural schematic diagram of the universal conversion device;

[0029] Figure 7 Fig. 7 is a structural schematic diagram of the universal damping ball head;

[0030] Figure 8 Fig. 8 is a structural schematic diagram of the universal joint coupling;

[0031] Figure 9 Fig. 9 is an assembly schematic diagram of the duct and the duct position adjusting and fixing device;

[0032] Figure 10 Fig. 10 is an assembly diagram of the brushless DC motor and the propeller;

[0033] Figure 11 The function program block diagram of the test assembly for the whole machine test control is shown in the figure;

[0034] Figure 12 The function program block diagram of the test assembly for the ducted rotor coupling is shown in the figure;

[0035] The numbers in the figure are: 1-support base, 2-force sensor, 3-data acquisition card, 4-Ram head, 5-integral disc threaded support rod, 5-1-disc base, 5-2-threaded rod, 6-adaptor, 7-first connecting piece, 8-universal conversion device, 8-1-universal damping ball head, 8-2-universal joint coupling, 8-3-locking screw hole, 9-VTOL aircraft, 10-duct position adjusting fixing device, 10-1-duct fixing device fixing hole, 10-2-mounting part, 11-second connecting piece, 12-duct, 13-adaptor plate, 14-direct current brushless motor, 15-rotor, 16-rotational speed sensor, 17-single-chip microcomputer. DETAILED DESCRIPTION

[0036] The application will be further described in conjunction with the drawings and examples, but the content of the application is not limited to the scope described.

[0037] Example 1: As shown, according to an aspect of an embodiment of the application, a ground test platform for integrated research on aircraft dynamics and control is provided, comprising: a support base 1, a motion part, a sensor part, and a control part, the sensor part comprising a force measuring part; the support base 1 is used for installing the force measuring part, and the force measuring part is used for installing the motion part; the motion part is used for installing a to-be-tested element; the control part receives signals transmitted by the sensor part and generates control instructions to control the to-be-tested element. Figures 1-12

[0038] Further, the to-be-tested element is a VTOL aircraft 9 whole machine or a VTOL aircraft 9 local power system.

[0039] Further, when the to-be-tested element is a VTOL aircraft 9 whole machine, the motion part adopts a first motion part; when the to-be-tested element is a VTOL aircraft 9 local power system, the motion part adopts a second motion part, and the sensor part further comprises a rotational speed sensor 16 connected with the local power system.

[0040] ​Further, the first moving component comprises an integrated disc screw support rod 5, an adapter 6, a first connecting piece 7, a universal conversion device 8; one end of the integrated disc screw support rod 5 is connected with a force measuring component, the other end of the integrated disc screw support rod 5 is connected with one end of the first connecting piece 7 through the adapter 6, the other end of the first connecting piece 7 is connected with one end of the universal conversion device 8, and the other end of the universal conversion device 8 is used for mounting a whole machine of a VTOL aircraft 9.

[0041] Further, the universal conversion device 8 comprises a universal damping ball head 8-1 and a universal joint coupling 8-2; the universal damping ball head 8-1 comprises a damping piece and a ball head piece, the damping piece is used for connecting the first connecting piece 7 and the ball head piece, and is used for adjusting the damping size of the ball head piece; one end of the ball head piece is matched with the damping piece, and the other end of the ball head piece is used for connecting one end of the universal joint coupling 8-2, and the other end of the universal joint coupling 8-2 is connected with the whole machine of the VTOL aircraft 9.

[0042] Further, the second moving component comprises an integrated disc screw support rod 5, an adapter 6, a second connecting piece 11, a connecting sheet 13, a duct position adjusting fixing device 10; one end of the integrated disc screw support rod 5 is connected with a force measuring component, the other end of the integrated disc screw support rod 5 is connected with one end of the second connecting piece 11 through the adapter 6, and the other end of the second connecting piece 11 is connected with a local power system of the VTOL aircraft 9 through the connecting sheet 13; the local power system of the VTOL aircraft 9 comprises a direct-current brushless motor 14 and a rotor 15, and the center point of the direct-current brushless motor 14 is vertically overlapped with the center point of the force measuring component.

