Double-rotor desktop experiment device
By using pitch angle sensors, azimuth sensors and PID control systems in the dual-rotor flight control experimental device, combined with the design of parallelogram swing arm and motor-mounted crossbar, the problems of experiment complexity and high cost in the prior art are solved, and the effect of simplifying control and reducing costs is achieved.
Patent Information
- Application Number
- CN202421519688.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-06-28
AI Technical Summary
Due to the complex control circuit and complex mechanical structure of the existing dual-rotor flight control experimental device, students need to complete multiple pre-courses when conducting experiments, making it difficult to conduct extensive experiments.
A dual rotor desktop experimental device was designed, using pitch angle sensors and azimuth sensors combined with PID control system, and the mechanical structure was simplified by a parallelogram swing arm and a motor mounting cross rod, and only two PID loops were needed for control.
The freedom of the dual-rotor flight control experiment is simplified, the cost and structural complexity of the controller are reduced, and students can complete the experiment in the basic course of the first year, and the device covers a small area and has a good demonstration effect.
Smart Images
Figure CN222927128U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of teaching, in particular to a double-rotor desktop experimental device. Background Technique
[0002] Double-rotor flight control experimental devices are widely used in experiments of automation majors. Existing technical solutions include coaxial double rotors, cross double rotors, tandem double rotors, and tilt-rotor double rotors. The control circuit requires multiple loops and coordinated control between the loops. It is used to maintain the lift balance and torque balance of the two rotors and perform flight control in the three-dimensional space in the up-down, left-right, and front-back directions. In addition to the complex control circuit, the mechanical structure also needs to adjust the blade angle and change the ratio of the propeller speed to the lift. There is also a need to change the angle between the propeller shaft and the vertical line, that is, the direction of the wind force.
[0003] When conducting double-rotor flight control experiments with the existing solutions, complex calculations and adjustments are required, which is not conducive to the extensive development of experiments. Students need to complete many prerequisite courses for the experiments, which needs to be improved. Content of the Utility Model
[0004] The purpose of the utility model is to provide a double-rotor desktop experimental device to solve the problems raised in the above background technique.
[0005] To achieve the above purpose, the utility model provides the following technical solutions:
[0006] A double-rotor desktop experimental device includes a fixing plate, on which a pitch angle sensor and a coupling are arranged. One end of one coupling is connected to one end of another coupling through a support shaft, and the other end of the other coupling is connected to an azimuth angle sensor. The pitch angle sensor is fixed to the E end of a parallelogram swing arm through a flange, and the F end of the parallelogram swing arm is fixed to a motor mounting cross bar. Propellers and motors are arranged at both ends of the motor mounting cross bar.
[0007] As a further scheme of the utility model: The E end and the F end of the parallelogram swing arm are perpendicular to the horizontal plane.
[0008] As a further solution of the present utility model: The dual-rotor desktop experimental device further includes a PID control system. The PID control system includes an analog electronic PID1 pitch control circuit, an analog electronic PID2 azimuth control circuit, a loop control merging circuit, and two push-pull power drive 2-fold circuits. The positive pole of the input end of the analog electronic PID1 pitch control circuit is connected to the pitch target voltage, the negative pole of the input end of the analog electronic PID1 pitch control circuit is connected to the pitch feedback voltage of the pitch angle sensor, the output end of the analog electronic PID1 pitch control circuit is connected to one end of the input end of the loop control merging circuit, the positive pole of the input end of the analog electronic PID2 azimuth control circuit is connected to the azimuth target voltage, the negative pole of the input end of the analog electronic PID2 azimuth control circuit is connected to the azimuth feedback voltage of the azimuth angle sensor, the output end of the analog electronic PID2 azimuth control circuit is connected to the other end of the input end of the loop control merging circuit, and the two output ends of the loop control merging circuit respectively drive the two motors at both ends of the motor mounting crossbar through the push-pull power drive 2-fold circuits to control the rotation of the two propellers.
[0009] As a further solution of the present utility model: The analog electronic PID1 pitch control circuit and the analog electronic PID2 azimuth control circuit have the same structure, and both include a subtractor circuit, an inverting proportional circuit, an integrator circuit, a differentiator circuit, and an inverting summing circuit. One end of the input end of the subtractor is connected to the target voltage (azimuth target voltage, pitch target voltage), the other end of the input end of the subtractor is connected to the feedback voltage (azimuth feedback voltage, pitch feedback voltage), the output end of the subtractor is connected to the input end of the inverting proportional circuit, the input end of the integrator circuit, and the input end of the differentiator circuit. The output end of the inverting proportional circuit is connected to the first input end of the inverting summing circuit, the integrator circuit is connected to the second input end of the inverting summing circuit, and the differentiator circuit is connected to the third input end of the inverting summing circuit.
