An unmanned helicopter distributed electric tail rotor test bench and a yaw test method

Abstract

The application provides a test platform for distributed electric tail rotor of unmanned helicopter and a yaw test method, wherein the test platform comprises a main shaft device, a distributed electric tail rotor device and a test platform circuit hardware; the main shaft device is rotatable and is used for carrying a main body of a body of the unmanned helicopter; the distributed electric tail rotor device is installed on the main shaft device and is used for carrying the distributed electric tail rotor; the test platform provided by the application has simple mechanical structure and is easy to realize; the test platform is safe and convenient to use through tests on the test platform; the test platform has wide application range, greatly expands the existing single tail rotor test device, can meet the test requirements of the distributed electric tail rotor to the maximum extent, fills the blank in the single tail rotor test field, and reduces the research and development cost of the distributed electric tail rotor; the yaw test method truly reflects the data of a yaw channel of the unmanned helicopter, has comprehensiveness and verifiability, can solve the failure caused by the single tail rotor, and improves the safety and reliability of the helicopter.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of unmanned helicopter distributed electric tail rotor test, and particularly relates to an unmanned helicopter distributed electric tail rotor test bench and a yaw test method. BACKGROUND

[0002] Helicopters have the characteristics of high flexibility, high speed, stunt flight, etc., and are widely used in many fields such as agricultural production, battlefield support, fire rescue, film shooting and power detection. However, the failure of a single tail rotor of a helicopter will inevitably lead to serious accidents, and the development of distributed electric tail rotor is the trend of helicopter development.

[0003] Before the distributed electric tail rotor is applied to a helicopter, it is very important to build an unmanned helicopter distributed electric tail rotor test bench. In addition, the function of the tail rotor of a helicopter is to control the yaw channel of an unmanned helicopter and to offset the counter-torque generated by the main rotor, so it is necessary to conduct a comprehensive yaw test on the unmanned helicopter distributed electric tail rotor after the test bench is built.

[0004] Regarding the above test bench, the prior art has the following defects: At present, there is a lack of research on unmanned helicopter distributed electric tail rotor in China, and the application of distributed electric tail rotor in helicopter design has not been realized. At present, the unmanned helicopter based on distributed electric tail rotor lacks a reliable test bench device, which cannot meet the needs of related tests, resulting in the characteristics of great danger, high cost and low success rate of related tests, which seriously restricts the research and development cost and cycle of distributed electric tail rotor. The prior art only studies the method of unmanned helicopter distributed electric tail rotor, and the method is incomplete, so the result is one-sided.

[0005] Therefore, it is necessary to provide a reliable unmanned helicopter distributed electric tail rotor test bench to avoid the serious consequences caused by the failure of a single tail rotor of an unmanned helicopter. SUMMARY

[0006] In view of this, the purpose of the present application is to provide an unmanned helicopter distributed electric tail rotor test bench and a yaw test method, which can maximize the test needs of distributed electric tail rotor.

[0007] The technical scheme of the present application is: an unmanned helicopter distributed electric tail rotor test bench, comprising a main shaft device, a distributed electric tail rotor device and a test bench circuit hardware; the main shaft device is rotatable and used for carrying an unmanned helicopter body; the distributed electric tail rotor device is installed on the main shaft device and used for carrying a distributed electric tail rotor.

[0008] The test bed circuit hardware is installed on the main shaft, and comprises a main control board hardware, an on-board MPU6050 sensor, the main control board hardware takes an STM32F407 minimum system board as a core processing unit, and simultaneously comprises a direct current voltage stabilizing power module, a wireless serial port module, a PWM output module, a TFT screen module, a buzzer module, a key module, an LED indicator lamp module, an infrared remote control module, an MPU6050 module, a host computer, and a timer; wherein the PWM output module comprises distributed electric tail rotor PWM output and unmanned helicopter main rotor PWM output;

[0009] Preferably, the direct current voltage stabilizing power module is used for supplying power to the distributed electric tail rotor device.

[0010] The on-board MPU6050 sensor is installed on the main body of the unmanned helicopter body, and is used for detecting the rotating speed, yaw angle and yaw angle speed of the unmanned helicopter.

