Ventilation wall test system and method for Mars aircraft test

Abstract

The invention provides a ventilation wall test system and method for Mars aircraft testing, and the system comprises a space environment simulator which can simulate the low-pressure and low-temperature environment of Mars, a gravity unloading device which is installed in the space environment simulator, a ventilation wall assembly which is used for generating a controllable simulation wind field, and a ventilation wall driving device. The wind wall assembly is arranged in a wind guide structure of the space environment simulator and comprises a plurality of fan array units, each fan array unit is of a multi-layer series connection structure, the distance between the adjacent fan array units can be adjusted according to the wind speed of the controllable simulation wind field, and each fan array unit comprises a plurality of fans arranged at non-equal intervals. The Mars transient wind field where the to-be-tested unmanned aerial vehicle is located is accurately simulated, and accurate simulation of distribution of the Mars wind field in time and space and low gravity of the Mars is achieved.

Description

Technical Field

[0001] This application relates to the field of aerospace testing technology, and more specifically, to a wind wall testing system and method for testing Mars spacecraft. Background Technology

[0002] Mars exploration is an important direction in deep space exploration, and unmanned aerial vehicles (UAVs), as a new type of exploration platform, have broad application prospects in Mars exploration. However, the environment on the surface of Mars is completely different from that of Earth. Its atmospheric pressure is extremely low (about 0.7% of Earth's), the gas composition is mainly carbon dioxide, the temperature can drop to -100°C, and the gravity is only about 38% of Earth's. These unique environmental conditions bring huge challenges to the research, development, and testing of Mars UAVs.

[0003] To ensure the stable flight and operation of Mars drones in the Martian environment, thorough simulation tests on the ground are essential. Existing testing methods typically simulate the low pressure and low temperature environment of Mars in large vacuum chambers and use gravity compensation devices to simulate low gravity. However, how to reproduce the wind field on the Martian surface in this simulated environment to test the drone's flight performance and control system robustness under windy conditions remains a critical technical challenge.

[0004] Traditional wind tunnels struggle to operate effectively at such low pressures and temperatures, and constructing a system capable of generating a large-area, controllable simulated wind field within a large vacuum container presents numerous challenges, such as heat dissipation under low pressure, reliable electrical signal transmission, and coordinated control of multiple fans. Furthermore, existing methods generate wind fields within space environment simulation containers using annular recirculation ducts, such as the Mars surface thermal environment simulation system, which can create a uniform Martian wind field within a Φ2.5m range. However, current research indicates that testing of unmanned aerial vehicles (UAVs) often requires wind field simulation capabilities exceeding 5m, which current equipment often cannot achieve. Additionally, the transient characteristics of large fans are difficult to control, and they cannot simulate the spatial distribution of wind fields.

[0005] Therefore, it is necessary to provide a wind wall testing system and method to solve one of the aforementioned technical problems. Summary of the Invention

[0006] The purpose of this application is to provide a wind wall testing system and method for testing Mars spacecraft, which can solve at least one of the technical problems mentioned above. The specific solution is as follows:

[0007] According to a specific embodiment of this application, this application provides a wind wall test system for testing Mars spacecraft, comprising: a space environment simulator for simulating the low pressure and low temperature environment of Mars; a gravity unloading device installed in the space environment simulator for performing gravity unloading on the object to be tested during testing to simulate the gravity environment of Mars; a wind wall assembly for generating a controllable simulated wind field, disposed within the air guiding structure of the space environment simulator, the wind wall assembly comprising multiple sets of fan array units, each set of fan array units having a multi-layer series structure, and the spacing between adjacent fan array units can be adjusted according to the wind speed of the controllable simulated wind field, each set of fan array units comprising multiple fans arranged in a non-equidistant manner; and a wind wall drive device for adjusting the fan speed of each fan drive unit.

[0008] According to a specific embodiment of this application, this application also provides a wind wall test method for testing Mars unmanned aerial vehicles (UAVs). This method employs the wind wall test system for testing Mars spacecraft described in this application. The wind wall test method includes: performing wind speed calibration processing on each group of fan array units; in the wind speed calibration processing, establishing operating curve data of each group of fan array units under normal pressure in the space environment simulator of the wind wall test system to establish the correlation between the outlet wind speed of a single fan and the drive signal; the operating curve data includes the drive signal, the outlet wind speed of the fan, the rotational speed, and the correspondence between the data; and determining different controllable simulated wind fields based on the calibration data from the wind speed calibration processing for testing and verification of the UAV under test.

[0009] According to specific embodiments of this application, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the preceding claims.

[0010] According to specific embodiments of this application, this application also provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to perform the method described in any of the preceding claims.

[0011] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects:

[0012] This application effectively establishes a wind wall test system for testing unmanned aerial vehicles (UAVs) on Mars. It utilizes a space environment simulator to simulate the low pressure, low temperature, and specific gas composition of Martian wind fields for testing the UAV under test. A gravity unloading device is used to unload the UAV under test to simulate the low gravity environment of Mars. Multiple fan array units are combined to form the wind wall. The spacing and fan speed between adjacent fan array units can be adjusted according to the wind speed to be simulated, creating a controllable simulated wind field around the UAV under test. This achieves a larger-scale wind field simulation capability at a lower cost. A wind wall drive device provides driving power and signals to the wind wall components to form a controllable simulated wind field. By controlling the fan speed, the temporal and spatial distribution characteristics of the wind field are simulated, achieving accurate simulation of the transient characteristics of the wind field. The introduction of a fan drive unit increases the number of control channels required to drive the fans. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0014] Figure 1 This is a three-dimensional structural diagram of a wind wall test system for testing Mars spacecraft according to an embodiment of this application.

