Vibration control device for flight control system

Abstract

The utility model provides a kind of vibration control device of flight control system, the device includes: vibration detection subsystem and damping subsystem, the vibration detection subsystem is connected with the damping subsystem signal, the vibration detection subsystem, setting at the flight control system of flying robot, for detecting the vibration signal in the flight process of flying robot, and the change value of vibration signal is obtained;The damping subsystem is used to execute damping action to flight control system based on the change value of vibration signal.The flying robot in the utility model is added after damping detection system and damping subsystem device, effect is remarkable, flight control system is no longer vibrated, sensor in flight control system can normally collect data, flying robot normal steady flight, reduce the risk of blowing machine.

Description

Technical Field

[0001] This utility model relates to the field of flight robot technology, and in particular to a vibration control device for a flight control system. Background Technology

[0002] During flight, the rotating propellers of a flying robot generate vibrations. Additionally, after a period of use, propeller deformation can lead to imbalance and periodic vibrations. The rotating motors produce high-frequency vibrations, causing overall vibration. Environmental factors such as wind and electromagnetic interference also contribute to vibration. These various factors affect the flying robot's flight stability, camera image quality, and operational difficulty.

[0003] During takeoff, hovering, flight, and landing, the flying robot vibrates due to factors such as propellers, motors, structure, and environment, causing the flight control system (hereinafter referred to as the flight control system) to vibrate as well. However, the flight control system is a crucial central processing system for controlling the stable flight of the entire flying robot. It contains sensors to collect the kinetic energy data of the entire flying robot. Through sensors such as gyroscopes, accelerometers, and GPS (Global Positioning System), it collects flight data in real time and uses control algorithms such as PID (Proportional Integral Derivative) to adjust the output of actuators (such as servos and motors) to ensure the flying robot maintains a stable attitude and accurately follows a preset trajectory.

[0004] Excessive vibration in the flight control system may cause the data collected by the sensors to exceed the data acquisition threshold. In this case, the flight control system will be unable to output data (such as motor speed) to the execution unit correctly, making it impossible for the flying robot to fly normally. In severe cases, it may cause the flying robot to crash. Utility Model Content

[0005] This utility model provides a vibration control device for a flight control system to solve the defects in the prior art where various factors cause vibration of the entire flying robot, which in turn causes vibration of the flight control system, resulting in vibration of the sensors and preventing the flying robot from ensuring normal flight. The device controls the vibration of the flight control system, so that the flight control system no longer vibrates, thereby enabling the sensors in the flight control system to collect data normally.

[0006] This utility model provides a vibration control device for a flight control system, the device comprising: A vibration detection subsystem and a vibration damping subsystem, wherein the vibration detection subsystem and the vibration damping subsystem are signal-connected; The vibration detection subsystem is located in the flight control system of the flying robot and is used to detect vibration signals during the flight of the flying robot and obtain the change value of the vibration signals. The vibration damping subsystem is used to perform vibration damping operations on the flight control system based on the changes in the vibration signal.

[0007] According to the present invention, a vibration control device for a flight control system is provided, wherein the vibration detection subsystem includes a vibration detection module, an operational amplifier module, and a comparator module; The output of the vibration detection module is connected to the input of the operational amplifier module, the output of the operational amplifier module is connected to the input of the comparator module, and the output of the comparator module is connected to the input of the shock absorption subsystem. The vibration detection module is used to detect the vibration signal of the flying robot; The operational amplifier module is used for filtering and amplifying the vibration signal; The comparator module is used to compare the vibration signal with the vibration signal of the flying robot when it is stationary, and to obtain the change value of the vibration signal.

[0008] The vibration control device for a flight control system provided by this utility model includes one or more combinations of a vibration sensor, a magnetic sensor, a gyroscope sensor, and an accelerometer sensor.

