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CN102410905B - Rotational inertia and center of gravity integrated measuring apparatus for unmanned helicopter - Google Patents

Rotational inertia and center of gravity integrated measuring apparatus for unmanned helicopter Download PDF

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CN102410905B
CN102410905B CN201110415187.8A CN201110415187A CN102410905B CN 102410905 B CN102410905 B CN 102410905B CN 201110415187 A CN201110415187 A CN 201110415187A CN 102410905 B CN102410905 B CN 102410905B
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unmanned helicopter
center
gravity
inertia
moment
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CN102410905A (en
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张逊
姜年朝
张志清
戴勇
周福亮
焦志文
宋军
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No 60 Institute of Headquarters of General Staff of PLA
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Abstract

本发明一种无人直升机转动惯量和重心测量装置涉及一种并联六自由度平台测量装置，主要应用于无人直升机的转动惯量和重心的测量。包括被测量的无人直升机、六维力传感器、并联六自由度平台、无人直升机的安装机构以及控制计算机组成；被测无人直升机通过安装机构固定在六维力传感器的上环面，六维力传感器的下环面安装到并联六自由度平台的上台面；控制计算机控制并联六自由度平台的运动以及接受六维力传感器的信号，其中的三维正交力（

Figure 2011104151878100004DEST_PATH_IMAGE002
、
Figure DEST_PATH_IMAGE004
、
Figure DEST_PATH_IMAGE006
）及三维正交力矩（
Figure DEST_PATH_IMAGE008
、、
Figure DEST_PATH_IMAGE012
），解算出无人直升机的重心和转动惯量，直接测量出被测飞机的值，从理论上能克服传统的重心和转动惯量测量的缺点。

Figure 201110415187

The invention relates to a measuring device for moment of inertia and center of gravity of an unmanned helicopter, which relates to a measuring device for a parallel six-degree-of-freedom platform, which is mainly used for measuring the moment of inertia and center of gravity of an unmanned helicopter. It consists of the unmanned helicopter to be measured, the six-dimensional force sensor, the parallel six-degree-of-freedom platform, the installation mechanism of the unmanned helicopter and the control computer; the unmanned helicopter to be measured is fixed on the upper ring surface of the six-dimensional force sensor through the installation mechanism, The lower ring surface of the force sensor is installed on the upper table of the parallel six-degree-of-freedom platform; the control computer controls the movement of the parallel six-degree-of-freedom platform and receives the signal of the six-dimensional force sensor, and the three-dimensional orthogonal force (

Figure 2011104151878100004DEST_PATH_IMAGE002
,
Figure DEST_PATH_IMAGE004
,
Figure DEST_PATH_IMAGE006
) and three-dimensional orthogonal moments (
Figure DEST_PATH_IMAGE008
, ,
Figure DEST_PATH_IMAGE012
), solve the center of gravity and moment of inertia of the unmanned helicopter, and directly measure the value of the measured aircraft, which can theoretically overcome the shortcomings of traditional center of gravity and moment of inertia measurement.

Figure 201110415187

Description

一种无人直升机转动惯量和重心一体化测量装置An integrated measurement device for moment of inertia and center of gravity of unmanned helicopter

技术领域 technical field

本发明一种无人直升机转动惯量和重心测量装置涉及一种并联六自由度平台测量装置，主要应用于无人直升机的转动惯量和重心的测量。 The invention relates to a measuring device for moment of inertia and center of gravity of an unmanned helicopter, which relates to a measuring device for a parallel six-degree-of-freedom platform, which is mainly used for measuring the moment of inertia and center of gravity of an unmanned helicopter.

背景技术 Background technique

无人直升机转动惯量和重心通常是用单摆原理或实体造型来测量。单摆原理对本身惯量和质量较大的飞机来说，误差可以忽略。但对无人直升机来说，飞机本身的质量、惯量就小，误差是不能忽略。实体造型方法比较复杂而且周期较长，且是一种理想方法，不能包含实际加工、装配误差对重心的影响。 The moment of inertia and center of gravity of unmanned helicopters are usually measured by simple pendulum principle or solid modeling. According to the simple pendulum principle, the error can be ignored for the aircraft with large inertia and mass. But for unmanned helicopters, the mass and inertia of the aircraft itself are small, and the error cannot be ignored. The solid modeling method is more complex and has a longer period, and it is an ideal method, which cannot include the influence of actual processing and assembly errors on the center of gravity.