[0043] Further, the duct position adjusting fixing device 10 comprises a mounting part 10-2, the mounting part 10-2 is provided with an adjusting hole, the integrated disc screw support rod 5 passes through the adjusting hole, so that the mounting part 10-2 moves along the axial direction of the integrated disc screw support rod 5, and is limited by the fixing piece and the integrated disc screw support rod 5; the mounting part 10-2 is circumferentially spaced to install a duct connecting piece, and the duct 12 is provided with a connecting part for connecting with the duct connecting piece.

[0044] Further, the integrated disc screw support rod 5 comprises a force measuring connecting part for connecting with the force measuring component and an adapter connecting part for connecting with the adapter 6; the force measuring connecting part is a disc structure, and the adapter connecting part is integrally arranged along the axial direction of the end surface of the disc structure.

[0045] As can be seen from the above technical solution, the first moving part and the second moving part share the integrated disc threaded support rod 5 and the adapter 6. By designing the adapter and further cooperating with the connecting parts, on the one hand, it can not only realize the assembly of each component in the first moving part and the second moving part, but also facilitate the replacement of the first moving part and the second moving part; it can also avoid the disadvantage of the integrated disc threaded support rod being prone to stripping due to frequent disassembly; on the other hand, it reduces the purchase of the integrated disc threaded support rod as a processing part, further reducing costs and saving time.

[0046] According to another aspect of the present invention, a test method for a ground test platform for integrated research on aircraft dynamics and control is provided.

[0047] A ground-based test platform for integrated research on aircraft dynamics and control, constructed based on the first moving component, was used to install the entire VTOL aircraft 9, constraining its translational motion in the ground coordinate system. This platform established a feedback connection between the force measuring element and the control components of the VTOL aircraft 9. The control loop of the ground-based test platform—aircraft-force measuring element-control component—was used to represent the control loop of the aircraft-inertial navigation element-controller during flight. The damping of the gimbal conversion device 8 was adjusted as follows: if the damping of the gimbal conversion device 8 was adjusted to zero... Without restricting the rotation of the VTOL aircraft 9, the sensor components replace the accelerometers in the inertial navigation elements, and the force signals fed back to the controller are equivalent to the velocity and linear acceleration information of the VTOL aircraft 9, that is, equivalent to the translational information of the VTOL aircraft 9; if the damping of the gimbal conversion device 8 is adjusted to the preset maximum, the force measuring components completely replace the inertial navigation elements, and the feedback force and torque signals are equivalent to the position, attitude, velocity, and acceleration information of the VTOL aircraft 9, that is, simultaneously equivalent to the translational and rotational information of the VTOL aircraft 9; or,

[0048] A ground test platform for integrated research on aircraft dynamics and control, based on the second moving component, is used to install the local power system of VTOL aircraft 9; force sensor 2, speed sensor 16 are connected to microcontroller 17, microcontroller 17 is connected to brushless DC motor 14 via ESC, and microcontroller 17 communicates with host computer via USART serial port.

[0049] The present invention will be further described below with reference to the accompanying drawings:

[0050] like Figure 1 , 2 As shown, the moving parts adopt the first moving parts, which are used for the overall testing of the VTOL aircraft 9; as Figure 3 As shown, the moving part adopts the second moving part, which is used for the local power system test of VTOL aircraft 9.

[0051] As shown in Figure 4 , the support base 1 includes a support base plate, a support frame, a moving wheel, the support base plate is used to install the support frame, the upper end of the support frame is used to install the force measuring component 2, and the moving wheel is located at the bottom of the support base plate to facilitate movement.

[0052] As shown in Figure 5 , the force measuring component adopts a force sensor 2, the integrated disc threaded support rod 5 includes a force measuring connecting part for connecting the force measuring component and an adapter connecting part for connecting the adapter 6, the force measuring connecting part adopts a disc base 5-1, and the adapter connecting part adopts a threaded rod 5-2, and the force sensor 2 is fixed in the center of the disc base 5-1 through bolt connection.