[0011] The on-board MPU6050 sensor is connected with the MPU6050 module, the MPU6050 module communicates with the STM32F407 minimum system board, and the rotating speed, yaw angle and yaw angle speed data of the unmanned helicopter are transmitted to the STM32F407 minimum system board in real time.

[0012] The TFT screen module is connected with the STM32F407 minimum system board, and is used for displaying the data received by the STM32F407 minimum system board; the infrared remote control module is connected with the STM32F407 minimum system board, the STM32F407 minimum system board is connected with the PWM output module, and is used for adjusting the rotating speed of the brushless direct current motor of the main rotor and the brushless motor of the tail rotor of the unmanned helicopter; the yaw angle and yaw angle speed are transmitted to the host computer in real time through the wireless serial port module by the STM32F407 minimum system board, and the state of the unmanned helicopter is monitored in real time.

[0013] The on-board MPU6050 sensor communicates with the timer, the timer continuously reads the data of the on-board MPU6050 sensor, and the yaw angle and yaw angle speed of the unmanned helicopter are continuously monitored and adjusted.

[0014] Preferably, the main shaft device comprises a body support plate, a main shaft-body support plate flange, a test bed main shaft, a tail rotor fixed mounting clamp, a main shaft-hardware support plate flange, a hardware support plate and a rotating mechanism; wherein the rotating mechanism comprises a bearing, a rotating shaft and a test bed fixed base.

[0015] The fuselage drag plate is used for placing the unmanned helicopter fuselage body; the main shaft-fuselage support flange is fixed below the fuselage support plate; the main shaft-fuselage support flange is connected with the upper end of the test bench main shaft, and the lower part of the test bench main shaft is connected with the main shaft-hardware support flange; the tail rotor fixed mounting clamp is installed on the test bench main shaft; the hardware support plate is arranged below the main shaft-hardware support flange on the test bench main shaft, and is used for fixing and mounting the test bench circuit hardware and the test power supply battery.

[0016] The hardware support plate is fixed on the rotating shaft below, the bearing is installed on the rotating shaft, and the rotating shaft is installed on the test bench fixed base.

[0017] The distributed electric tail rotor device comprises a tail pipe group, a distributed electric tail rotor support plate, a tail rotor mounting base, a tail rotor mounting base cover, four tail rotor brushless motors, four tail rotor electric governors and blades. The tail pipe group is fixed in the tail rotor fixed mounting clamp at one end and connected with the tail rotor mounting base at the other end. The distributed electric tail rotor support plate is fixed outside the tail rotor mounting base, and the four tail rotor brushless motors are fixed on the distributed electric tail rotor support plate in the clockwise direction. The No. 1 tail rotor brushless motor and the No. 3 tail rotor brushless motor are set to rotate counterclockwise, the No. 2 tail rotor brushless motor and the No. 4 tail rotor brushless motor are set to rotate clockwise, the No. 1 tail rotor brushless motor and the No. 3 tail rotor brushless motor are installed with positive blades, and the No. 2 tail rotor brushless motor and the No. 4 tail rotor brushless motor are installed with reverse blades. The four tail rotor electric governors are arranged in the tail rotor mounting base, the tail rotor electric governor is connected with the tail rotor brushless motor in correspondence, and the tail rotor mounting base cover covers the tail rotor mounting base.

[0018] The length of the test bench main shaft is 27 cm, the tail rotor fixed mounting part is arranged at a position 13.5 cm away from the main shaft-fuselage support flange on the test bench main shaft, and the length of the tail pipe group is 81 cm.

[0019] Preferably, the tail pipe group is a hollow structure, and drive lines for controlling the distributed electric tail rotor and power supply lines of the tail rotor brushless motor and the tail rotor electric governor are arranged in the tail pipe group.

[0020] In addition, the application also provides a method for simulating the distributed electric tail rotor test of the unmanned helicopter by using the test bench.

[0021] S1: the main control board hardware is initialized, the main rotor motor and the distributed tail rotor motor are powered on at the same time, the distributed electric tail rotor is designed to rotate counterclockwise by the No. 1 motor and the No. 3 motor, and to rotate clockwise by the No. 2 motor and the No. 4 motor.

