Three-axis linkage debugging platform and debugging method for flight control system of single-rotor aircraft

Abstract

The invention provides a single-rotor aircraft flight control system three-axis linkage debugging table and debugging method, and belongs to the technical field of aircraft testing and debugging, the single-rotor aircraft flight control system three-axis linkage debugging table comprises a rack, a yawing frame, a pitching frame and a rolling frame which are sequentially arranged from outside to inside, the yawing frame is installed in the rack through a first coding rotating shaft, and the rolling frame is installed in the rack through a second coding rotating shaft; the rocking bow frame rotates around a first axis of the longitudinal center of the rack; the pitching frame is installed in the rocking bow frame through a second coding rotating shaft. The rolling frame is installed in the pitching frame through a third coding rotating shaft, and the rolling frame is used for directly fixing the tested single-rotor aircraft. Angle changes of the aircraft on the axis are accurately captured through the coding rotating shafts, data are fed back to an aircraft flight control system in real time and used for rapid calibration of flight control parameters, steerage verification and debugging of a control algorithm, and the problem that when a single-rotor aircraft is tested on the ground in the air and underwater environment, the single-rotor aircraft is not prone to being damaged is solved. And the complex coupling motion cannot be really simulated and measured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of vehicle testing and debugging, and particularly relates to a three-axis linkage debugging platform and debugging method for a single-rotor vehicle flight control system. BACKGROUND

[0002] A single-rotor vehicle (such as a helicopter, a single-rotor underwater propeller, etc.) relies on a top active power rotor to generate lift or thrust. According to the principle of action and reaction, when the rotor rotates, it will generate a counter-torque opposite to the rotation direction of the rotor, causing the vehicle body to spin in the opposite direction. In order to balance the counter-torque and maintain the flight attitude stable, a compensating force or torque usually needs to be applied through a tail rudder (such as the tail rudder of an aircraft, the vector rudder of an underwater propeller).

[0003] One of the core functions of the flight control system is to automatically adjust the tail rudder angle to maintain the vehicle body heading stable. During the development and debugging of the flight control algorithm, it is necessary to simulate various attitude changes of the vehicle on the ground and accurately collect these attitude data to verify and control the correctness of the algorithm. The traditional debugging method often uses a simple fixed support or a single-degree-of-freedom turntable, which cannot truly simulate the complex motion of three-axis linkage (roll, pitch and yaw) generated by the vehicle when adjusting the tail rudder, nor can it accurately measure the angle changes of the three degrees of freedom simultaneously. This greatly increases the difficulty of debugging the flight control system and prolongs the development cycle.

[0004] Therefore, there is an urgent need for a special debugging device that can provide three rotational degrees of freedom and accurately measure the rotation angle in each degree of freedom. SUMMARY

[0005] The application aims to provide a three-axis linkage debugging platform and debugging method for a single-rotor vehicle flight control system, which can truly simulate the three-axis linkage attitude changes of the vehicle during the counter-torque balancing process and provide reliable data support for parameter setting and algorithm verification of the flight control system.

[0006] The application achieves the above-mentioned purpose by the following technical solutions:

[0007] A three-axis linkage debugging platform for a single-rotor vehicle flight control system, comprising:

[0008] a frame located in the outermost layer;

[0009] a yaw frame mounted inside the frame through two coded shafts, the yaw frame rotating around a first axis of the longitudinal center of the frame;

[0010] a pitch frame mounted inside the yaw frame through two coded shafts, the pitch frame rotating around a second axis of the transverse center of the yaw frame;

[0011] A roll frame is installed inside the pitch frame through two encoding shafts, and is used to directly fix the measured single-rotor aircraft, and rotates around a third axis in the center of the pitch frame.

[0012] Further, the rack, the bow frame and the pitch frame are fixedly installed with buckles, and the buckle includes a bearing seat, and a pair of bearings are embedded and installed inside the bearing seat.

[0013] Further, the encoding shaft one, the encoding shaft two and the encoding shaft three respectively include an encoder and a shaft rod, the encoder is fastened on the outer end face of the bearing seat through a mounting flange, and the shaft rod sequentially passes through the bearing seat and the inner ring of the bearing from the outside to the inside.

[0014] Further, the encoders are absolute photoelectric encoders or magnetic encoders.

[0015] Further, the roll frame includes a middle ring, guide rod holders are installed on both sides of the middle ring, the guide rod holders are connected with one end of a long shaft rod, and the other end of the long shaft rod is connected with the encoding shaft three installed on the roll frame.