[0015] Figure 2 This is a partial structural schematic diagram of the wind wall test system for testing Mars spacecraft according to an embodiment of this application from another angle;

[0016] Figure 3 This is a schematic diagram of the fan array unit in the wind wall assembly of the wind wall test system for testing Mars spacecraft according to an embodiment of this application;

[0017] Figure 4 This is a partial structural diagram of a fan array unit in a wind wall assembly of a wind wall test system for testing Mars spacecraft, according to an embodiment of this application.

[0018] Figure 5 This is a partial structural diagram of the wind wall formed by the wind wall assembly in the wind wall test system for testing Mars spacecraft according to an embodiment of this application.

[0019] Figure 6 This is a schematic flowchart of a wind wall test method for testing Mars spacecraft according to an embodiment of this application;

[0020] Figure 7 This is a schematic diagram of the electronic device structure shown in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0023] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0024] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0025] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0026] The purpose of this application is to provide a wind wall testing system and method for testing Mars spacecraft. This application effectively establishes a wind wall testing system for testing Mars drones. It utilizes a space environment simulator to simulate the low pressure, low temperature, and specific gas composition of the Martian wind field test environment for the drone under test. A gravity unloading device is used to unload the drone under test to simulate the low gravity environment of Mars. Multiple fan array units are combined to form the wind wall. The spacing between adjacent fan array units and the fan speed can be adjusted according to the wind speed of the simulated wind field to ensure that... A controllable simulated wind field is formed around the UAV under test. A wind wall drive device provides driving power and signals to the wind wall components to create this controllable simulated wind field. By controlling the fan speed, the temporal and spatial distribution characteristics of the wind field are simulated, achieving accurate simulation of the transient characteristics of the wind field. The introduction of a fan drive unit reduces the number of through-cabin control channels required to drive a large number of fans (i.e., reduces the cable requirements for the space environment simulator). The introduction of calibration and testing procedures reduces the impact of individual differences between fans, avoiding the amplified effects of individual differences in bus-based control. Furthermore, structural optimizations reduce the number of channels required for the experiment, optimizing the ground verification process for the Mars UAV.

[0027] The following is in conjunction with the appendix Figures 1 to 5 Detailed description of optional embodiments of the method of this application.

[0028] like Figure 1 As shown, this application provides a wind wall test system for testing Mars spacecraft. The wind wall test system includes a space environment simulator 101, a gravity unloading device, a wind wall assembly, a wind wall drive device, and a control assembly.

[0029] Specifically, a heat sink 102 is installed inside the space environment simulator 101. The space simulator 101 is used to simulate the low pressure and low temperature environment of Mars to provide a test environment for the UAV 201 under test. A gravity unloading device is installed inside the space environment simulator 101 to perform gravity unloading treatment on the UAV 201 under test to simulate the gravity environment of Mars. A wind wall assembly is used to generate a controllable simulated wind field and is set in the air guide structure 402 of the space environment simulator 101. The wind wall assembly includes multiple sets of fan array units 500. Each set of fan array units 500 has a multi-layer series structure, and the spacing between adjacent fan array units 500 can be adjusted according to the wind speed of the controllable simulated wind field. Each set of fan array units 500 includes multiple fans arranged at equal intervals. A wind wall drive device is used to adjust the fan speed of each fan drive unit 404. The drive unit includes a microcontroller. The control component includes a controller.

[0030] In this example, the control components include a controller and a power supply.

[0031] Furthermore, the space environment simulator 101 is a vacuum container. During wind wall tests, a vacuum pump and pressure control system can stably maintain the interior of the space environment simulator 101 within the Martian gas environment and Martian pressure. The space environment simulator 101 is equipped with a cryogenic heat sink 102. During wind wall tests, a heat exchanger and heater can control it at any temperature, for example, from -60℃ to -80℃.

[0032] Optionally, a detection device 202 is externally mounted on the space environment simulator 101. The detection device 202 is used to read the attitude parameters and equipment status parameters of the UAV under test 201 during the test process in the formed controllable simulated wind field, in order to determine the wind resistance capability of the UAV under test under different simulated wind fields. The detection device 202 is connected to the antenna 205 built into the space environment simulator 101 via a cable 203 through a first electrical connector group 204 on the flange. The first electrical connector group 204 is a high-frequency TNC electrical connector.

[0033] from Figure 1 As can be seen, the gravity unloading device is connected to the UAV under test 201 and is used to perform gravity unloading on the UAV under test 201 to simulate the low gravity environment of Mars. The gravity unloading device includes a pull rope 301 (e.g., a suspension rope), a mass block 302, and a sliding assembly. The sliding assembly includes a slider 303, a guide rail 304 that cooperates with the slider 303, and a pulley 305. By utilizing the cooperation between the slider 303 and the guide rail 304 in the sliding assembly, the UAV under test 201 can be moved when the slider moves along the guide rail.