[0053] As shown in Figures 6-8 , the universal conversion device 8 adopts a cloud head design and includes a universal damping ball head 8-1 and a universal joint shaft coupling 8-2, the first connecting piece 7 can adopt a size head screw rod, the large end is used to connect the adapter 6, and the small end is used to connect the universal damping ball head 8-1; the universal damping ball head 8-1 includes a damping piece and a ball head piece, as shown in Figure 7 , as shown in Figure 8 , the damping piece is used to connect the first connecting piece 7 and the ball head piece and is used to adjust the damping size of the ball head piece; one end of the ball head piece is matched with the damping piece, the other end of the ball head piece is threadedly connected with an M4 locking screw hole 8-3 at one end of the universal joint shaft coupling 8-2, and the other end of the universal joint shaft coupling 8-2 is threadedly connected with the whole machine of the VTOL aircraft 9. Through the cooperation of the universal damping ball head 8-1 and the universal joint shaft coupling 8-2, the deficiency that a single way cannot achieve full coverage of the motion state is avoided.

[0054] As shown in Figure 9 , the duct position adjusting and fixing device 10 includes a mounting part, the mounting part adopts an M20 nut, the integrated disc threaded support rod 5 passes through the M20 nut and is threadedly matched with the M20 nut, so that the mounting part moves in the axial direction of the integrated disc threaded support rod 5 and is limited through cooperation of the fixing piece and the integrated disc threaded support rod 5; the circumferential interval of the mounting part is provided with a duct connecting piece, and the duct 12 is provided with a connecting part used for connecting the duct connecting piece. The duct connecting piece adopts an L-shaped square tube, the long edge free end of the L-shaped square tube is connected with the connecting part of the duct 12 through a fixing hole 10-1 reserved in the L-shaped square tube and uses a screw to connect, and the short edge free end of the L-shaped square tube is connected with the outer periphery of the mounting part.

[0055] As shown in Figure 10As shown, the partial power system of the VTOL aircraft 9 includes a brushless DC motor 14 and a rotor 15. The upper end of the adapter plate 13 is connected to the brushless DC motor 14, and the lower end of the adapter plate 13 is connected to a second connector 11 using a screw. During connection, it is necessary to ensure that the vertical direction of the motor's center origin coincides with the far point of the sensor's center. The upper end of the brushless DC motor is fixed to the rotor 15 with bolts.

[0056] like Figures 11-12 As shown, the control components used in the experiment all control the controlled object based on the signals transmitted by the observer. If used for the whole-machine test of VTOL aircraft 9, the control components for the whole-machine test of VTOL aircraft 9 include the flight control board (such as Pixhawk) of VTOL aircraft 9, wireless data transmission, and host computer. The force sensor 2 and the data acquisition card 3 of integrated amplifier filter are connected through a 19-pin Remo connector 4. The data acquisition card 3 of integrated amplifier filter is connected to a 24V regulated power supply and host computer. The flight control board communicates with the host computer in real time through wireless data transmission. The observer is the force sensor 2 and the inertial measurement unit. Using the equivalent principle, the force sensor 2 can be used as a monitoring and feedback component for the position and attitude of low-speed VTOL aircraft 9 near the equilibrium point. The controlled object is the built-in flight control board in low-speed VTOL aircraft 9. Alternatively, if used for whole-machine testing, the control components are the VTOL aircraft's own flight control board and wireless communication module. The force sensor 2 and the integrated amplifier filter data acquisition card 3 are connected via a 19-pin Remo connector 4. The integrated amplifier filter data acquisition card 3 is connected to a 24-volt regulated power supply. The integrated amplifier filter data acquisition card 3 is also connected to the flight control board via a wireless communication module. The wireless communication module includes an RS232 / RJ45 to Bluetooth wireless adapter connected to the integrated amplifier filter data acquisition card 3 and a Bluetooth to serial port module connected to the flight control board. If used for testing the local propulsion system of a VTOL aircraft 9, the control components for this test include a microcontroller, and the observers are a speed sensor 16 (such as a photoelectric sensor) and a force sensor 2. The speed sensor 16 is mounted below the brushless DC motor 14. The force sensor 2, speed sensor 16, and microcontroller 17 are connected via serial communication. The speed sensor 16 serves as the speed monitoring and feedback component, and the force sensor 2 serves as the monitoring and feedback component for tension and rotational drag torque. The controlled object is the propulsion element of the low-speed VTOL aircraft 9. The speed sensor is mounted below the brushless DC motor 14, and specifically, within the measurement range, it can be mounted on an integrated disc threaded support rod 5 / adapter 6. It should be noted that the flight control board integrates inertial navigation elements, and the inertial measurement unit includes a gyroscope, accelerometer, and magnetometer.