发明内容 Contents of the invention

本发明的目的在于针对上述测量精度的不足提供一种测量无人直升机转动惯量和重心的装置，是一种精度较高、操作简单、高效率的无人直升机转动惯量和重心测量装置，转动惯量和重心的测量可以一次完成，不需要二次安装和调试。 The purpose of the present invention is to provide a device for measuring the moment of inertia and center of gravity of unmanned helicopters for the above-mentioned deficiency of measurement accuracy, which is a device for measuring the moment of inertia and center of gravity of unmanned helicopters with high precision, simple operation and high efficiency. And the measurement of the center of gravity can be completed at one time, without the need for secondary installation and debugging.

本发明一种无人直升机转动惯量和重心测量装置是采取以下技术方案实现： A kind of moment of inertia and center of gravity measuring device of unmanned helicopter of the present invention is to adopt following technical scheme to realize:

一种无人直升机转动惯量和重心测量装置包括被测量的无人直升机、六维力传感器、并联六自由度平台、无人直升机的安装机构以及控制计算机组成。被测无人直升机通过安装机构固定在六维力传感器的上环面，六维力传感器的下环面安装到并联六自由度平台的上台面。控制计算机控制并联六自由度平台的运动以及接受六维力传感器的信号，其中的三维正交力（                                                

Figure 2011104151878100002DEST_PATH_IMAGE001
、
Figure 2011104151878100002DEST_PATH_IMAGE002
、）及三维正交力矩（
Figure 2011104151878100002DEST_PATH_IMAGE004
、
Figure 2011104151878100002DEST_PATH_IMAGE005
、
Figure 2011104151878100002DEST_PATH_IMAGE006
），解算出无人直升机的重心和转动惯量，直接测量出被测飞机的值，从理论上能克服传统的重心和转动惯量测量的缺点。 A measuring device for moment of inertia and center of gravity of an unmanned helicopter consists of an unmanned helicopter to be measured, a six-dimensional force sensor, a parallel six-degree-of-freedom platform, an installation mechanism of the unmanned helicopter, and a control computer. The unmanned helicopter to be tested is fixed on the upper ring surface of the six-dimensional force sensor through the installation mechanism, and the lower ring surface of the six-dimensional force sensor is installed on the upper table of the parallel six-degree-of-freedom platform. The control computer controls the movement of the parallel six-degree-of-freedom platform and receives signals from the six-dimensional force sensor, in which the three-dimensional orthogonal force (
Figure 2011104151878100002DEST_PATH_IMAGE001
,
Figure 2011104151878100002DEST_PATH_IMAGE002
, ) and three-dimensional orthogonal moments (
Figure 2011104151878100002DEST_PATH_IMAGE004
,
Figure 2011104151878100002DEST_PATH_IMAGE005
,
Figure 2011104151878100002DEST_PATH_IMAGE006
), solve the center of gravity and moment of inertia of the unmanned helicopter, and directly measure the value of the measured aircraft, which can theoretically overcome the shortcomings of traditional center of gravity and moment of inertia measurement.

所述六维力传感器由上环面、下环面、六根连接杆、六只力传感器（CL-YB-7/0.5t）等组成，六个力传感器呈对称结构布置。下环面连接在并联六自由度平台上，上环面连接安装机构固定被测无人直升机。 The six-dimensional force sensor is composed of an upper annulus, a lower annulus, six connecting rods, six force sensors (CL-YB-7/0.5t), etc., and the six force sensors are arranged in a symmetrical structure. The lower annulus is connected to the parallel six-degree-of-freedom platform, and the upper annulus is connected to the installation mechanism to fix the unmanned helicopter under test.

所述无人直升机安装机构由两根U型滑槽和很多螺栓固定点组成。 The unmanned helicopter installation mechanism consists of two U-shaped chutes and many bolt fixing points.