[0022] S2: controlling the main rotor motor and the four tail rotor brushless motors to start by the infrared remote control module, the main rotor motor rotates counterclockwise, generates a counterclockwise torque on the main body of the unmanned helicopter, causes the main body of the unmanned helicopter to deflect, and observes whether the distributed electric tail rotor device can generate enough counterclockwise thrust to offset the torque generated by the main rotor, so that the unmanned helicopter quickly reaches a starting self-stabilization state;

[0023] S3: selecting the stable state position of the unmanned helicopter as a test point, changing the main rotor speed by the infrared remote control module, and then changing the torque generated on the main body of the unmanned helicopter, and observing whether the distributed electric tail rotor device can offset the torque generated by the main rotor and maintain the stability of the unmanned helicopter;

[0024] S4: selecting the stable state position of the unmanned helicopter as a test point, applying a yaw direction disturbance to the main body of the unmanned helicopter to change the yaw direction of the main body of the unmanned helicopter, and observing whether the distributed electric tail rotor device can respond immediately and make the unmanned helicopter return to the test point and quickly reach a balanced stable state under the disturbance;

[0025] S5: applying a disturbance to the main body of the unmanned helicopter to change the yaw direction of the main body of the unmanned helicopter, and observing whether the distributed electric tail rotor device can quickly respond to make the unmanned helicopter quickly reach a new balanced stable state after changing the yaw direction;

[0026] S6: selecting the stable state position of the unmanned helicopter as a test point, deflecting the main body of the unmanned helicopter to a preset angle by the infrared remote control module, and observing whether the distributed electric tail rotor device can quickly track the yaw angle, quickly and accurately adjust the main body of the unmanned helicopter to the target angle and reach a stable state in a short time.

[0027] The application provides an unmanned helicopter distributed electric tail rotor test bench and a yaw test method, wherein the test bench has simple mechanical structure and is easy to realize, the test is safe and convenient to use on the test platform; the test bench comprises a test bench main shaft device, a distributed electric tail rotor device and a test bench circuit hardware, and the yaw test method realizes yaw control of the distributed electric tail rotor of the unmanned helicopter;

[0028] The test bench has wide application range, greatly expands the existing single tail rotor test device, can maximize meet the test demand of the distributed electric tail rotor, fills the blank in the single tail rotor test field, and reduces the research and development cost of the distributed electric tail rotor;

[0029] In addition, the unmanned helicopter distributed electric tail rotor yaw test method of the present application tests in the unmanned helicopter yaw channel, is complete and comprehensive, truly reflects the unmanned helicopter yaw channel data, and has comprehensiveness and verifiability. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0032] Figure 1 The schematic structural diagram of the test bed main shaft device provided by the present application is shown in the figure.

[0033] Figure 2 The schematic structural diagram of the distributed electric tail rotor device is shown in the figure.

[0034] Figure 3 The schematic diagram of the test bed circuit hardware PCB is shown in the figure.

[0035] Figure 4 The schematic diagram of the test bed circuit hardware signal transmission is shown in the figure. DETAILED DESCRIPTION

[0036] The exemplary embodiments will be described in detail herein below with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of systems consistent with some aspects of the present application as detailed in the appended claims.

[0037] The prior art only studies the method of unmanned helicopter distributed electric tail rotor, and the method is incomplete, so the result is one-sided. For example, the patent with application number 202311211740.5 proposes a helicopter distributed electric tail rotor control system and control method. The distributed electric tail rotor control system mentioned in this patent calculates the angular rate error using actual yaw rate information and expected yaw rate information. According to the angular rate error, the current required to drive each motor-reducer of the distributed tail rotor to rotate is increased, thereby changing the speed of the motor-reducer and the speed of the tail rotor, so as to realize the rapid response of the tail rotor. In addition, the control method mentioned uses the motor driver to adjust the input current of the corresponding motor-reducer to adjust the speed of the tail rotor, reduce the helicopter yaw rate error, and realize the adjustment of the flight attitude of the helicopter. However, the motor is applied in the scene of helicopter which requires high speed response and precise control, and the dynamic response of the motor may become a limiting factor. The response speed and adjustment accuracy of the actual motor will affect the stability and robustness of the control system, so the method of adjusting the input current of the motor-reducer to adjust the speed of the tail rotor according to the angular rate error mentioned in this patent is too ideal and lacks practicality. At the same time, the patent mentions adjusting the current to optimize energy efficiency, but in fact, how to achieve efficient use of energy without sacrificing system performance to improve the endurance of the helicopter is not described. For example, the patent with application number 202311507228.5 proposes a helicopter distributed electric tail rotor fault-tolerant control method, which realizes fault-tolerant control without relying on fault observers, designs a fault-tolerant control optimization method based on backstepping control algorithm, and proves the stability of the system through Lyapunov theory. However, in actual application, the dynamic response of the system and the complexity of the actual environment may affect the control effect. Especially, the helicopter is often used in extreme conditions or unmeasurable environmental change scenarios, and the stability and practicability of the control algorithm may need to be further verified and optimized.