[0057] In the experiment, the force sensor 2 of the application adopts an SRI multi-axis force sensor, and the rotation speed sensor 16 adopts an optical sensor and a Hall sensor.

[0058] According to the above technical solution, the connection relationship among the controlled object, the observer and the control component is as follows: for the whole machine system, the built-in flight control board in the controlled object, the low-speed VTOL aircraft 9, the lower end of the force sensor 2 in the sensor component is bolted to the disc support base 1, the moving component is bolted to the force sensor 2 through the integrated disc threaded support rod 5, the force sensor 2 is connected to the upper computer in the control component through the data acquisition card 3 of the integrated amplifier filter, the upper computer is transmitted to the flight control board through wireless data transmission (or the force sensor 2 can also directly communicate with the flight control board through the data acquisition card 3 of the integrated amplifier filter through the wireless communication module), and data transmission is performed through wireless data transmission. For the local power system, the controlled object is the local power system of the low-speed VTOL aircraft 9, the single-chip microcomputer is connected to the rotation speed sensor 16 through the DuPont wire for serial communication, the rotation speed sensor 16 is installed below the moving component DC brushless motor 14, the single-chip microcomputer is connected to the force sensor 2 to receive the force signal, and the single-chip microcomputer is connected to the brushless DC motor 14 through the electronic governor.

[0059] The working principle of the application is as follows: the core of the platform is to build a feedback connection from the force measuring element to the whole machine control component of the VTOL aircraft 9, and the control loop of the ground experiment platform aircraft-force measuring element-control component is equivalent to the control loop of the aircraft-inertial navigation element-controller in the flight process of the aircraft; the relative principle and the equivalent idea of three-axis six-degree-of-freedom force and torque and position, attitude, speed and acceleration are used to realize the full coverage and whole process simulation of the low-speed VTOL aircraft whole machine six-degree-of-freedom five flight processes, and the local power system can also be tested. The six degrees of freedom are three translational degrees of freedom and three rotational degrees of freedom along the body axis, and the five flight processes are vertical take-off, take-off to flat flight, flat flight, flat flight to landing, and vertical landing. The vertical take-off and vertical landing processes can involve hovering.

[0060] In the use of low-speed VTOL aircraft dynamics and control integrated ground test platform for low-speed VTOL aircraft whole machine hovering attitude control, the force sensor 2 is installed on the disc support base 1 and connected by bolts. The upper end of the force sensor 2 is connected with the disc base 5-1 of the integral disc threaded support rod 5 by bolts. The self-locking effect of the bolt nut can make the platform mechanical structure stable. The upper end of the integral disc threaded support rod 5 is connected with the internal threaded adapter 6. The internal threaded adapter 6 is connected with the universal conversion device 8 through the first connecting piece 7. The VTOL aircraft 9 is fixed on the universal conversion device 8. The damping of the universal conversion device 8 is adjusted to zero, which restricts the translation of the VTOL aircraft 9 in the ground coordinate system, but does not restrict the rotation of the aircraft. When the damping of the universal conversion device 8 is adjusted to the maximum, the translation of the low-speed VTOL aircraft 9 in the ground coordinate system is restricted, and the rotation of the low-speed VTOL aircraft 9 is also restricted. The sensor components can replace the translation or translation and rotation of the low-speed VTOL aircraft 9 according to the adjustment of the damping of the universal conversion device 8 (if the damping of the universal conversion device 8 is adjusted to zero, the translation of the low-speed VTOL aircraft 9 in the ground coordinate system is restricted, but the rotation of the aircraft is not restricted. At this time, the force measured by the sensor components replaces the translation of the low-speed VTOL aircraft 9; if the damping of the universal conversion device 8 is adjusted to the maximum, at this time, the force and torque measured by the sensor components replace the translation and rotation of the low-speed VTOL aircraft 9).