[0009] According to the vibration control device of the flight control system provided by this utility model, the vibration detection module is specifically used to detect the vibration signals in the X-axis, Y-axis and Z-axis directions during the flight of the flight robot, and to obtain the change value of the vibration signal in the corresponding direction respectively; The operational amplifier module is specifically used to filter and amplify the vibration signals in the X-axis, Y-axis and Z-axis directions, respectively. The comparator module is specifically used to compare the vibration signals in the X-axis, Y-axis and Z-axis directions with the vibration signals in the corresponding directions when the flying robot is stationary, respectively, to obtain the change value of the vibration signal in the corresponding direction, and output the change value of the vibration signal in the corresponding direction to the shock absorption subsystem.

[0010] According to the vibration control device of the flight control system provided by the present invention, the vibration detection subsystem further includes a first power supply module, which is electrically connected to the vibration detection module, the operational amplifier module, and the comparator module. The first power supply module is used to supply power to the vibration detection module, the operational amplifier module and the comparator module.

[0011] According to the present invention, a vibration control device for a flight control system is provided, wherein the vibration reduction subsystem includes a signal processing module and a shake-proof compensation module; The output of the comparator module is connected to the input of the signal processing module, and the output of the signal processing module is connected to the input of the image stabilization compensation module. The signal processing module is used to analyze the changes in the vibration signal in the X-axis, Y-axis and Z-axis directions, and determine the vibration compensation value in the corresponding directions; The anti-shake compensation module is used to drive the flight control system to perform reverse motion based on the vibration compensation value in the corresponding direction.

[0012] According to the present invention, a vibration control device for a flight control system is provided, wherein the anti-shake compensation module includes drivers in the X-axis, Y-axis and Z-axis directions and motors in the corresponding directions; The driver is used to drive the motor in the corresponding direction to rotate in the opposite direction according to the vibration compensation value in the corresponding direction, so that the original position of the flight control system remains unchanged.

[0013] According to the vibration control device of the flight control system provided by this utility model, the signal processing module is further used to collect the feedback signal of the anti-shake compensation module and transmit the feedback signal to the vibration detection subsystem.

[0014] According to the vibration control device of the flight control system provided by the present invention, the vibration reduction subsystem further includes a second power supply module, which is electrically connected to the signal processing module and the anti-shake compensation module. The second power module is used to supply power to the signal processing module and the image stabilization compensation module.

[0015] The vibration control device for the flight control system provided by this utility model adds a whole-machine vibration detection subsystem to the flight control system of the flight robot. The vibration detection subsystem transmits the change value of the vibration signal to the vibration damping subsystem of the flight control system. Then, the vibration damping subsystem performs corresponding vibration damping actions on the flight control system according to the change value of the vibration signal, so that the flight control system no longer vibrates, the sensors in the flight control system can collect data normally, the flight robot flies normally and stably, and the risk of crash is reduced. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the vibration control device structure of the flight control system provided by this utility model; Figure 2 This is a comparative schematic diagram of the vibration control device of the flight control system provided by this utility model; Figure 3 This is a schematic diagram of the vibration detection subsystem in the vibration control device of the flight control system provided by this utility model; Figure 4 This is a schematic diagram of the vibration reduction principle of the vibration reduction subsystem in the vibration control device of the flight control system provided by this utility model; Figure 5 This is a schematic diagram of the vibration reduction subsystem of the flight control system in the vibration control device of the flight control system provided by this utility model. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0019] The following is combined with Figure 1 This invention describes a vibration control device for a flight control system, comprising: A vibration detection subsystem and a vibration damping subsystem are provided, wherein the vibration detection subsystem and the vibration damping subsystem are signal-connected. The vibration detection subsystem is located in the flight control system of the flying robot and is used to detect vibration signals during the flight of the flying robot and obtain the change value of the vibration signals. The vibration damping subsystem is used to perform vibration damping operations on the flight control system based on the changes in the vibration signal.

[0020] like Figure 2 As shown, factors such as propellers, motors, structure, and environment can cause the flying robot to vibrate as a whole, which in turn causes the flight control system to vibrate. This results in the sensor data collected by the flight control system exceeding the maximum value that the sensor can collect, leading to abnormal data calculations by the flight control system. Consequently, the flight robot's attitude data becomes abnormal, resulting in instability, crashes, and other phenomena.