[0034] Specifically, the pull rope 301 has the tension to support the UAV 201 under test. The first end of the suspension rope 301 is connected to the UAV 201 under test, and the second end is connected to a mass block 302. A pulley is provided on the rope 301. For example, the mass block 302 accounts for 62% of the mass of the UAV 201 under test. When the rope 301 is approximately perpendicular to the ground, the UAV 201 under test only bears 38% of the gravity. Gravity unloading is achieved by unloading the gravity from the UAV 201 under test using a gravity unloading device, thus simulating the gravity of Mars. The pulley 305 is used to allow the suspension rope to slide within a certain range. The slider 303 has a linear bearing inside, allowing it to slide left and right along the guide rail 304. The guide rail 304 is a set of optical axis guide rails.

[0035] Next, the wind wall assembly of this application will be described. The wind wall assembly is disposed within the space environment simulator 101. The wind wall assembly includes multiple sets of fan array units 500 installed on the air guide structure 402. The air guide structure is, for example, a metal plate frame (i.e., the air duct structure outside the fan, used to achieve initial uniformity of the wind field). The length of the metal plate frame is 0.3–1.0 m, that is, 0.3 m–1.0 m from the fan working interface along the leading edge of the wind field direction. Each set of fan array units 500 is in a multi-layer series structure, and the spacing between adjacent fan array units 500 can be adjusted according to the wind speed of the controllable simulated wind field. Optionally, multiple sets of fan array units can be combined in an adjustable-spacing manner to form a wind wall, and in conjunction with the air guide structure, form a wind wall-like controllable simulated wind field near the UAV under test.

[0036] from Figure 2 , Figure 3 , Figure 4 and Figure 5 As can be seen from the diagram, each fan array unit 500 includes multiple fans 5011.

[0037] Optionally, the number of fan array units 500 can be 100 or more, up to a maximum of about 500. In this example, the fan array unit consists of 1000 to 2000 fans.

[0038] from Figure 3 As can be seen, the fan is a two-stage 8cm fan, where 8cm refers to the side length of the fan. A two-stage fan is a special type of fan consisting of two fans, one in front and one behind; that is, each fan array unit 500 has a two-layer structure. Each layer includes nine fans 5011. These nine fans 5011 are connected to the programmable power supply 409 via an electrical connector group on the flange. The electrical connector group includes a first component 4801, a second component 4802, and a third component 4803 (see details). Figure 2 In this connection method, the nine fans share a single programmable power supply 409 in series, and the control is uniformly handled by the fan drive unit 404. Therefore, only four measurement and control channels are required, which can save more than 90% of the channels compared to the method of bringing out all the fan lines.

[0039] Optionally, the fan blades are low-temperature resistant blades, such as blades processed from low-temperature resistant plastic. The internal lubricant is a molybdenum disulfide solid lubricant.

[0040] from Figure 4As can be seen, nine fans can be fixed together using the first connector 601, bolt 602, and second connector 603 to form a fan array unit 500, facilitating testing. After the fan array unit 500 is tested, it can be interconnected and assembled on the existing basis to form a larger fan array, thereby forming a wind wall for creating a controllable simulated wind field. See details... Figure 5 .

[0041] like Figure 5 As shown, the structure is adjusted according to the required wind speed. When a higher wind speed is required (e.g., wind speed greater than 15 m / s), the fans need to be closely arranged to achieve the desired wind speed. However, when the required maximum wind speed is lower (e.g., wind speed less than 15 m / s), a specified gap (e.g., 1 cm to 10 cm) can be maintained between multiple fan array units 500 to form a larger airflow area through ejection. This effectively reduces the total number of fans required, thereby minimizing the number of fans needed for the wind wall while effectively meeting the minimum wind speed requirement.

[0042] Specifically, the wind wall drive device is used to control the speed of each fan using the fan drive unit 404. Specifically, the fan drive unit 404 and the fan array unit 500 are connected using a control cable 403. The control cable 403 is used to transmit control signals for driving the fan array 500 and fan speed signals. The fan drive unit 404 is used to send control signals to the fan array unit 500, receive speed signals, and receive signals from the controller 413 (e.g., a 485 cable) via a control cable 406 (e.g., a 485 cable). Figure 1 The signal from the control computer shown is transmitted through the fan power supply cable 405 and the fan drive unit power supply cable 407, which are electrically connected to the fan drive unit 404. The programmable power supply 409, the switching power supply 410, and the server 411 (e.g., a 485 server) are connected to the fan power supply cable 405 and the fan drive unit power supply cable 407 via the second electrical connector group 408 on the flange. The fan power supply cable 405 is used to power the fan array 500. The controller 413 and the programmable power supply 409 are connected using a switch 412, or the controller 413 and the server 411 are connected. See [link to documentation] for details. Figure 2 When the fan drive unit 404 drives each fan to rotate to form a controllable simulated wind field, the wind direction of the controllable simulated wind field is as follows: Figure 1 The arrow direction is indicated by 401.

[0043] Furthermore, the controller is used to calculate the required simulated wind speed for each fan array unit based on the wind field data of the formed controllable simulated wind field and the coordinates of each fan array unit, and to determine the required average fan wind speed and the corresponding drive signal, so as to obtain the average fan wind speed and the initial drive signal. The controller is used to simultaneously apply the initial drive signal to each fan array unit so that the average fan speed of each fan array unit reaches a specified range for further fine-tuning.

[0044] It should be noted that the microcontroller is located inside the fan drive unit 404. In addition to the microcontroller, the drive unit 404 also includes some peripheral circuits (for protection), including PWM terminal isolated output, FG speed signal optocoupler isolated input, and the device's own temperature control, etc.