[0016] Further, the middle ring is an adjustable clamping ring, and a single-rotor aircraft is clamped and fixed through a plurality of radially arranged locking bolts.

[0017] Further, the first axis is perpendicular to the second axis, and the second axis is perpendicular to the third axis.

[0018] Further, the first axis, the second axis and the third axis finally converge at a point to form an intersection point, and the intersection point coincides with the center of gravity of the single-rotor aircraft.

[0019] Further, the rack is a cubic fixed frame, the bow frame is a square frame smaller than the internal space of the rack, and the pitch frame is a square frame smaller than the internal space of the bow frame.

[0020] The application can also include:

[0021] A debugging method of the three-axis linkage debugging table of the single-rotor aircraft flight control system, the method includes:

[0022] Fix the single-rotor aircraft on the middle ring of the roll frame, and adjust the frame so that the center of gravity of the aircraft coincides with the intersection of the extensions of the first axis, the second axis and the third axis; start the rotor system of the aircraft and operate the tail rudder; measure the change in the rotation angle of the aircraft around the first axis, the second axis and the third axis caused by the action of the tail rudder in real time through the encoders in the coded rotating shaft one, the coded rotating shaft two and the coded rotating shaft three; feed the measured rotation angle data to the flight control system of the aircraft or the upper computer for adjusting and setting the control parameters of the rudder.

[0023] The beneficial effects of the present application are:

[0024] The present application can fix the aircraft in a frame system with three rotational degrees of freedom, simulate the three-axis linkage attitude change of the aircraft in the process of balancing the counter torque, and measure the accurate angle changes of the roll, pitch and roll of the aircraft under the action of the simulated rudder effect in real time and synchronously through high-precision encoders, thereby providing reliable data support for parameter setting and algorithm verification of the flight control system.

[0025] The present application converts the complex spatial linkage attitude into independent rotation of three orthogonal axes through a four-layer frame mechanical structure, and realizes direct and real-time measurement of the rotation angles of each degree of freedom by using high-precision encoders, so that the structure is stable, the measurement data is accurate and reliable, and the problem of the flight control system of the single-rotor aircraft in ground debugging is effectively solved.

[0026] The present application directly integrates high-precision sensors on the rotating shaft, realizes direct, non-delayed and high-fidelity measurement of the three-axis angle changes, and has very high data reliability; the whole system provides an indispensable hardware platform for the development of flight control algorithms, especially the verification and parameter setting of closed-loop control circuits, and can greatly shorten the research and development cycle.

[0027] The structural design of the debugging table of the present application is scientific and reasonable, and has functionality and safety; the base frame and the internal layers of the frame are all constructed by aluminum profiles with excellent rigidity, so that the overall structure has sufficient stability and rigidity when the aircraft is working, can effectively suppress vibration and deformation during testing, and prevent measurement errors caused by structural flexibility. At the same time, the aircraft is completely constrained inside the debugging table for testing, which fundamentally avoids the risk of rotor damage to personnel or equipment that may exist in open debugging, creates a safe and controllable laboratory environment, and is especially suitable for verification of early control algorithms and high-risk boundary testing.

[0028] The application shows good universality and engineering practical value, the core measurement principle is not dependent on a specific medium environment, so that the debugging table can be used for single-rotor aircraft in air and single-rotor propeller under water, and has wide application range. The solid aluminum profile structure and modular design ensure the durability and universality of the equipment, which is not only suitable for the field of aviation, but also can be extended to the test scene of underwater single-rotor propeller, and has wide application range.

[0029] When the top rotor system of the aircraft works, the propulsion force is generated and the reverse torque is caused, and when the body attitude is balanced and controlled through the control surface or the vector thrust mechanism, the linkage of three degrees of freedom of the platform is caused. The debugging table accurately captures the angle change of the aircraft on the yaw, pitch and roll axes through the coded rotating shaft, and feeds back the data to the aircraft flight control system in real time, which is used for rapid calibration of flight control parameters, verification of rudder effect and debugging of control algorithm. The application solves the problem that the single-rotor aircraft cannot simulate and measure the complex coupling motion in the air and underwater environment during ground test. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a structural schematic diagram of the application; Figure 1

[0031] Figure 2 is a front view of the application; Figure 2 Figure 1 Figure 3 is a left view of the application;

[0032] Figure 4 is a structural schematic diagram of the rack of the application; Figure 3 Figure 2 Figure 5 is a structural schematic diagram of the yawing frame of the application;

[0033] Figure 6 is a structural schematic diagram of the pitching frame and rolling frame of the application; Figure 4 Figure 7 is a connection local enlarged schematic diagram of the coded rotating shaft, the buckle and the shaft seat plate of the application.