[0038] In view of the problems existing in the prior art, the present application provides an unmanned helicopter distributed electric tail rotor test bench and yaw test method, wherein the test bench comprises: a test bench main shaft device, a distributed electric tail rotor device, and a test bench circuit hardware.

[0039] As shown in Figure 1 The test bench main shaft device comprises a fuselage support plate 2, a main shaft-fuselage support plate flange 3, a test bench main shaft 4, a tail rotor fixed mounting clamp 5, a main shaft-hardware support plate flange 6, a hardware support plate 7, and a rotating mechanism.

[0040] Among them:

[0041] The fuselage support plate 2 is fixedly installed above the fuselage main body 1 and is used for placing the unmanned helicopter fuselage main body 1;

[0042] The main shaft-body bracket flange 3 is fixed under the main shaft-body bracket 2 by bolts;

[0043] The test-bed main shaft 4 is sleeved between the main shaft-body bracket flange 3 and the main shaft-hardware bracket flange 6, and the length of the test-bed main shaft 4 is 27 cm;

[0044] The tail rotor fixed mounting piece 5 is fixedly mounted on the test-bed main shaft 4, and the position of the tail rotor fixed mounting piece 5 is 13.5 cm away from the main shaft-body bracket flange 3. The tail rotor fixed mounting piece 5 is used to connect the test-bed main shaft device and the tail pipe group 11, and then connect to the distributed electric tail rotor device. The test-bed main shaft device is connected perpendicularly to the tail pipe group.

[0045] The test-bed circuit hardware and the test power supply battery are fixedly mounted on the hardware bracket 7;

[0046] The hardware bracket 7 is fixed on the rotating shaft 9 of the rotating mechanism through a flange below the hardware bracket 7;

[0047] The rotating mechanism comprises a bearing 8, a rotating shaft 9, and a test-bed fixed base 10;

[0048] The bearing 8 is composed of an inner ring and an outer ring, and they are in contact through steel ball rolling bodies. Based on the lubrication and rolling friction principle, the rotating shaft 9 is connected to make the rotating mechanism rotate, and the yaw channel of the unmanned helicopter is simulated and realized.

[0049] As shown in Figure 2 The distributed electric tail rotor device comprises a tail pipe group 11, a distributed electric tail rotor support plate 12, a tail rotor mounting base 13, a tail rotor mounting base cover 14, four tail rotor brushless motors 15, four tail rotor electronic speed controllers 16, and blades 17.

[0050] Among them:

[0051] One side of the tail pipe group 11 is sleeved into and fixed in the tail rotor mounting base 13, and the other side is sleeved into and fixed in the tail rotor fixed mounting piece 5. The length of the tail pipe group is 81 cm. The tail pipe group 11 is used to connect the test-bed main shaft device and the distributed electric tail rotor device. The tail pipe group 11 is internally provided with a driving line for controlling the distributed electric tail rotor, a power supply line for the tail rotor brushless motor, and a tail rotor electronic speed controller;

[0052] The distributed electric tail rotor support plate 12 is fixedly mounted on the outer side of the tail rotor mounting base 13 by bolts;

[0053] Four tail rotor brushless motors 15 are fixed on the distributed electric tail rotor support plate 12. The distributed electric tail rotor is designed such that the No. 1 motor and the No. 3 motor rotate counterclockwise, the No. 2 motor and the No. 4 motor rotate clockwise, and the positive and negative blades are respectively installed;

[0054] Four tail rotor electric governor 16 is placed in the tail rotor mounting base 13, the tail rotor mounting base cover 14 is fixed outside the tail rotor mounting base 13 by bolt, and the tail rotor mounting base cover 14 plays the role of overall appearance and protection of the tail rotor electric governor 16.