[0045] In one specific embodiment, each fan has eight cables: VCC and GND for the front and rear fans, control cable 406, and speed measurement cable (see details). Figure 2 The two cables (represented by dashed lines) connect each fan to the fan drive unit 404. All VCC and GND power supplies are connected in series, resulting in a supply voltage of 216V. Control cable 406 (the cable that sends commands from the controller to the drive unit 404) and speed measurement cable are connected to the fan drive unit 404. Additionally, six cables are required: fan power supply cable 405, fan drive unit power supply cable 407, and signal lines (e.g., 485 signal lines). A total of 72 cables are needed for individual connections. In practical use, because the fan power supplies for each fan array unit 500 are connected in series, the fan control signals for each group are uniformly issued, and the set speed duty cycle signals are all the same value, such as 10%, 100%, or 50%.

[0046] Specifically, the fan drive unit 404 internally houses an MCU unit, which is electrically connected to each fan via GPIO ports. It controls the speed of each fan by sending different duty cycle signals (e.g., PWM signals) to the fan array unit. Simultaneously, it measures the speed feedback (FG signal) of each fan in open-drain output mode through another channel (e.g., a GPIO channel), and connects to the external system via signals from control cable 406. By employing bus-based control and sharing connection lines using code division multiplexing, the required number of channels can be further reduced.

[0047] By adjusting the control mode and introducing the fan drive unit 404, bus-type control of the fan can be effectively realized. That is, it is not necessary to lead all the control cables of the fans (8 cables per fan) out of the space environment simulation container 102. By connecting only to the fan drive unit 404, the drive signal only needs to be sent to the fan drive unit 404 for instruction distribution. This greatly reduces the difficulty of system engineering implementation.

[0048] It should be noted that the traditional implementation model requires 2,000 secondary fans and 16,000 wires. Even with 55 channels per electrical connector, it still requires 291 cable channels. Existing equipment does not have such a large number of channels, typically only around 20%. Therefore, compared with the existing traditional implementation model, this application significantly reduces the difficulty of system engineering implementation.

[0049] The fan drive unit 404 of the airflow wall drive device performs bus-based control of each fan array unit, sending control commands containing speed signals to the fan array unit to be adjusted to control the speed of the fans in that unit. The airflow wall drive device continuously monitors the speed of each fan until each fan reaches the expected speed. If the monitored speed of each fan differs from the expected speed, fine adjustments can be made to the corresponding fan through individual control to make the adjusted speed the same as the expected speed. Specifically, the fan drive unit 404 sends speed commands to the corresponding fan and reads the feedback speed signals. The fan drive unit 404 is, for example, a pure solid-state device, and its internal components include an automatic temperature control component, enabling it to operate at low temperatures and low pressures.

[0050] Each fan array unit shares a single DC programmable power supply (i.e., programmable power supply 409). This programmable power supply outputs the DC voltage required for the series drive of each fan array unit and has a certain adjustment range. The fan array units are grouped, for example, based on the static resistance value of the fans, selecting fans with the closest static resistance values ​​as a group. Fans in each fan array unit are fixed together by connectors, and the spacing between two fan array units is adjustable. The fan spacing in the central region of the formed airflow wall is, for example, 10 cm. Fans in the edge regions are compactly fixed, with a fan spacing in the edge regions, for example, less than 10 cm.

[0051] By introducing a microcontroller-based fan drive unit (the main body of the fan drive unit is a microcontroller, and the peripheral circuits mainly consist of port protection circuits and microcontroller power supply, etc.), bus-type control of the fans is achieved (e.g., the original scheme uses 36 wires for 9 fans, while this application uses 2 wires for power supply, 2 wires for power supply to the measurement unit, and 2 wires for communication; see details). Figure 2 This significantly reduces the number of channels required, effectively improving the overall performance of the system.

[0052] Next, the UAV is tested in the controlled simulated wind field. The attitude parameters and equipment status parameters of the UAV under test are read by the detection equipment set outside the space environment simulator to determine the wind resistance capability of the UAV under test under different simulated wind fields.

[0053] It should be noted that the above is only an optional example and should not be construed as a limitation of this application.

[0054] Compared with existing technologies, this application effectively establishes a wind wall test system for testing unmanned aerial vehicles (UAVs) on Mars. It utilizes a space environment simulator to simulate the low pressure, low temperature, and specific gas composition of Martian wind fields for testing the UAV under test. A gravity unloading device is used to unload the UAV under test to simulate the low gravity environment of Mars. Multiple fan array units are combined to form the wind wall. The spacing and fan speed between adjacent fan array units can be adjusted according to the wind speed to be simulated, creating a controllable simulated wind field around the UAV under test. This achieves a larger-scale wind field simulation capability at a lower cost. A wind wall drive device provides driving power to the wind wall components to form a controllable simulated wind field. By controlling the fan speed, the temporal and spatial distribution characteristics of the wind field are simulated, achieving accurate simulation of the transient characteristics of the wind field. The introduction of fan drive units increases the number of control channels required to drive the fans. The introduction of calibration and testing procedures reduces the impact of individual differences between fans and avoids the amplified effects of individual differences in bus-based control.

[0055] Furthermore, by introducing a microcontroller-based fan drive unit, bus-based fan control is achieved, significantly reducing the required number of channels. The introduction of calibration and testing procedures reduces the impact of individual fan differences, avoiding the amplified effects of individual differences in bus-based control. Through non-equidistant arrangement, the central fan can draw in more air, reducing the overall fan demand and making it easier to achieve a uniform airflow.