[0010] As a further solution of the present utility model: The loop control merging circuit includes a voltage converter and four 5.1KΩ resistors. One end of the first resistor is connected to one end of the second resistor and the output end of the analog electronic PID1 pitch control circuit. The other end of the first resistor is connected to one end of the third resistor and the input end of a push-pull power drive 2-fold circuit. The other end of the second resistor is connected to the other end of the fourth resistor and the input end of another push-pull power drive 2-fold circuit. The other end of the third resistor is connected to the output end of the voltage converter. The input end of the voltage converter is connected to the other end of the fourth resistor and the output end of the analog electronic PID2 azimuth control circuit.
[0011] Compared with the prior art, the beneficial effects of the utility model are as follows: The utility model simplifies the degrees of freedom of the dual-rotor flight control experiment, only using two PID loops, with a moderate difficulty level, which is convenient for conducting experiments; the parallelogram swing arm and the motor mounting crossbar limit the flight range, do not occupy much space and can be placed on a desktop, and at the same time can provide a large range of pitch and azimuth flights, with a good demonstration effect; the simulation of the PID control and combination method greatly reduces the controller cost, and the experiment can be carried out after the completion of the basic courses for freshmen; the use of the parallelogram swing arm and the motor mounting crossbar reduces the complex mechanical structure of the dual-rotor propeller control, only requiring two movable joints for pitch and azimuth, reducing the structural cost and facilitating maintenance. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 FIG. is a schematic structural diagram of a dual-rotor desktop experimental device.
[0013] Figure 2 FIG. is a schematic diagram of a PID control system.
[0014] Figure 3 FIG. is a schematic diagram of flight control.
[0015] Figure 4 FIG. is a schematic diagram of the analog electronic PID1 pitch control circuit and the analog electronic PID2 azimuth control circuit.
[0016] In the figure: 1 - pitch angle sensor, 2 - parallelogram swing arm, 3 - coupling, 4 - support shaft, 5 - azimuth angle sensor, 6 - motor mounting crossbar, 7 - propeller and motor, 8 - fixing plate. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0018] Please refer to Figure 1 , a dual-rotor desktop experimental device, including a fixing plate 8, on which a pitch angle sensor 1, a coupling 3 are provided. One end of a coupling 3 is connected to one end of another coupling 3 through a support shaft 4, and the other end of the other coupling 3 is connected to an azimuth angle sensor 5. The pitch angle sensor 1 is fixed to the E end of the parallelogram swing arm 2 through a flange, and the F end of the parallelogram swing arm 2 is fixed to the motor mounting crossbar 6. Propellers and motors 7 are provided at both ends of the motor mounting crossbar 6.
[0019] In this embodiment: Please refer toFigure 1 The E and F ends of the parallelogram swing arm 2 are perpendicular to the horizontal plane.
[0020] Degree of freedom description: The parallelogram swing arm 2 and the motor mounting cross bar 6 limit the redundant degrees of freedom, retaining two degrees of freedom of pitch and azimuth. This can simplify the number of loops required for control, making it convenient for students to get started with flight control, and experiments can also be carried out in the freshman year.
[0021] Lift generation method: The propeller and the motor 7 rotate to generate lift, and the lift can be controlled by controlling the rotational speed;
[0022] Azimuth power generation method: The difference in the rotational speeds of the two motors of the propeller and the motor 7 is used to adjust the lift, and the motor mounting cross bar 6 will tilt to generate a thrust in the azimuth direction.
[0023] Pitch angle detection method: The parallelogram swing arm 2 and the pitch angle sensor 1 are fixed with a flange. When the parallelogram swing arm 2 makes a pitch motion (moves up and down), it drives the shaft of the pitch angle sensor 1 to rotate, converting the angle into voltage.
[0024] Azimuth angle detection method: When the parallelogram swing arm 2 makes an azimuth motion (circular motion), it drives the azimuth angle sensor 5 to rotate through the support shaft 4, converting the angle into voltage.
[0025] Explanation for using the parallelogram swing arm 2: The E end of the parallelogram swing arm 2 is fixed on the fixed plate 8 and is always perpendicular to the tabletop. Therefore, when moving, the E end and the F end of the parallelogram swing arm 2 are parallel, and the vertical state of the F end can be maintained. The F end is fixed on the motor mounting cross bar 6. Furthermore, the vertical state of the propeller and the motor 7 can be ensured. And the parallelogram swing arm 2 has elastic deformation, allowing the motor mounting cross bar 6 to tilt to provide azimuth power.