[0055] As shown in Figure 3 The test bench circuit hardware includes a main control board hardware and an on-board MPU6050 sensor.

[0056] Among them:

[0057] The main control board hardware takes an STM32F407 minimum system board 18 as a core processing unit, and simultaneously includes a direct current stabilized power supply module 19, a wireless serial port module 20, a PWM output module 21, a TFT screen module 22, a buzzer module 23, a key module 24, an LED indicator lamp module 25, an infrared remote control module 26, an MPU6050 module 27, and a host computer.

[0058] The direct current stabilized power supply module 19 is responsible for providing a stable power output for the distributed electric tail rotor device, and ensures that all modules are safely operated under an ideal voltage. The MPU6050 module 27 communicates with the STM32F407 minimum system board 18, and transmits the yaw angle and yaw angular velocity data of the unmanned helicopter in real time, and displays the data on the TFT screen module 22 to evaluate the influence of the flight state and external disturbance. The infrared remote control module 26 uses infrared sensing technology to convert signals into electrical signals, and realizes the adjustment of the main rotor speed of the unmanned helicopter body. The PWM output module 21 of the main rotor and the distributed electric tail rotor receives the PWM signal from the STM32F407, controls the operation of the main rotor brushless direct current motor and the distributed electric tail rotor brushless motor 15, and makes the system respond in time.

[0059] The timer continuously reads the data of the on-board MPU6050 sensor, realizes the continuous monitoring and adjustment of the yaw angle and yaw angular velocity of the unmanned helicopter. The system can calculate and adjust the state of the yaw channel in real time by changing the main rotor speed through the instructions received by the infrared remote control module 26, and ensures the stability of the yaw channel of the unmanned helicopter. Through the PWM output module 21, these calculation results are converted into accurate control signals for the main rotor motor and the four tail rotor brushless motors 15, so as to realize the operation of the motor. At the same time, the yaw angle, yaw angular velocity and other information are transmitted to the host computer in real time through the wireless serial port module 20, the state of the unmanned helicopter is monitored in real time, and the yaw data can be visually displayed through the waveform display for further analysis of the control effect of the yaw channel.

[0060] The application of the test bench simulates the method for testing the distributed electric tail rotor of the unmanned helicopter, characterized in that it comprises:

[0061] S1: the main control board power-on initialization program, the initialization process includes LED module, buzzer module, key module, infrared module, serial module, TFT screen module, MPU6050 module, PWM throttle output and timer initialization process; at the same time, the main rotor motor and the distributed tail rotor motor are powered on simultaneously, the distributed electric tail rotor is designed to rotate counterclockwise, and the second motor and the fourth motor rotate clockwise, and the positive and negative propellers are installed respectively.

[0062] S2: after the initialization is completed, the infrared remote control module 26 controls the main rotor motor and the four tail rotor brushless motors 15 to start, the main rotor motor rotates counterclockwise, generates a clockwise direction counter torque on the unmanned helicopter body 1, causes the unmanned helicopter body 1 to deflect, and observes whether the distributed electric tail rotor device can generate enough counterclockwise direction thrust to offset the counter torque generated by the main rotor, so that the unmanned helicopter quickly reaches the starting self-stabilization state.

[0063] S3: select the moment when the unmanned helicopter is in a stable state as a test point, change the main rotor speed through the infrared remote control button, and then change the counter torque generated on the unmanned helicopter body 1, and observe whether the distributed electric tail rotor device can offset the counter torque generated by the main rotor and maintain the stability of the unmanned helicopter.

[0064] S4: select the position of the unmanned helicopter in a stable state as a test point, apply a disturbance in the yaw direction to the unmanned helicopter body 1, change the yaw direction of the unmanned helicopter body 1, and observe whether the distributed electric tail rotor device can respond immediately and make the unmanned helicopter return to the test point and quickly reach a balanced stable state under the disturbance.

[0065] S5: by applying a disturbance to the unmanned helicopter body 1, the yaw direction of the unmanned helicopter body 1 changes, and the distributed electric tail rotor device can quickly respond to make the unmanned helicopter quickly reach a new balanced stable state after changing the yaw direction.