所述无人直升机重心和转动惯量测量原理如下所述： The center of gravity and moment of inertia measurement principle of the unmanned helicopter is as follows:

（1）无人直升机转动惯量测量原理 (1) Measuring principle of moment of inertia of unmanned helicopter

在这个测量装置，测量原理也是利用做纯转动刚体的力矩等于惯量与角加速度的乘积的原理，知道力矩和角加速度，就能求出被测物体的转动惯量。无人直升机直接装在传感器上，传感器安装在并联六自由度平台上表面，给定一个角加速度以及从六维力矩传感器得到的力矩，就可以算出飞机的转动惯量，如公式（1）所示。角加速度是并联六自由度平台本身的输入，力矩

Figure 2011104151878100002DEST_PATH_IMAGE008
通过六维力矩传感器计算得到。 In this measuring device, the measuring principle also utilizes the principle that the torque of a purely rotating rigid body is equal to the product of inertia and angular acceleration. Knowing the torque and angular acceleration, the moment of inertia of the measured object can be obtained. The unmanned helicopter is directly installed on the sensor, and the sensor is installed on the upper surface of the parallel six-degree-of-freedom platform. Given an angular acceleration and the torque obtained from the six-dimensional torque sensor, the moment of inertia of the aircraft can be calculated, as shown in formula (1) . angular acceleration is the input of the parallel six-degree-of-freedom platform itself, and the torque
Figure 2011104151878100002DEST_PATH_IMAGE008
Calculated by the six-dimensional torque sensor.

Figure 2011104151878100002DEST_PATH_IMAGE009
                                        （1）
Figure 2011104151878100002DEST_PATH_IMAGE009
(1)

Figure 322445DEST_PATH_IMAGE008
——外加力矩；
Figure 322445DEST_PATH_IMAGE008
- Applied torque;

Figure 301902DEST_PATH_IMAGE007
——被测无人直升机绕并联六自由度平台相应轴角加速度；
Figure 301902DEST_PATH_IMAGE007
——the angular acceleration of the corresponding axis of the unmanned helicopter around the parallel six-degree-of-freedom platform;

Figure 2011104151878100002DEST_PATH_IMAGE010
——被测无人直升机绕并联六自由度平台相应轴转动惯量。  
Figure 2011104151878100002DEST_PATH_IMAGE010
——Moment of inertia of the measured unmanned helicopter around the corresponding axis of the parallel six-degree-of-freedom platform.

（2）无人直升机重心测量原理 (2) Measuring principle of center of gravity of unmanned helicopter

重心测量原理也是利用做纯转动刚体的力矩等于力与位移的乘积的原理，知道力矩和力，就能求出被测物体的重心。无人直升机直接装在传感器上，传感器安装在并联六自由度平台上表面，由六维力矩传感器得到的广义力，如公式（2）所示就能计算得到飞机重心和平台中心距离，根据飞机的安装位置，就能计算得出飞机的重心。 The principle of center of gravity measurement is also the principle that the torque of a purely rotating rigid body is equal to the product of force and displacement. Knowing the torque and force, the center of gravity of the measured object can be obtained. The unmanned helicopter is directly installed on the sensor, and the sensor is installed on the upper surface of the parallel six-degree-of-freedom platform. The generalized force obtained by the six-dimensional moment sensor can be calculated as the distance between the center of gravity of the aircraft and the center of the platform as shown in formula (2). The center of gravity of the aircraft can be calculated.

Figure 2011104151878100002DEST_PATH_IMAGE011
                                       （2）
Figure 2011104151878100002DEST_PATH_IMAGE011
(2)

Figure 770055DEST_PATH_IMAGE008
——外加力矩；
Figure 770055DEST_PATH_IMAGE008
- Applied torque;

Figure 2011104151878100002DEST_PATH_IMAGE012
——被测无人直升机绕并联六自由度平台相应轴的广义力；
Figure 2011104151878100002DEST_PATH_IMAGE012
——The generalized force of the measured unmanned helicopter around the corresponding axis of the parallel six-degree-of-freedom platform;

Figure 2011104151878100002DEST_PATH_IMAGE013
——被测无人直升机重心离六维力传感器上平台的距离
Figure 2011104151878100002DEST_PATH_IMAGE014
。  
Figure 2011104151878100002DEST_PATH_IMAGE013
——the distance between the center of gravity of the tested unmanned helicopter and the platform on the six-dimensional force sensor
Figure 2011104151878100002DEST_PATH_IMAGE014
.

根据上述原理及装置，转动惯量和重心测试一体化，精度较高。转动惯量，如表1所示。 According to the above-mentioned principle and device, the moment of inertia and center of gravity test are integrated, and the precision is high. Moment of inertia, as shown in Table 1.