[0021] A vibration detection subsystem is added to the flight control system of the flying robot. This allows the vibration frequency of the flight control system to be sensed, and the vibration data of the flight control system to be obtained in a better way. This data can then be better analyzed and transmitted to the vibration reduction subsystem of the flight control system.

[0022] The vibration signal includes the vibration frequency of the flying robot, which can be calculated using propeller rotation and aerodynamics, i.e., vibration frequency f = n * N / 60, where n is the number of propellers of the flying robot and N is the rotational speed in RPM. When the motor's rotational speed is NRPM, its fundamental frequency (i.e., the number of revolutions per second) is calculated using the formula: f frequency (Hz) = N (RPM) / 60. For example, a motor operating at 6000 RPM has a fundamental frequency of 100 Hz.

[0023] This embodiment adds a whole-machine vibration detection subsystem to the flight control system of the flying robot. The vibration detection subsystem transmits the change value of the vibration signal to the vibration damping subsystem of the flight control system. Then, the vibration damping subsystem performs corresponding vibration damping actions on the flight control system according to the detected change value of the vibration signal, so that the flight control system no longer vibrates, the sensors in the flight control system can collect data normally, the flying robot flies normally and stably, and the risk of crash is reduced.

[0024] Based on the above embodiments, such as Figure 3 As shown, the vibration detection subsystem in this embodiment includes a vibration detection module, an operational amplifier module, and a comparator module; The output of the vibration detection module is connected to the input of the operational amplifier module, the output of the operational amplifier module is connected to the input of the comparator module, and the output of the comparator module is connected to the input of the shock absorption subsystem. The vibration detection module is used to detect the vibration signal of the flying robot; The operational amplifier module is used for filtering and amplifying the vibration signal; The comparator module is used to compare the vibration signal with the vibration signal of the flying robot when it is stationary, and to obtain the change value of the vibration signal.

[0025] The vibration detection module is a sensor that detects vibration signals; it is not limited to a single type of sensor. The data collected by the vibration detection module varies depending on its placement on the flying robot. Its primary location is the same as that of the flight control system, focusing on collecting vibration data from the flight control system to adjust the vibration accordingly.

[0026] The operational amplifier module primarily filters and amplifies the vibration signals acquired by the vibration detection module to obtain clean sensor data, which is then transmitted to the comparator module. The comparator module is mainly responsible for analyzing data changes under static and vibrating conditions, and then transmitting the data change values ​​to the vibration damping subsystem of the flight control system for vibration adjustment.

[0027] Based on the above embodiments, the vibration detection module in this embodiment includes one or more combinations of vibration sensors, magnetic sensors, gyroscope sensors and accelerometer sensors.

[0028] Based on the above embodiments, the vibration detection module in this embodiment is specifically used to detect the vibration signals in the X-axis, Y-axis and Z-axis directions during the flight of the flying robot, and to obtain the change values ​​of the vibration signals in the corresponding directions respectively; The operational amplifier module is specifically used to filter and amplify the vibration signals in the X-axis, Y-axis and Z-axis directions, respectively. The comparator module is specifically used to compare the vibration signals in the X-axis, Y-axis and Z-axis directions with the vibration signals in the corresponding directions when the flying robot is stationary, respectively, to obtain the change value of the vibration signal in the corresponding direction, and output the change value of the vibration signal in the corresponding direction to the shock absorption subsystem.

[0029] The vibration detection module can collect sensor signals from different directions, such as the X, Y, and Z axes. The operational amplifier module mainly filters and amplifies the data collected by the vibration sensor module to obtain clean sensor data, which is then transmitted to the comparator module. The comparator module is mainly responsible for analyzing data changes under static and vibrating conditions. The comparator module can output different data along the X, Y, and Z axes, and then transmit the data to the vibration damping subsystem of the flight control system.