[0034] Figure 5

[0035] Figure 6

[0036] Figure 7

[0037] ​​​​​​​​​In the attached diagram: 1. Frame; 11. Fastener 1; 111. Bearing seat 1; 112. Bearing 1; 12. Encoder shaft 1; 121. Encoder 1; 122. Shaft 1; 2. Tumbler frame; 21. Fastener 2; 211. Bearing seat 2; 212. Bearing 2; 22. Encoder shaft 2; 221. Encoder 2; 222. Shaft 2; 23. Shaft seat plate 1; 3. Pitch frame; 31. Fastener 3; 311. Bearing seat 3; 312. Bearing 3; 32. Encoder shaft 3; 321. Encoder 3; 322. Shaft 3; 33. Shaft seat plate 2; 4. Roll frame; 41. Middle ring; 42. Long shaft; 43. Guide rod frame; 5. Single rotor aircraft. Detailed Implementation

[0038] The present invention will now be further described with reference to the accompanying drawings.

[0039] This invention provides a three-axis linkage debugging platform for the flight control system of a single-rotor aircraft. Its main structure consists of a frame 1, a bow frame 2, a pitch frame 3, and a roll frame 4, from the outside to the inside.

[0040] As attached Figures 1-3 As shown, a four-layer nested frame structure is adopted from the outside to the inside, which is connected in sequence through three sets of coded rotating shafts, thereby achieving decoupling and accurate measurement of the three rotational degrees of freedom of yaw, pitch and roll.

[0041] As attached Figure 4 As shown, the outermost layer is the frame 1, which is a cubic fixed frame assembled from aluminum profiles, forming the basic support structure of the entire test bench. The frame 1 serves as the static foundation of the entire test bench, and is assembled into a cubic frame using industrial aluminum profiles and corner bracket connectors. On the two opposing inner crossbeams of the frame 1, a fastener 11 is fixedly installed with bolts. Each fastener 11 consists of an aluminum alloy bearing housing 111 and a pair of bearings 112 embedded within it, with the two bearings 112 mounted coaxially. An encoder 121 of an encoder shaft 12 is bolted to the outer end face of the bearing housing 111 via its own mounting flange. The shaft 122 of the encoder shaft 12 passes sequentially from the outside to the inside through the bearing housing 111 and the inner ring of the bearing 112.

[0042] As attached Figure 5The second layer is a yawing frame 2, which is connected to the first layer 1 by the first set of coded rotary shafts 12, so that the yawing frame 2 can rotate relative to the first layer 1 around the first axis, i.e. the yawing axis. The yawing frame 2 is also assembled from aluminum profiles into a square frame slightly smaller than the inner space of the first layer 1. On the outer walls of the left and right sides, two aluminum alloy shaft seat plates 23 are symmetrically fixed by bolts. The inner ends of the shaft rods 122 of the two coded rotary shafts 12 on the first layer 1 are connected and locked with the two shaft seat plates 23 by bolts. In this way, the second layer yawing frame 2 can rotate freely around the first axis (i.e. the yawing axis) relative to the first layer 1, and the rotation angle is detected in real time by the first set of encoders 121. By analogy with the structure of the first layer, on the left and right outer sides of the second layer yawing frame 2, the second set of coded rotary shafts 22 (including bearing seats 211 and bearings 212) and the third set of coded rotary shafts 22 (including encoders 221 and shaft rods 222) are also installed by bolts.

[0043] As shown in the accompanying drawings Figure 6 The third layer is a pitching frame 3, which is connected to the second layer yawing frame 2 by the second set of coded rotary shafts 22, so that the pitching frame 3 can rotate relative to the yawing frame around the second axis, i.e. the pitching axis. The structure of the third layer pitching frame 3 is similar to that of the second layer, and it is smaller in size and assembled from aluminum profiles. On its upper and lower surfaces, shaft seat plates 33 are fixed. The inner ends of the shaft rods 222 of the second set of coded rotary shafts 22 on the second layer yawing frame 2 are connected to these shaft seat plates 33, so that the third layer pitching frame 3 can rotate relative to the second layer around the axis in the left-right direction (i.e. the pitching axis), and the rotation angle is measured by the second set of encoders 221. The left and right sides of the pitching frame 3 are also provided with the fourth set of coded rotary shafts 32.

[0044] The yawing frame 2 and the third layer pitching frame 3 are both assembled from aluminum profiles by angle code connectors.