[0061] When the gimbal conversion device 8 damping adjustment is zero, the flight control board on the low-speed VTOL aircraft 9 adopts wireless communication to communicate with the host computer in real time, the force sensor 2 is connected with the acquisition card 3 through the 19-pin Lemo head 4, the acquisition card 3 transmits data to the control component through UART, RS232 or CAN, and the force and torque of the force sensor 2 in the initial state are zeroed when the platform is not installed with any load (i.e. without installing the controlled object). After zeroing, start the low-speed VTOL aircraft 9, at this time the force and torque data of the force sensor 2 begin to change, which is transmitted to the control component in real time through the above connection, the control component sends PWM driving signal according to the speed instruction to drive the aircraft motor to rotate, the rotor rotation produces corresponding force and torque, which makes the low-speed VTOL aircraft attitude change, at the same time the force sensor 2 measures the force and torque generated by the low-speed VTOL aircraft 9 flight and feeds back the force and torque in each direction to the control component to form a closed loop, the automatic control of the low-speed VTOL aircraft finally makes the force signal collected by the force sensor stable around zero point, the force signal stable around zero point is equivalent to the aircraft position stable, and the low-speed VTOL aircraft 9 reaches force balance and hovers, at this time the wind tunnel is opened to simulate the aircraft hovering state disturbed by crosswind, and the crosswind direction can be adjusted by changing the aircraft attitude, so as to give the initial disturbance to destroy the original balance state, the control component receives the new force and torque signal and compares it with the original data when the balance state is not destroyed, makes corresponding control to make the force signal stable around zero point, so as to achieve the hovering control effect (if the vertical direction Z-axis force is not zero and keeps a certain value, the X and Y-axis forces are zero, the Z-axis force can be equivalent to the load of the low-speed VTOL aircraft 9 in the current attitude when the X and Y-axis forces are zero; if the Z-axis is zero, it is considered that the low-speed VTOL aircraft 9 has no load). On the other hand, if the stable flow generated by the wind tunnel is not disturbed as crosswind, according to the relativity principle, the low-speed VTOL aircraft can be simulated to fly at the current wind speed, the aerodynamic characteristics of the aircraft at the current speed can be measured through the force component, the disturbance of the aircraft flying at the stable speed can be set through the motion component, and the current speed and attitude of the aircraft can be controlled through the cooperation of the sensor component, the control component and the motion component.

[0062] In the use of low-speed VTOL aircraft dynamics and control integration research ground test platform for low-speed VTOL aircraft whole machine mode conversion control (that is, take-off to flat flight, flat flight to landing control), the aircraft installation and communication are the same as above, only the universal conversion device 8 damping is adjusted to the maximum for fixing the low-speed VTOL aircraft, at this time the inertial measurement unit in the shield flight control board is shielded, through the three-axis force equivalent idea, the force change of the force sensor along the X, Y, Z axis can be equivalent to the change of the translational degree of freedom of the low-speed VTOL aircraft, that is, the change of the linear acceleration, the torque change of the force sensor around the X, Y, Z axis can be equivalent to the change of the rotational degree of freedom of the low-speed VTOL aircraft, that is, the change of the angular acceleration. Through the combination of sensor components, control components and motion components, the current control algorithm can be verified, and the control algorithm can be optimized and improved by observing the actual flight of the low-speed VTOL aircraft 9, and the overall flight performance of the current low-speed VTOL aircraft 9 can also be evaluated.