[0056] The following is in conjunction with the appendix Figure 6 Detailed description of optional embodiments of the method of this application.

[0057] Reference Figure 6 This application provides a wind wall test method for testing Mars spacecraft, which uses the wind wall test system for testing Mars spacecraft described in this application. The wind wall test method includes the following steps.

[0058] First, in step S101, wind speed calibration is performed on each group of fan array units. In the wind speed calibration process, the operating curve data of each group of fan array units in the space environment simulator of the wind wall test system under normal pressure is established to establish the correlation between the outlet wind speed of a single fan and the drive signal. The operating curve data includes the drive signal, the outlet wind speed of the fan, the rotation speed, and the correspondence between the data.

[0059] Specifically, under normal pressure, a first calibration matrix is ​​obtained between the drive signal, outlet air velocity, and rotational speed of each fan array unit in the wind wall assembly. Under a simulated Mars wind wall test environment, a second calibration matrix is ​​obtained between the rotational speed and outlet air velocity of each fan array unit.

[0060] In a low-pressure environment, a specified number of fans in multiple fan array units are sampled for testing to obtain the measured wind speed under low pressure.

[0061] Based on the first calibration matrix, a correction factor is calculated according to the measured wind speed value, and the correction factor is used to correct the parameters in the first calibration matrix to obtain the data relationship between the drive signal of each fan and the outlet wind speed and fan speed under low air pressure environment.

[0062] Within the Mars simulation environment established in the space environment simulator, each group of fan array units is controlled to form a controllable simulated wind field. The positions of each group of fan array units are mapped to the controllable simulated wind field to obtain the average wind speed required for simulation of each group of fan array units. Based on the second calibration matrix, the expected rotational speed of each fan is calculated, and the rotational speed of the corresponding fan is controlled and adjusted to obtain the target rotational speed simulation.

[0063] The drive signal is sent to each fan array unit by an external controller to drive each fan array unit to generate a controllable simulated wind field.

[0064] In one specific embodiment, the various devices in the wind wall test system are electrically connected, including fan array units 500, fan drive units 404, and other devices. The wind speed calibration process for each group of fan array units 500 then begins.

[0065] Step S201: Perform a rotation test.

[0066] Specifically, by sequentially applying commands, it is determined whether the rotation of each fan is normal. This includes sending drive commands to the fan drive unit 404 on the control computer 413, detecting whether the signal transmission and reception of the fan drive unit 404 is normal, and whether the speed of the driven fan is normal.

[0067] Step S202: Determine the maximum wind speed test.

[0068] To ensure stable testing, a shroud needs to be installed on each fan array unit. A plastic shroud is installed and secured on a single fan assembly (e.g., nine units) before testing begins. Commands are issued via fan drive unit 404 to bring each fan array unit to its maximum speed. A handheld anemometer measures the wind speed in front of each fan array unit, including the highest center wind speed (e.g., using V). max (indicated by V), the minimum wind speed in the edge area (e.g., using V). min (represented), and calculate the average wind speed of the group of fan array units (e.g., using V). ave (represented by...), where average wind speed refers to the average wind speed measured at several sampling points in front of the fan array unit. In the wind speed calibration process, operating curve data of the fan array unit under normal pressure is established. This curve data includes three column vectors: the first column is the output signal P, i.e., the PWM duty cycle signal, ranging from 0 to 100. The second column is the average speed, i.e., the average speed of the fan group under different duty cycles (e.g., using n...). ave (represented as, for example, laps per minute, or RPM). The third column is the average wind speed (e.g., using V). ave (This is represented by the three columns of data, which indicate the average rotational speed n of the fan group when the fan drive unit outputs different drive signals (e.g., different duty cycles). ave and average wind speed V ave Wherein, the average rotational speed n ave Average wind speed V ave This is a set of numbers corresponding to the drive signal.

[0069] Step S203: Adjust the voltage using a programmable power supply to adjust the fan speed.

[0070] To ensure optimal fan uniformity, the fan array units were first tested under normal pressure. The output value of the programmable power supply was fine-tuned to ensure that the full load (i.e., the drive signal is given to 100%) of each fan array unit reached the maximum wind speed (for example, around 15 m / s). By adjusting each fan to the same wind speed as the maximum wind speed, the characteristics of each fan array unit can be made similar, which is conducive to forming a highly uniform wind field.

[0071] By closely arranging the fans within the same fan array unit to form a larger airflow area through ejection, the total number of fans required can be effectively reduced. This effectively meets the minimum wind speed requirement while minimizing the number of fans required for the wind wall, thereby further forming a controllable simulated wind field.

[0072] The controllable simulated wind field includes at least two types of wind zones: a variable wind field and a uniform wind field. The two wind zones include the maximum wind speed zone located in the central area (the maximum wind speed is, for example, 5 m / s to 15 m / s).

[0073] To simulate a highly uniform wind field, when the wind speed of the wind wall formed by the fan array units is significantly low, the fan speed can be increased by fine-tuning the data voltage of the programmable power supply. For example, a nonlinear method can be used to fine-tune the voltage of the corresponding fan.

[0074] For the controllable simulated wind field of the two wind zones, multiple sets of fan array units are combined in an adjustable spacing manner to form a wind wall, and together with the wind guiding structure, a wind wall-type controllable simulated wind field is formed near the UAV under test.