[0030] The vibration damping subsystem makes inverse adjustments based on data changes along the three axes: X, Y, and Z. For example, if the entire aircraft vibrates upwards along the X-axis, the vibration damping subsystem controls the flight control system structure to vibrate downwards with the same vector magnitude. This ensures that the original position of the flight controller system structure remains unchanged, thereby achieving a vibration damping effect.

[0031] like Figure 4 As shown, the outer frame represents the entire flying robot, and the inner frame represents the flight control system that requires vibration damping. If the outer frame vibrates upwards, the inner frame also vibrates upwards, meaning the flight control system also vibrates upwards, and its position will also vibrate upwards. For the flight control system to remain stable, the vibration damping subsystem needs to control the inner frame to move downwards relative to the outer frame; this is the principle of reversal.

[0032] Based on the above embodiments, such as Figure 3 As shown, the vibration detection subsystem in this embodiment further includes a first power supply module, which is electrically connected to the vibration detection module, the operational amplifier module, and the comparator module. The first power supply module is used to supply power to the vibration detection module, the operational amplifier module and the comparator module.

[0033] The first power module primarily supplies power to the overall machine vibration detection subsystem, such as... Figure 3 As shown by the red line in the image.

[0034] Based on the above embodiments, such as Figure 5 As shown, the shock absorption subsystem in this embodiment includes a signal processing module and a shake reduction compensation module; The output of the comparator module is connected to the input of the signal processing module, and the output of the signal processing module is connected to the input of the image stabilization compensation module. The signal processing module is used to analyze the changes in the vibration signal in the X-axis, Y-axis and Z-axis directions, and determine the vibration compensation value in the corresponding directions; The anti-shake compensation module is used to drive the flight control system to perform reverse motion based on the vibration compensation value in the corresponding direction.

[0035] The signal processing module is used to analyze the changes in the current vibration signal in different directions to obtain the vibration direction and amplitude that need to be compensated.

[0036] The signal processing module receives vibration data from the vibration detection subsystem, performs data analysis and processing, and then transmits the signal to the execution module, namely the anti-shake compensation module. The anti-shake compensation module is primarily the execution unit of the vibration reduction subsystem; it executes anti-shake compensation data from different axes. For example, when the detection system detects positive motion along the X, Y, and Z axes, the anti-shake compensation module will move in the opposite direction along these axes, thus ensuring the stability and immobility of the flight control system structure.

[0037] Based on the above embodiments, such as Figure 5 As shown, the anti-shake compensation module in this embodiment includes drivers in the X-axis, Y-axis and Z-axis directions and motors in the corresponding directions; The driver is used to drive the motor in the corresponding direction to rotate in the opposite direction according to the vibration compensation value in the corresponding direction, so that the original position of the flight control system remains unchanged.

[0038] Image stabilization systems are composed of different motion axes. Figure 5 The diagram illustrates the X, Y, and Z axes, with each axis including a corresponding axial driver and axial motor. The driver primarily provides power to the motor, which acts as the actuator.

[0039] Based on the above embodiments, the signal processing module in this embodiment is further used to collect the feedback signal of the anti-shake compensation module and transmit the feedback signal to the vibration detection subsystem to dynamically adjust the vibration compensation according to the feedback signal.

[0040] The whole-aircraft vibration detection subsystem and the vibration reduction subsystem of the flight control system are interconnected. The vibration detection subsystem can transmit the detected signals to the vibration reduction subsystem, and the vibration reduction subsystem can transmit the vibration reduction feedback signals to the vibration detection subsystem, thus forming a closed loop.

[0041] Based on the above embodiments, such as Figure 5 As shown, the shock absorption subsystem in this embodiment also includes a second power supply module, which is electrically connected to the signal processing module and the anti-shake compensation module. The second power module is used to supply power to the signal processing module and the image stabilization compensation module.

[0042] like Figure 5 As shown, the vibration reduction subsystem of the flight control system consists of a power supply module, a signal processing module, and a shake reduction compensation module. The second power supply module mainly supplies power to the vibration reduction subsystem.