[0045] The fourth layer is a rolling frame 4 for directly fixing the single-rotor aircraft to be measured, which is connected to the third layer pitching frame 3 by the third set of coded rotary shafts 32, so that the rolling frame together with the fixed aircraft can rotate relative to the third layer around the center in the front-back direction (i.e. the rolling axis). The rolling frame includes a middle ring 41 for clamping and fixing the single-rotor aircraft by bolts, two long shaft rods 42 symmetrically arranged on the left and right sides of the middle ring, and a guide rod holder 43 for connecting the middle ring and the long shaft rods, and the outer ends of the two long shaft rods serve as the journal of the rolling axis and are fixedly connected to the shaft rods of the third set of coded rotary shafts by a coupling or bolts.

[0046] One end of the guide rod holder 43 is fixedly connected to the side wall of the middle ring 41, and the other end is provided with a shaft hole, and one end of the long shaft rod 42 is inserted into the shaft hole and locked by a jack screw.

[0047] Preferably, the middle ring 41 is an adjustable clamping ring, which is clamped and fixed to the single-rotor aircraft 5 by a plurality of radially arranged locking bolts.

[0048] Specifically, the guide rod holder 43 is an SHF25 guide rod holder.

[0049] In this embodiment, the first axis, the second axis and the third axis are perpendicular to each other.

[0050] Further, the roll frame 4 is a component directly installed with the measured single-rotor aircraft 5. Its core is a middle ring 41 which firmly clamps the fuselage of the aircraft 5 by a plurality of radially arranged locking bolts. The two sides of the middle ring 41 are connected with two high-strength steel long shafts 42 through two standard SHF25 guide rod holders 43. One end of the guide rod holder 43 is fixed to the side wall of the middle ring 41 by bolts, and the other end is provided with a shaft hole, and one end of the long shaft 42 is inserted into the shaft hole and locked by a top screw. The other end of the two long shafts 42 serves as the rotating shaft neck of the entire fourth layer frame, and is rigidly connected with the shafts 322 of the two encoding rotary shafts 32 on the third layer pitch frame 3 through a coupling or a flange, so that the fourth layer roll frame 4 and the fixed aircraft 5 can freely rotate around the axis in the front-back direction (i.e. the roll axis), and the angle is accurately measured by the encoder 321.

[0051] In this embodiment, the encoders all adopt absolute optical encoders or magnetic encoders to ensure that high-precision absolute angle information can be obtained at any position, avoid data loss after power failure of the system, and ensure the continuity and reliability of the measurement.

[0052] Further, the three rotational degrees of freedom realized by the frame 1, the roll frame 2 and the pitch frame 3 strictly follow the relationship that the axes are orthogonal to each other, and the extensions of the three axes finally converge at a point, and the intersection point coincides with the center of gravity of the single-rotor aircraft fixed on the fourth layer roll frame.

[0053] When the rotor system of the fixed single-rotor aircraft is working and the rudder is adjusted, the generated moment will drive the aircraft body to change its attitude. Since the aircraft is fixed, the attitude change will be converted into the rotational motion of the fourth layer roll frame around the roll axis, and the rotation angle is detected in real time by the encoder in the third group of encoding rotary shafts. This motion further links the rotation of the third layer pitch frame around the pitch axis and the rotation of the second layer roll frame around the roll axis, and these rotational motions are captured in real time by the encoders in the second and first groups of encoding rotary shafts, respectively. The three-axis angle change data measured by all the encoders can be fed back to the flight control system of the aircraft or an external data acquisition system in real time, which is used for accurate setting and debugging of the flight control parameters, so as to efficiently and safely complete the ground verification of the flight control system of the single-rotor aircraft (including aerial vehicles and underwater vehicles).

[0054] Key installation and debugging points: during assembly, the installation positions of the shaft seat plate 1 23 and the shaft seat plate 2 33 on the frame of each layer and the installation height of the fourth layer guide rod frame 43 must be precisely adjusted to ensure that the three rotation axes of the yawing shaft, the pitching shaft and the rolling shaft are perpendicular to each other in space, and the extension lines of the three rotation axes intersect at a point, and the intersection point coincides with the center of gravity of the single-rotor aircraft 5 to be measured, so as to ensure the accuracy and physical authenticity of the measurement data.

[0055] Working principle:

[0056] During debugging, the single-rotor aircraft 5 is fixed in the middle ring 41 of the single-rotor aircraft 5, and the single-rotor aircraft 5 is started to generate thrust or pull force, and at the same time, the rudder of the single-rotor aircraft 5 is driven to deflect by the flight control computer. The moment generated by the rudder will cause the aircraft body to have a tendency to change the attitude, and the tendency is constrained by the debugging table frame and converted into the rotation of the rolling frame 4 around the third axis. The rotation angle of the rolling frame 4 is measured in real time by the encoder of the encoding shaft 3.