[0075] If the specified gap between multiple fan array units in the central region of the formed wind wall is 1 cm, and the specified gap between multiple fan array units in the edge region of the formed wind wall is 2 cm, a larger airflow area can be formed by ejection, which can effectively reduce the total number of fans required. Thus, while effectively meeting the minimum wind speed requirement, the number of fans required for the wind wall can be reduced to the minimum, and a controllable simulated wind field of two wind zones can be formed at the same time.

[0076] Optionally, the specified gap may be, for example, 1cm to 10cm.

[0077] Step S204: Perform wind speed calibration on the fan array unit and output the calibration results (or calibration data).

[0078] Calibrate each fan array separately, set the output value (e.g., represented by P, for example, 10% to 100%), and record the average wind speed V at the fan outlet. ave And the current measured speed n, that is, on the fan array unit with high uniformity, for each fan array unit, a first calibration matrix is ​​established. The first calibration matrix directly reflects the response relationship of each group of fan array units under normal pressure, that is, the operating curve data.

[0079] Specifically, each fan array unit is calibrated separately.

[0080] For each fan array unit, a drive signal with a duty cycle of 10% to 100% is applied to obtain the outlet air velocity and current speed of each fan array unit. The obtained outlet air velocity and current speed of each fan array unit are compared with the corresponding data under normal pressure to determine the correction of the relationship between the outlet air velocity and current speed of each fan array unit according to the linear proportional relationship.

[0081] Step S205: Determine whether each fan array unit has completed the wind speed calibration process.

[0082] Each fan array unit undergoes wind speed calibration, testing, and adjustment. After calibration, the calibration data is checked for significant discrepancies with other data. If significant discrepancies are found, an error is identified in the calibration data, and a re-check is performed. If no significant discrepancies are found, proceed to the next step.

[0083] Step S206: Conduct a low-pressure test.

[0084] After all tests are completed, to achieve high-precision wind speed simulation, further tests are conducted under low air pressure in the space environment simulator. This involves using wind speed sensors (e.g., low-pressure wind speed sensors) to further test the wind speed output by each fan array unit. Since it is difficult to fully calibrate the fan array under low air pressure (i.e., it is difficult to measure the wind speed in front of each fan individually using equipment), a subset of fans is selected for measurement. For example, 1 to 3 fan array units are selected for measurement. Here, two columns of data need to be added to the first calibration matrix in step S202, specifically the fourth column n. ave_2 and the fifth column V ave_2 These correspond to the fan's response signals under low air pressure conditions when the output drive signal P value is reached.

[0085] Next, step S207: perform parameter correction.

[0086] Under low pressure, when outputting the same P value, the fan speed will be higher than under normal pressure, leading to an increase in the fan outlet air velocity. Therefore, the fan parameters need to be further adjusted on a per-fan-group basis. Specifically, this is achieved by calibrating each fan array unit individually using an anemometer, i.e., by directly testing each fan array unit using a two-dimensional moving system. Alternatively, a proportional rapid correction method can be used. For example, for a fan array unit that has already undergone normal and low pressure calibration, the five column vectors of the second calibration matrix are: P, n... ave (i) V ave (i) n ave_2 (i) V ave_2 (i) , where (□) represents the group number of a fan array unit that has undergone normal pressure and low air pressure wind speed testing.

[0087] For data of the same specification that only underwent atmospheric pressure calibration, the first calibration matrix has only three columns: P, n ave (j) V ave (j) At this point, the last two columns can be quickly calculated using the data above:

[0088] That is, for a given value of P of the output drive signal, the corresponding n ave_2 (j) V ave_2 (j) It can be represented as:

[0089] n ave_2 (j) =n ave_2 (i) ×n ave (j) / n ave (i) ,

[0090] V ave_2 (j) =V ave_2 (i) ×V ave (j) / V ave (i)

[0091] Where, n ave_2 (j) Let (j) represent the fan speed of the j-th fan that was not calibrated under low pressure, where (j) represents the j-th fan that was not calibrated under low pressure; n ave (j) (j) represents the fan speed of the j-th fan that has not undergone low-pressure calibration at normal pressure; (j) represents the j-th fan that has not undergone low-pressure calibration; n ave_2 (i) V represents the fan speed of the i-th fan array unit that has undergone low-pressure calibration, where (i) represents the group number of the fan array unit that has undergone low-pressure calibration. ave_2 (j) V represents the wind speed of the j-th fan that was not calibrated for low pressure; (j) represents the wind speed of the j-th fan that was not calibrated for low pressure; ave_2 (i) V represents the wind speed of the i-th fan that has undergone low-pressure calibration, and (i) represents the i-th fan array unit that has undergone low-pressure calibration; ave (j) This represents the wind speed of the j-th fan under normal pressure without low-pressure calibration, where j represents the j-th fan without low-pressure calibration.

[0092] To verify the converted data, one to five sets of fan array units can be randomly selected to conduct experimental verification under low air pressure.

[0093] If the response signal (e.g., speed) of the fan in the fan array unit deviates significantly under low air pressure, the relevant fan can be replaced.

[0094] If the response signal (e.g., speed) of the fan in the fan array unit does not deviate significantly under low air pressure, it indicates that the current fan array unit's wind speed calibration process is complete, and the calibration of the fan array unit under normal pressure and low air pressure is finished.

[0095] Next, in step S102, different controllable simulated wind fields are determined based on the calibration data from the wind speed calibration process, in order to test and verify the UAV under test.