[0043] Based on the above embodiments, the directions in this embodiment include the X-axis, Y-axis and Z-axis directions, wherein the Z-axis direction is vertically upward, the X-axis direction is horizontal to the right, and the surface formed by the Z-axis and X-axis is perpendicular to the Y-axis direction.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A vibration control device for a flight control system, characterized in that, The device includes: A vibration detection subsystem and a vibration damping subsystem, wherein the vibration detection subsystem and the vibration damping subsystem are signal-connected; The vibration detection subsystem is located in the flight control system of the flying robot and is used to detect vibration signals during the flight of the flying robot and obtain the change value of the vibration signals. The vibration damping subsystem is used to perform vibration damping operations on the flight control system based on the changes in the vibration signal.

2. The vibration control device for the flight control system according to claim 1, characterized in that, The vibration detection subsystem includes a vibration detection module, an operational amplifier module, and a comparator module; The output of the vibration detection module is connected to the input of the operational amplifier module, the output of the operational amplifier module is connected to the input of the comparator module, and the output of the comparator module is connected to the input of the shock absorption subsystem. The vibration detection module is used to detect the vibration signal of the flying robot; The operational amplifier module is used for filtering and amplifying the vibration signal; The comparator module is used to compare the vibration signal with the vibration signal of the flying robot when it is stationary, and to obtain the change value of the vibration signal.

3. The vibration control device for the flight control system according to claim 2, characterized in that, The vibration detection module includes one or more combinations of vibration sensors, magnetic sensors, gyroscope sensors, and accelerometer sensors.

4. The vibration control device for the flight control system according to claim 2, characterized in that, The vibration detection module is specifically used to detect vibration signals in the X-axis, Y-axis and Z-axis directions during the flight of the flying robot, and to obtain the change values ​​of the vibration signals in the corresponding directions respectively; The operational amplifier module is specifically used to filter and amplify the vibration signals in the X-axis, Y-axis and Z-axis directions, respectively. The comparator module is specifically used to compare the vibration signals in the X-axis, Y-axis and Z-axis directions with the vibration signals in the corresponding directions when the flying robot is stationary, respectively, to obtain the change value of the vibration signal in the corresponding direction, and output the change value of the vibration signal in the corresponding direction to the shock absorption subsystem.

5. The vibration control device for the flight control system according to claim 2, characterized in that, The vibration detection subsystem further includes a first power supply module, which is electrically connected to the vibration detection module, the operational amplifier module, and the comparator module. The first power supply module is used to supply power to the vibration detection module, the operational amplifier module and the comparator module.

6. The vibration control device for the flight control system according to claim 4, characterized in that, The shock absorption subsystem includes a signal processing module and a shake-proof compensation module; The output of the comparator module is connected to the input of the signal processing module, and the output of the signal processing module is connected to the input of the image stabilization compensation module. The signal processing module is used to analyze the changes in the vibration signal in the X-axis, Y-axis and Z-axis directions, and determine the vibration compensation value in the corresponding directions; The anti-shake compensation module is used to drive the flight control system to perform reverse motion based on the vibration compensation value in the corresponding direction.

7. The vibration control device for the flight control system according to claim 6, characterized in that, The anti-shake compensation module includes drivers in the X, Y, and Z axis directions and motors in the corresponding directions; The driver is used to drive the motor in the corresponding direction to rotate in the opposite direction according to the vibration compensation value in the corresponding direction, so that the original position of the flight control system remains unchanged.

8. The vibration control device for the flight control system according to claim 6, characterized in that, The signal processing module is also used to collect feedback signals from the anti-shake compensation module and transmit the feedback signals to the vibration detection subsystem.

9. The vibration control device for the flight control system according to claim 6, characterized in that, The shock absorption subsystem also includes a second power module, which is electrically connected to the signal processing module and the anti-shake compensation module. The second power module is used to supply power to the signal processing module and the image stabilization compensation module.

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