[0057] This movement causes the pitching frame 3 to rotate around the second axis and the yawing frame 2 to rotate around the first axis through the linkage of the frame. The rotation angle of the pitching frame 3 is measured in real time by the encoder of the encoding shaft 2, and the rotation angle of the yawing frame 2 is measured in real time by the encoder of the encoding shaft 1.

[0058] The rotation angle data collected by the encoder is uploaded to the upper computer or the flight control computer in real time through the data acquisition card, compared with the control command, so as to accurately set the flight control parameters, until the actual attitude response of the aircraft is consistent with the expected command, and the debugging process is completed.

[0059] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A three-axis linkage debugging platform for a single-rotor aircraft flight control system, characterized in that, include: The outermost rack (1); A bow frame (2) is installed inside the frame via two coding shafts (12), and the bow frame (2) rotates about a first axis at the longitudinal center of the frame. The pitch frame (3) is installed inside the bow frame (2) via two coded rotating shafts (22), and the pitch frame (3) rotates around the second axis of the transverse center of the bow frame; The roll frame (4) is installed inside the pitch frame (3) via two coded pivots (32). The roll frame (4) is used to directly fix the single-rotor aircraft (5) under test. The roll frame (4) rotates around the third axis of the center of the pitch frame in the front-rear direction.

2. The three-axis linkage debugging platform for the flight control system of a single-rotor aircraft according to claim 2, characterized in that, Fasteners (21) are fixedly installed on the frame (1), the bow frame (2) and the pitch frame (3). The fasteners (21) include bearing seats (111), and a pair of bearings (112) are embedded inside the bearing seats (111).

3. The three-axis linkage debugging platform for the flight control system of a single-rotor aircraft according to claim 3, characterized in that, The first encoding shaft (12), the second encoding shaft (22), and the third encoding shaft (32) each include an encoder and a shaft. The encoder is fastened to the outer end face of the bearing housing by bolts through the mounting flange. The shaft passes through the bearing housing and the inner ring of the bearing in sequence from the outside to the inside.

4. The three-axis linkage debugging platform for the flight control system of a single-rotor aircraft according to claim 3, characterized in that, All encoders are absolute photoelectric encoders or magnetic encoders.

5. The three-axis linkage debugging platform for the flight control system of a single-rotor aircraft according to claim 4, characterized in that, The rocking frame (4) includes a middle ring (41), and guide rod frames (43) are installed on both sides of the middle ring (41). The guide rod frames (43) are connected to one end of the long shaft (42), and the other end of the long shaft (42) is connected to the coding shaft three (32) installed on the rocking frame (4).

6. The three-axis linkage debugging platform for the flight control system of a single-rotor aircraft according to claim 5, characterized in that, The middle ring (41) is an adjustable clamping ring, which clamps and fixes the single-rotor aircraft (5) by multiple radially arranged locking bolts.

7. The three-axis linkage debugging platform for the flight control system of a single-rotor aircraft according to claim 6, characterized in that, The first axis is perpendicular to the second axis, and the second axis is perpendicular to the third axis.

8. The three-axis linkage debugging platform for the flight control system of a single-rotor aircraft according to claim 7, characterized in that, The extensions of the first axis, the second axis, and the third axis eventually converge at a point, which coincides with the center of gravity of the single-rotor aircraft.

9. The three-axis linkage debugging platform for the flight control system of a single-rotor aircraft according to claim 8, characterized in that, The frame (1) is a cubic fixed frame, the bow frame (2) is a square frame smaller than the internal space of the frame (1), and the pitch frame (3) is a square frame smaller than the internal space of the bow frame (2).

10. A debugging method for a three-axis linkage debugging platform for a single-rotor aircraft flight control system according to any one of claims 1-9, characterized in that, The method includes: The single-rotor aircraft (5) is fixed on the middle ring (41) of the roll frame (4), and the frame is adjusted so that the center of gravity of the aircraft coincides with the intersection of the extension lines of the first axis, the second axis, and the third axis; the rotor system of the aircraft is started and its tail rudder is operated; the encoders in the first encoder shaft (12), the second encoder shaft (22), and the third encoder shaft (32) measure in real time the change in the angle of rotation of the aircraft around the first axis, the second axis, and the third axis caused by the tail rudder movement; the measured angle data is fed back to the flight control system or the host computer of the aircraft for adjusting and setting the control parameters of the servo motor.

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