[0096] The test drone was subjected to multiple flight tests, including headwind and crosswind tests, with different tests corresponding to different simulated wind fields.

[0097] The testing and verification process of the UAV under test specifically includes the following steps.

[0098] Step S301: Establish the Martian surface environment through a space environment simulation container, that is, simulate the Martian surface environment.

[0099] Specifically, the Martian surface environment includes a pressure of approximately 700 Pa, a temperature of approximately -80°C, and carbon dioxide gas. The pressure, temperature, and gas composition of the Martian surface environment can be simulated using the space environment simulation container 102 and various auxiliary equipment.

[0100] Step S302: Before conducting the test and verification of the UAV under test, a rotation test is performed on each fan array unit to determine whether the fans can rotate, in order to determine the working status.

[0101] Specifically, control commands (i.e. drive signals) are sent to each fan in each fan array unit to make each fan rotate for a short time, and the corresponding speed signal is read to determine the working status of each fan.

[0102] Step S303: Based on the wind field data to be simulated, calculate the required wind speed for each fan group according to the coordinates of each fan group.

[0103] First, based on the calibration data of each fan array unit, the expected fan speed is calculated, and then precise control of the speed is achieved by adjusting the data signal duty cycle (e.g., PWM duty cycle signal). The wind field data to be simulated is determined to test the drone's wind resistance capability in the wind field. Specifically, this includes testing whether the drone can fly normally in the wind and whether it will be affected by the wind (such as deviation) when flying in crosswinds. For example, to test the frontal wind resistance capability, a uniform wind field of 15m / s to 20m / s is simulated. For example, to test the lateral wind resistance control capability, the flight of the aircraft through a windless zone (0), a strong wind zone (15m / s to 20m / s), and a windless zone again is simulated. That is, the type and magnitude of the wind field to be simulated need to be determined.

[0104] Based on the determined wind field type and size to be simulated, the data for each group of fan array units is determined. Using this wind field data, the positions of each group of fan array units can be correlated with the wind field to be simulated, obtaining the average wind speed to be simulated for each group of fan array units, denoted as V0. (i) , which is the wind speed required by the i-th fan array unit.

[0105] Determine the required average speed for the calibration matrix of each fan: P, n ave (i) V ave (i) n ave_2 (i) V ave_2 (i) By using linear interpolation, the average wind speed V can be determined. ave (i) =V (i) The output drive signal (e.g., P value) at the expected wind speed, and the rotational speed n ave (i) Perform interpolation to obtain the desired average fan speed (e.g., using n0). (i) (represented), and the initial output initial drive signal (e.g., using P0). (i) express).

[0106] Step S304: Use the controller to send control commands (e.g., drive signals) to each group of fan array units.

[0107] Specifically, the controller sends control commands to the fan drive unit 404 via control cables, first applying an initial drive signal (e.g., using P0). (i) express).

[0108] Based on this, the average fan speed is further controlled using the PID method to ensure that the average fan speed reaches the target speed or expected speed (e.g., using n0). (i) (This indicates that) the control objective is achieved. Compared to traditional control modes, by rapidly applying the initial output signal, the rotational speed can be brought to near the target speed. Further control can then achieve precise speed simulation with less overshoot and faster control.

[0109] Step S305: Wait for the speed signals of all fans to stabilize.

[0110] The wind speed drive unit 404 continuously monitors the response signals (e.g., rotational speed) of each fan until the rotational speed of each fan equals the target rotational speed. If the monitored stable fan rotational speed differs from the calibration data, the operator determines whether the fan is faulty and can resolve the discrepancy by fine-tuning individual fans. If the monitored stable fan rotational speed equals the calibration data, the test and verification process for the UAV under test begins.

[0111] Step S306: Perform test and verification processing on the UAV under test.

[0112] The test and verification process for the drone under test is carried out, which involves turning on the drone and conducting a windward flight test in a simulated bee farm to determine whether the drone's wind resistance is normal.

[0113] It should be noted that the above is only an optional example and should not be construed as a limitation of this application.

[0114] Compared with existing technologies, this application effectively implements a wind wall testing method for testing unmanned aerial vehicles (UAVs) on Mars. It utilizes a space environment simulator to simulate the low pressure, low temperature, and specific gas composition of the Martian wind field test environment for the UAV under test. A gravity unloading device is used to unload the UAV under test to simulate the low gravity environment of Mars. Multiple fan array units are combined to form a wind wall, creating a controllable simulated wind field around the UAV under test. A wind wall drive device provides driving power to the wind wall components to form a controllable simulated wind field. By controlling the fan speed, the temporal and spatial distribution characteristics of the wind field are simulated, achieving accurate simulation of the transient characteristics of the wind field. The introduction of fan drive units increases the number of control channels required to drive the fans. The potting process solves the adaptability problem of traditional ESCs under vacuum and low temperature conditions. The introduction of calibration and testing procedures reduces the influence of individual differences between fans and avoids the amplified effects of individual differences in bus-type control.

[0115] like Figure 7 As shown, this embodiment provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the method steps described in the above embodiment.

[0116] This application provides a non-volatile computer storage medium storing computer-executable instructions that can perform the steps described in the above embodiments.