Figure 2011104151878100002DEST_PATH_IMAGE015
Figure 2011104151878100002DEST_PATH_IMAGE015

X、Y、Z向质心最大误差不超过所测无人直升机旋翼桨叶的翼弦长的± 1%。 The maximum error of the center of mass in X, Y and Z directions shall not exceed ± 1% of the chord length of the measured unmanned helicopter rotor blade.

一种无人直升机转动惯量和重心测量装置优点：本发明一种无人直升机转动惯量和重心测量装置涉及一种并联六自由度平台测量装置，主要应用于无人直升机的转动惯量和重心的测量。由并联六自由度平台、六维力传感器、无人直升机的安装机构、控制计算机组成，具有数据存储、查询、打印等功能。无人直升机转动惯量和重心测量装置设计合理、结构简单，操作性优良，能够在较短时间同时测量无人直升机的惯量和重心，效率高；是一种精度较高、操作简单、高效率的无人直升机转动惯量和重心测量装置，转动惯量和重心的测量可以一次完成，不需要二次安装和调试；通过调整滑槽机构，可以对不同大小的无人直升机进行重心和惯量测量。 The advantages of an unmanned helicopter moment of inertia and center of gravity measurement device: the invention relates to a measurement device for a moment of inertia and center of gravity of an unmanned helicopter, which relates to a parallel six-degree-of-freedom platform measurement device, which is mainly used in the measurement of the moment of inertia and center of gravity of an unmanned helicopter . It consists of a parallel six-degree-of-freedom platform, a six-dimensional force sensor, an unmanned helicopter installation mechanism, and a control computer. It has functions such as data storage, query, and printing. The unmanned helicopter moment of inertia and center of gravity measuring device has reasonable design, simple structure, and excellent operability. It can simultaneously measure the inertia and center of gravity of the unmanned helicopter in a short period of time, and has high efficiency; it is a kind of high precision, simple operation and high efficiency. Unmanned helicopter moment of inertia and center of gravity measurement device, the measurement of moment of inertia and center of gravity can be completed at one time, without secondary installation and debugging; by adjusting the chute mechanism, the center of gravity and inertia of unmanned helicopters of different sizes can be measured.

附图说明 Description of drawings

以下将结合附图对本发明作进一步说明： The present invention will be further described below in conjunction with accompanying drawing:

  附图1是本发明的无人直升机重心和转动惯量测量装置结构示意图。  Accompanying drawing 1 is the structure schematic diagram of unmanned helicopter center of gravity and moment of inertia measuring device of the present invention. the

  附图2是本发明的六维力传感器结构简图。 Accompanying drawing 2 is a schematic structural diagram of the six-dimensional force sensor of the present invention.

附图3是本发明的无人直升机安装结构示意图。 Accompanying drawing 3 is the schematic diagram of installation structure of unmanned helicopter of the present invention.

具体实施方式 Detailed ways

参照附图1～3，被测量的无人直升机1、六维力传感器2、并联六自由度平台3、无人直升机的安装机构4以及控制计算机5组成。被测无人直升机通过安装机构4固定在六维力传感器2的上环面6，六维力传感器2的下环面7安装到并联六自由度平台3的上台面（附图1）。 Referring to accompanying drawings 1-3, the unmanned helicopter 1 to be measured, the six-dimensional force sensor 2, the parallel six-degree-of-freedom platform 3, the installation mechanism 4 of the unmanned helicopter and the control computer 5 are composed. The unmanned helicopter to be tested is fixed on the upper annulus 6 of the six-dimensional force sensor 2 through the installation mechanism 4, and the lower annulus 7 of the six-dimensional force sensor 2 is installed on the upper table of the parallel six-degree-of-freedom platform 3 (Fig. 1).

所述六维力传感器2由上环面6、下环面7、六根连接杆8、六只力传感器（CL-YB-7/0.5t）9等组成，六个力传感器9呈对称结构布置，如附图2所示。下环面7连接在并联六自由度平台上，上环面6连接安装机构4固定无人直升机1。 The six-dimensional force sensor 2 is composed of an upper annulus 6, a lower annulus 7, six connecting rods 8, six force sensors (CL-YB-7/0.5t) 9, etc., and the six force sensors 9 are arranged in a symmetrical structure , as shown in Figure 2. The lower annulus 7 is connected to the parallel six-degree-of-freedom platform, and the upper annulus 6 is connected to the installation mechanism 4 to fix the unmanned helicopter 1 .