[0063] When the ground test platform for local power system test is used in the integrated research of low-speed VTOL aircraft dynamics and control, the force sensor 2 is connected with the disc base 5-1 of the bolt-integrated disc threaded support rod 5, the force of the force sensor along the Z axis can be equivalent to the lift of the duct + propeller, the torque around the Z axis can be equivalent to the rotating resistance of the propeller, the duct fixing device 10 is screwed into the threaded rod 5-2 through the threaded cooperation with the integrated disc threaded rod 5, the upper end of the integrated disc threaded support rod 5 is connected with the inner threaded adapter 6, the adapter plate 13 is connected with the direct-current brushless motor 14 and the rotor 15, at this time, the position of the direct-current brushless motor 14 is fixed, the measured duct 12 is fixed through the duct fixing hole 10-1 of the duct fixing device, the speed sensor 16 is fixed below the device, the single-chip microcomputer is connected with the direct-current brushless motor 14 through the electronic speed controller, at the same time, the single-chip microcomputer communicates with the upper computer through the USART serial port to display the real-time speed information, the direct-current brushless motor 14 is powered by the adjustable direct-current power supply, after the program is burned, the single-chip microcomputer outputs the PWM wave to unlock the electronic speed controller, at the same time, the maximum and minimum throttle are determined, after the electronic speed controller is unlocked, the speed control program is burned, the target speed is set, after the speed is constant, the relative position between the duct 12 and the propeller 15 is changed by manually adjusting the duct fixing device 10 through the threaded rod 5-2, the lift and position information at the maximum lift position are recorded to obtain the best matching position and the maximum lift, or the force sensor 2 is connected with the single-chip microcomputer, the tension control program is burned, the target tension is set, the lift is recorded at the same tension, by controlling one or more of the other variables such as replacing different motors, different propellers, different ducts and changing the relative position of the motor and the duct, the rotating resistance of the propeller is compared, so that the power consumed after the change is compared, and the best energy consumption state is obtained, or in the case that the power of the motor is the same, such as replacing different motors, different propellers, different ducts and changing the relative position of the motor and the duct, the lift generated is compared. It can be known from the application of the above technical scheme that the aerodynamic performance of different power devices of the aircraft can be tested by replacing different motors, propellers and ducts, and the motor speed, lift, duct, power and incoming flow speed are coupled, and the performance of the power system of the aircraft is optimized.

[0064] The specific embodiments of the application are described in detail above with reference to the drawings, but the application is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. A ground test platform for integrated research of aircraft dynamics and control, characterized in that, Include: Support base (1), moving parts, sensor parts, control parts, the sensor parts are mainly force measuring parts; The support base (1) is used for installing the force measuring parts, and the force measuring parts are used for installing the moving parts; The moving parts are used for installing the elements to be measured; The control parts receive the signals transmitted by the sensor parts, generate control instructions, and control the elements to be measured; The elements to be measured are VTOL aircraft (9) local power systems, the moving parts adopt second moving parts, and the sensor parts further include a rotating speed sensor (16) connected with the local power system; The second moving parts include an integrated disc screw support rod (5), an adapter (6), a second connecting piece (11), an adapter piece (13), and a duct position adjusting fixing device (10), one end of the integrated disc screw support rod (5) is connected with the force measuring parts, the other end of the integrated disc screw support rod (5) is connected with one end of the second connecting piece (11) through the adapter (6), the other end of the second connecting piece (11) is connected with the VTOL aircraft (9) local power system through the adapter piece (13); the VTOL aircraft (9) local power system includes a direct current brushless motor (14) and a rotor (15), the center point of the direct current brushless motor (14) is vertically overlapped with the center point of the force measuring parts; The duct position adjusting fixing device (10) includes a mounting part (10-2), the mounting part (10-2) is provided with an adjusting hole, the integrated disc screw support rod (5) passes through the adjusting hole, so that the mounting part (10-2) moves along the axial direction of the integrated disc screw support rod (5), and is limited by the fixing part and the integrated disc screw support rod (5); the mounting part (10-2) is peripherally spaced to install a duct connecting piece, and the duct (12) is provided with a connecting part for connecting with the duct connecting piece.

2. The ground test platform for integrated flight vehicle dynamics and control studies of claim 1, wherein, The integrated disc screw support rod (5) includes a force measuring connecting part for connecting with the force measuring parts and an adapter connecting part for connecting with the adapter (6), the force measuring connecting part is a disc structure, and the adapter connecting part is integrated along the axial direction of the end surface of the disc structure.

3. A test method for a ground test platform for integrated research of aircraft dynamics and control, characterized in that: The ground test platform for integrated research on aircraft dynamics and control is used for installing the VTOL aircraft (9) local power system; the force measuring sensor (2) and the rotating speed sensor (16) are connected with the single-chip microcomputer (17), the single-chip microcomputer (17) is connected with the direct current brushless motor (14) through the electronic governor, and the single-chip microcomputer (17) communicates with the upper computer through the USART serial port.

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