[0117] The following is for reference. Figure 7 The diagram illustrates a structural schematic of an electronic device suitable for implementing the embodiments of this application. The terminal devices in the embodiments of this application may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0118] like Figure 7 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 into a random access memory (RAM) 403. The RAM 403 also stores various programs and data required for the operation of the electronic device. The processing unit 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0119] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0120] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 409, or installed from a storage device 408, or installed from a ROM 402. When the computer program is executed by the processing device 401, it performs the functions defined in the methods of the embodiments of this application.

[0121] It should be noted that the computer-readable medium described above in this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0122] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0123] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0125] The units described in the embodiments of this application can be implemented in software or hardware. The names of the units are not, in some cases, limiting the scope of the unit itself.

Claims

1. A wind wall testing system for testing Mars spacecraft, characterized in that, include: Space environment simulator, used to simulate the low pressure and low temperature environment of Mars; A gravity unloading device is installed inside the space environment simulator to simulate the gravity environment of Mars during testing by performing gravity unloading on the object to be subjected to gravity unloading. A wind wall assembly, used to generate a controllable simulated wind field, is set within the air guiding structure of the space environment simulator. The wind wall assembly includes multiple sets of fan array units, each set of fan array units is in a multi-layer series structure, and the spacing between adjacent fan array units can be adjusted according to the wind speed of the controllable simulated wind field. Each set of fan array units includes multiple fans arranged at equal intervals. The wind wall drive unit is used to adjust the fan speed of each fan drive unit; The control components include a controller and a microcontroller. The controller is used to simultaneously apply the initial drive signal to each group of fan array units so that the average fan speed of each group of fan array units reaches a specified range for further fine-tuning.

2. The wind wall test system for testing Mars spacecraft according to claim 1, characterized in that, include: Multiple fan array units are combined with adjustable spacing to form a wind wall, and together with the air guiding structure, a controllable simulated wind field in the vicinity of the UAV under test is formed. The controllable simulated wind field includes at least two types of wind zones: a changing wind field and a uniform wind field.

3. The wind wall test system for Mars spacecraft testing according to claim 1 or 2, characterized in that, Further includes: The controller is used to calculate the wind speed to be simulated for each group of fan array units according to the wind field data of the formed controllable simulated wind field and the coordinates of each group of fan array units, and to determine the average fan wind speed to be simulated and the corresponding drive signal, so as to obtain the average fan wind speed and the initial drive signal.

4. The wind wall test system for testing Mars spacecraft according to claim 1, characterized in that, include: The gravity unloading device includes a pull rope, a mass block, and a sliding assembly. The first end of the pull rope suspends the UAV under test, the second end of the pull rope is connected to the mass block, and a pulley is provided on the pull rope. The sliding component includes a slider and a guide rail that cooperates with the slider, so that the UAV under test can be moved when the slider moves along the guide rail.

5. The wind wall test system for Mars spacecraft testing according to claim 1 or 4, characterized in that, include: The wind wall drive device continuously monitors the speed of each fan until the speed of each fan reaches the expected speed. If the monitored speed of each fan differs from the expected speed, the corresponding risk can be fine-tuned through individual control so that the fine-tuned speed is the same as the expected speed.

6. The wind wall test system for testing Mars spacecraft according to claim 1, characterized in that, include: The drone was tested in a controlled simulated wind field. The attitude parameters and equipment status parameters of the drone under test were read by the detection equipment set outside the space environment simulator to determine the wind resistance capability of the drone under test under different simulated wind fields.

7. The wind wall test system for testing Mars spacecraft according to claim 1, characterized in that, include: The air guide structure is a metal plate frame; The fan drive unit of the wind wall drive device is used to perform bus-type control on each group of fan array units, and sends control commands containing speed signals to the fan array unit to be adjusted in order to control the speed of the fans in the fan array unit to be adjusted; The number of fan array units includes more than 100 groups.

8. A wind wall test method for testing Mars spacecraft, characterized in that, It employs the wind wall test system for Mars spacecraft testing as described in any one of claims 1 to 7, wherein the wind wall test method includes: Each group of fan array units is subjected to wind speed calibration. In the wind speed calibration process, the operating curve data of each group of fan array units in the space environment simulator of the wind wall test system under normal pressure is established to establish the correlation between the outlet wind speed of a single fan and the drive signal. The operating curve data includes the drive signal, the outlet wind speed of the fan, the rotation speed, and the correspondence between the data. Based on the calibration data from the wind speed calibration process, different controllable simulated wind fields are determined for testing and verification of the UAV under test.

9. The wind wall test method for testing Mars spacecraft according to claim 8, characterized in that, The above includes: In a low-pressure environment, a specified number of fans in multiple fan array units are sampled for testing to obtain the measured wind speed under low pressure. Based on the first calibration matrix, a correction factor is calculated according to the measured wind speed value, and the correction factor is used to correct the parameters in the first calibration matrix to obtain the data relationship between the drive signal of each fan and the outlet wind speed and fan speed under low air pressure environment.

10. The wind wall test method for testing Mars spacecraft according to claim 8, characterized in that, Within the Mars simulation environment established in the space environment simulator, each group of fan array units is controlled to form a controllable simulated wind field. The positions of each group of fan array units are mapped to the controllable simulated wind field to obtain the average wind speed required to be simulated for each group of fan array units. Based on the second calibration matrix, the expected rotational speed of each fan is calculated, and the rotational speed of the corresponding fan is controlled and adjusted to obtain the target rotational speed simulation. The drive signal is sent to each fan array unit by an external controller to drive each fan array unit to generate a controllable simulated wind field.

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