[0026] In this embodiment: Please refer to Figure 2, the dual-rotor desktop experimental device further includes a PID control system. The PID control system includes an analog electronic PID1 pitch control circuit, an analog electronic PID2 azimuth control circuit, a loop control merging circuit, and two push-pull power drive 2x circuits. The positive terminal of the input end of the analog electronic PID1 pitch control circuit is connected to the pitch target voltage, and the negative terminal of the input end of the analog electronic PID1 pitch control circuit is connected to the pitch feedback voltage of the pitch angle sensor 1. The output end of the analog electronic PID1 pitch control circuit is connected to one end of the input end of the loop control merging circuit. The positive terminal of the input end of the analog electronic PID2 azimuth control circuit is connected to the azimuth target voltage, and the negative terminal of the input end of the analog electronic PID2 azimuth control circuit is connected to the azimuth feedback voltage of the azimuth angle sensor 5. The output end of the analog electronic PID2 azimuth control circuit is connected to the other end of the input end of the loop control merging circuit. The two output ends of the loop control merging circuit respectively drive the two motors at both ends of the motor mounting crossbar 6 through the push-pull power drive 2x circuits to control the rotation of the two propellers.
[0027] The push-pull power drive 2x circuit is used to amplify and output the drive voltage signal. It is a common circuit and usually uses switching transistors such as triodes and MOS transistors to control the output. The relevant circuit structure can be searched online. It is a common technology and will not be elaborated here.
[0028] In this embodiment: Please refer to Figure 2 and Figure 4 , the analog electronic PID1 pitch control circuit and the analog electronic PID2 azimuth control circuit have the same structure, and both include a subtractor circuit, an inverting proportional circuit, an integrator circuit, a differentiator circuit, and an inverting summing circuit. One end of the input end of the subtractor is connected to the target voltage (azimuth target voltage, pitch target voltage), and the other end of the input end of the subtractor is connected to the feedback voltage (azimuth feedback voltage, pitch feedback voltage). The output end of the subtractor is connected to the input end of the inverting proportional circuit, the input end of the integrator circuit, and the input end of the differentiator circuit. The output end of the inverting proportional circuit is connected to the first input end of the inverting summing circuit, the integrator circuit is connected to the second input end of the inverting summing circuit, and the differentiator circuit is connected to the third input end of the inverting summing circuit.
[0029] These five analog electronic unit circuits, namely the subtractor circuit, the inverting proportional circuit, the integrator circuit, the differentiator circuit, and the inverting summing circuit, are all required in the teaching syllabus. These unit circuits are used to form the PID operation. The structures of the subtractor, inverting proportional, integrator, differentiator, and inverting summing circuits are all circuits mentioned in the teaching syllabus and are common circuit structures. In addition, the relevant circuit structures can also be searched online. They are existing technologies and will not be elaborated here.
[0030] In this embodiment: Please refer to Figure 2, the loop control merging circuit includes a voltage converter and four 5.1K ohm resistors. One end of the first resistor is connected to one end of the second resistor and the output end of the analog PID1 pitch control circuit. The other end of the first resistor is connected to one end of the third resistor and the input end of a push-pull power drive 2-fold circuit. The other end of the second resistor is connected to the other end of the fourth resistor and the input end of another push-pull power drive 2-fold circuit. The other end of the third resistor is connected to the output end of the voltage converter. The input end of the voltage converter is connected to the other end of the fourth resistor and the output end of the analog PID2 azimuth control circuit.
[0031] Please refer to Figure 3 , the dual-rotor flight principle of this device, and then introduce the loop merging principle.
[0032] When hovering: The wind forces of the left and right motors are the same, generating the same lift force. After the lift forces are merged, they cancel out the gravity.
[0033] When flying to the left: The right motor rotates faster, and the left motor rotates slower. The crossbar 6 for motor installation tilts, and the resultant force of the lift force and the gravity generates a leftward thrust.
[0034] When flying to the right: The left motor rotates faster, and the right motor rotates slower. The crossbar 6 for motor installation tilts, and the resultant force of the lift force and the gravity generates a rightward thrust.
[0035] It can be seen from the flight principle that the left and right movements require fine-tuning on a basic lift force, and the adjustments to the left and right motors are opposite. No speed difference adjustment is required when hovering.
[0036] Applying this flight principle to the loop control merging circuit, the loop control merging circuit outputs 0V when hovering. When azimuth movement is required, an adjustment voltage is output. The output signal is divided into two paths, and a -1 transformation is performed on one of the paths through the voltage converter. In this way, the effects of the adjustment voltage on the two motors are opposite.
[0037] The loop control merging circuit controls this basic lift force so that the pitch angle and azimuth angle follow the user's settings.