[0066] S6: select the position of the unmanned helicopter in a stable state as a test point, deflect the unmanned helicopter body 1 to a preset angle by operating the infrared remote control module 26, and observe whether the distributed electric tail rotor device can quickly track the yaw angle, quickly and accurately adjust the unmanned helicopter body 1 to the target angle and reach a stable state in a short time.

[0067] The present application verifies the feasibility of the yaw channel control method of the unmanned helicopter by proposing an unmanned helicopter distributed electric tail rotor test bench and test method, which can maximize the test requirements of the unmanned helicopter distributed electric tail rotor, and fills the gap in this field.

[0068] The above description is only the preferred embodiment of the present application, it should be pointed out that for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and variations can be made, these changes and variations should also be considered as the protection scope of the present application.

Claims

1. A method for simulating unmanned helicopter distributed electric tail rotor test by using unmanned helicopter distributed electric tail rotor test bench, characterized in that, The unmanned helicopter distributed electric tail rotor test bench comprises a main shaft device, a distributed electric tail rotor device and test bench circuit hardware; the main shaft device is rotatable and used for carrying an unmanned helicopter body (1), and the distributed electric tail rotor device is installed on the main shaft device and used for carrying a distributed electric tail rotor; The test bench circuit hardware is installed on the main shaft and comprises main control board hardware, an on-board MPU6050 sensor, a DC stabilized power supply module (19), a wireless serial port module (20), a PWM output module (21), a TFT screen module (22), a buzzer module (23), a key module (24), an LED indicator lamp module (25), an infrared remote control module (26), an MPU6050 module (27), an upper computer and a timer, wherein the PWM output module (21) comprises distributed electric tail rotor PWM output and unmanned helicopter main rotor PWM output; The method comprises: S1: main control board hardware electrical initialization, main rotor motor and distributed tail rotor motor are powered on at the same time, distributed electric tail rotor design No. 1 motor and No. 3 motor rotate counterclockwise, No. 2 motor and No. 4 motor rotate clockwise; S2: control the main rotor motor and four tail rotor brushless motors (15) to start through the infrared remote control module (26), the main rotor motor rotates counterclockwise, generates a clockwise direction counter-torque on the unmanned helicopter body (1), causes the unmanned helicopter body (1) to deflect, and observes whether the distributed electric tail rotor device can generate enough counterclockwise direction thrust to offset the counter-torque generated by the main rotor, so that the unmanned helicopter quickly reaches the starting self-stabilization state; S3: select the stable state position of the unmanned helicopter as a test point, change the main rotor speed through the infrared remote control module (26), and then change the counter-torque generated on the unmanned helicopter body (1), and observe whether the distributed electric tail rotor device can offset the counter-torque generated by the main rotor and maintain the stability of the unmanned helicopter; S4: select the stable state position of the unmanned helicopter as a test point, apply a disturbance in the yaw direction to the unmanned helicopter body (1), change the yaw direction of the unmanned helicopter body (1), and observe whether the distributed electric tail rotor device can respond immediately and make the unmanned helicopter return to the test point and quickly reach the balanced stable state under the disturbance; S5: apply a disturbance to the unmanned helicopter body (1), change the yaw direction of the unmanned helicopter body (1), and observe whether the distributed electric tail rotor device can quickly respond, so that the position of the unmanned helicopter after changing the yaw direction quickly reaches a new balanced stable state; S6: select unmanned helicopter stable state position as test point, through infrared remote control module (26) operation will unmanned helicopter fuselage main body (1) deflection to the preset angle, the angle of deflection to the left is positive, the angle of deflection to the right is negative, observe whether the distributed electric tail rotor device can quickly track the yaw angle, quickly and accurately adjust the unmanned helicopter fuselage main body (1) to the target angle and reach the stable state in a short time.

2. The method of simulating a test of a distributed electric tail rotor of an unmanned helicopter according to claim 1, wherein, The direct current stabilized power supply module (19) is used for supplying power to the distributed electric tail rotor device. The airborne MPU6050 sensor is installed on the unmanned helicopter fuselage main body (1) and is used for detecting the rotating speed, yaw angle and yaw angle speed of the unmanned helicopter. The airborne MPU6050 sensor is connected with the MPU6050 module (27), the MPU6050 module (27) communicates with the STM32F407 minimum system board (18) and transmits the rotating speed, yaw angle and yaw angle speed data of the unmanned helicopter to the STM32F407 minimum system board in real time. The TFT screen module (22) is connected with the STM32F407 minimum system board (18) and is used for displaying the data received by the STM32F407 minimum system board (18); the infrared remote control module (26) is connected with the STM32F407 minimum system board (18), the STM32F407 minimum system board (18) is connected with the PWM output module (21) and is used for adjusting the rotating speed of the brushless direct current motor of the main rotor and the tail rotor brushless motor (15) of the unmanned helicopter; the STM32F407 minimum system board (18) transmits the yaw angle and yaw angle speed to the upper computer in real time through the wireless serial port module (20) and monitors the state of the unmanned helicopter in real time. The airborne MPU6050 sensor communicates with the timer, the timer continuously reads the data of the airborne MPU6050 sensor and continuously monitors and adjusts the yaw angle and yaw angle speed of the unmanned helicopter.

3. The method of simulating a test of a distributed electric tail rotor of an unmanned helicopter of claim 1, wherein, The main shaft device comprises a fuselage supporting plate (2), a main shaft-fuselage supporting plate flange (3), a test bench main shaft (4), a tail rotor fixed mounting clamp (5), a main shaft-hardware supporting plate flange (6), a hardware supporting plate (7) and a rotating mechanism; wherein the rotating mechanism comprises a bearing (8), a rotating shaft (9) and a test bench fixed base (10). The fuselage supporting plate (2) is used for placing the unmanned helicopter fuselage main body (1); the main shaft-fuselage supporting plate flange (3) is fixed below the fuselage supporting plate (2); the main shaft-fuselage supporting plate flange (3) is connected with the upper end of the test bench main shaft (4), the lower part of the test bench main shaft (4) is connected with the main shaft-hardware supporting plate flange (6); the tail rotor fixed mounting clamp (5) is installed on the test bench main shaft (4); a hardware supporting plate is arranged above the test bench main shaft (4) and below the main shaft-hardware supporting plate flange (6) and is used for fixedly mounting test bench circuit hardware and test power supply batteries; The hardware supporting plate (7) is fixed below the rotating shaft (9), the bearing (8) is installed on the rotating shaft (9) and the rotating shaft (9) is installed on the test bench fixed base (10). The distributed electric tail rotor device comprises a tail pipe group (11), a distributed electric tail rotor support plate (12), a tail rotor mounting base (13), a tail rotor mounting base cover (14), four tail rotor brushless motors (15), four tail rotor electronic governors (16), and a blade (17). One end of the tail pipe group is fixed in a tail rotor fixed mounting clamp (5), and the other end is connected with the tail rotor mounting base (13). The distributed electric tail rotor support plate (12) is fixed outside the tail rotor mounting base (13). The four tail rotor brushless motors (15) are fixed on the distributed electric tail rotor support plate (12) in the clockwise direction in sequence. The No. 1 tail rotor brushless motor and the No. 3 tail rotor brushless motor are set to rotate counterclockwise, the No. 2 tail rotor brushless motor and the No. 4 tail rotor brushless motor are set to rotate clockwise, the No. 1 tail rotor brushless motor and the No. 3 tail rotor brushless motor are provided with positive blades, and the No. 2 tail rotor brushless motor and the No. 4 tail rotor brushless motor are provided with reverse blades. The four tail rotor electronic governors (16) are arranged in the tail rotor mounting base (13). The tail rotor electronic governor is connected with the tail rotor brushless motor (15) in correspondence, and the tail rotor mounting base cover (14) covers the tail rotor mounting base (13).

4. The method of simulating a test of a distributed electric tail rotor of an unmanned helicopter of claim 3, wherein, The length of the test bed main shaft (4) is 27 cm. The tail rotor fixed mounting clamp (5) is arranged at a position 13.5 cm away from the main shaft-body support plate flange (3) of the test bed main shaft (4). The length of the tail pipe group is 81 cm.

5. The method of simulating a test of a distributed electric tail rotor of an unmanned helicopter of claim 3, wherein, The tail pipe group (11) is a hollow structure, and driving lines for controlling the distributed electric tail rotor and power supply lines of the tail rotor brushless motor and the tail rotor electronic governor are arranged in the tail pipe group (11).

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