[0038] When the two loop outputs are merged, the superposition theorem of circuit theory is used. When hovering Figure 2 points C and D are 0V, and points A and B are divided by 0.5 and then given to the drive. The drive is 2-fold, and the overall is still 1. When moving left and right, point C is equal to the voltage of -D point, divided by 0.5 and then given to the drive. The drive is 2-fold, and the voltage gain for C and D is still 1-fold. Expressed by the formula:
[0039] Voltage of the right motor = (0.5A + 0.5C) * 2 = A + C;
[0040] Left motor voltage = (0.5B + 0.5D) * 2 = B + D = A - C;
[0041] where A = B, C = -D, and C = D = 0V during hovering.
[0042] Such a merging method can not only adjust the basic lift for pitching motion but also fine-tune the lift difference for left and right motion.
[0043] The working principle of the present utility model is as follows: During the experiment, the pitching target voltage and the azimuth target voltage are set. After the analog PID1 pitching control circuit and the analog PID2 azimuth control circuit receive the voltage signal, they change the output voltage of the loop control merging circuit. The two motors at both ends of the motor mounting crossbar 6 are driven by the push-pull power drive 2-fold circuit to control the rotation of the two propellers, driving the parallelogram swing arm 2 to move. At this time, the pitching angle sensor 1 and the azimuth angle sensor 5 respectively output the pitching feedback signal and the azimuth feedback signal to adjust the output of the analog PID1 pitching control circuit and the analog PID2 azimuth control circuit, completing the double-rotor flight control experimental device.
[0044] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting.
[0045] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A dual-rotor desktop experimental device, characterized in that: The dual-rotor desktop experimental device includes a fixed plate, on which a pitch angle sensor and a coupling are arranged. One end of the coupling is connected to one end of another coupling through a support shaft, and the other end of the other coupling is connected to the azimuth angle sensor. The pitch angle sensor is fixed through a flange and the E end of a parallelogram swing arm, and the F end of the parallelogram swing arm is fixed to a motor mounting cross bar, and propellers and motors are arranged at both ends of the motor mounting cross bar.
2. The dual-rotor desktop experimental device according to claim 1, characterized in that: The E and F ends of the parallelogram swing arm are perpendicular to the horizontal plane.
3. The dual-rotor desktop experimental device according to claim 1, characterized in that: The dual-rotor desktop experimental device also includes a PID control system, which includes an analog-electric PID1 pitch control circuit, an analog-electric PID2 azimuth control circuit, a loop control merging circuit, and two push-pull power drive 2x circuits. The positive pole of the input end of the analog-electric PID1 pitch control circuit is connected to the pitch target voltage, the negative pole of the input end of the analog-electric PID1 pitch control circuit is connected to the pitch feedback voltage of the pitch angle sensor, the output end of the analog-electric PID1 pitch control circuit is connected to one end of the input end of the loop control merging circuit, the positive pole of the input end of the analog-electric PID2 azimuth control circuit is connected to the azimuth target voltage, the negative pole of the input end of the analog-electric PID2 azimuth control circuit is connected to the azimuth feedback voltage of the azimuth angle sensor, the output end of the analog-electric PID2 azimuth control circuit is connected to the other end of the input end of the loop control merging circuit, and the two output ends of the loop control merging circuit respectively drive the two motors at both ends of the motor mounting crossbar through the push-pull power drive 2x circuit to control the rotation of the two propellers.
4. The dual-rotor desktop experimental device according to claim 3, characterized in that: The analog electronic PID1 pitch control circuit and the analog electronic PID2 azimuth control circuit have the same structure, both including a subtractor circuit, an inverting proportional circuit, an integrator circuit, a differentiator circuit, and an inverting summing circuit. One end of the input of the subtractor is connected to the target voltage, and the other end of the input of the subtractor is connected to the feedback voltage. The output of the subtractor is connected to the input of the inverting proportional circuit, the input of the integrator circuit, and the input of the differentiator circuit. The output of the inverting proportional circuit is connected to the first input of the inverting summing circuit, the integrator circuit is connected to the second input of the inverting summing circuit, and the differentiator circuit is connected to the third input of the inverting summing circuit.
5. The dual-rotor desktop experimental device according to claim 3 or 4, characterized in that: The loop control merging circuit includes a voltage converter and four 5.1K ohm resistors. One end of the first resistor is connected to one end of the second resistor and the output end of the analog PID1 pitch control circuit. The other end of the first resistor is connected to one end of the third resistor and the input end of a push-pull power drive 2 times circuit. The other end of the second resistor is connected to the other end of the fourth resistor and the input end of another push-pull power drive 2 times circuit. The other end of the third resistor is connected to the output end of the voltage converter. The input end of the voltage converter is connected to the other end of the fourth resistor and the output end of the analog PID2 azimuth control circuit.