所述无人直升机安装机构4由两根U型滑槽10和多个螺栓固定点11组成，如附图3所示。 The unmanned helicopter installation mechanism 4 is composed of two U-shaped chutes 10 and a plurality of bolt fixing points 11, as shown in Figure 3 .

测量时，被测无人直升机的起落架12滑进安装机构4的两根U型滑槽10上，通过螺钉固定在六维力传感器2的上环面6上。控制安装机构4的两根U型滑槽10在上环面6上的位置，可以安装不同大小的无人直升机。控制计算机5控制并联六自由度平台3以一个角加速度

Figure 117596DEST_PATH_IMAGE007
运动以及接受六维力传感器2的信号，经过换算得出六维广义力通过并联六自由度平台3的六根联接杆拉压力的检测，再通过影响系数矩阵耦合，得到六维输出力（其中的三维正交力（
Figure 745017DEST_PATH_IMAGE001
、
Figure 629797DEST_PATH_IMAGE002
、
Figure 709879DEST_PATH_IMAGE003
）及三维正交力矩（
Figure 908780DEST_PATH_IMAGE004
、
Figure 639975DEST_PATH_IMAGE005
、）），根据公式1和公式2，解算出无人直升机的重心和转动惯量。 During measurement, the undercarriage 12 of the unmanned helicopter to be tested slides into two U-shaped chutes 10 of the installation mechanism 4, and is fixed on the upper ring surface 6 of the six-dimensional force sensor 2 by screws. Control the position of the two U-shaped chutes 10 of the installation mechanism 4 on the upper annulus 6, so that unmanned helicopters of different sizes can be installed. The control computer 5 controls the parallel six-degree-of-freedom platform 3 with an angular acceleration
Figure 117596DEST_PATH_IMAGE007
Movement and receiving the signal of the six-dimensional force sensor 2, after conversion, the six-dimensional generalized force is obtained through the detection of the tension and pressure of the six connecting rods of the parallel six-degree-of-freedom platform 3, and then through the coupling of the influence coefficient matrix, the six-dimensional output force (of which Three-dimensional normal force (
Figure 745017DEST_PATH_IMAGE001
,
Figure 629797DEST_PATH_IMAGE002
,
Figure 709879DEST_PATH_IMAGE003
) and three-dimensional orthogonal moments (
Figure 908780DEST_PATH_IMAGE004
,
Figure 639975DEST_PATH_IMAGE005
, )), according to Formula 1 and Formula 2, the center of gravity and moment of inertia of the unmanned helicopter are calculated.

所述的传感器9，其响应频率10HZ左右；力在满量程线性误差小于0.5%，力矩在满量程线性误差小于1%。 The sensor 9 has a response frequency of about 10 Hz; the linearity error of force is less than 0.5% at full scale, and the linear error of torque is less than 1% at full scale.

所述的并联六自由度平台3，其承载能力满足0-600Kg,响应频率大于6HZ。 The parallel six-degree-of-freedom platform 3 has a carrying capacity of 0-600Kg and a response frequency greater than 6HZ.

所述的控制计算机5，具有数据采集、六维力矩计算、转动惯量求算及重心计算功能，人机界面友好，方便数据存储、查询和打印。 The control computer 5 has the functions of data collection, calculation of six-dimensional moment, calculation of moment of inertia and calculation of center of gravity. It has a friendly man-machine interface and is convenient for data storage, query and printing.

所述的无人直升机的安装机构4，具有安装快捷，可适应不同大小的无人直升机的重心和惯量测量。 The installation mechanism 4 of the unmanned helicopter has fast installation and can adapt to the center of gravity and inertia measurement of unmanned helicopters of different sizes.

Claims (3)

1.一种无人直升机转动惯量和重心测量装置，其特征在于：包括被测量的无人直升机、六维力传感器、并联六自由度平台、无人直升机的安装机构以及控制计算机；被测无人直升机通过安装机构固定在六维力传感器的上环面，六维力传感器的下环面安装到并联六自由度平台的上台面；控制计算机控制并联六自由度平台的运动以及接受六维力传感器的信号，根据其中的三维正交力（                                                
Figure 81967DEST_PATH_IMAGE001
、
Figure 966484DEST_PATH_IMAGE002
、
Figure 215062DEST_PATH_IMAGE003
）及三维正交力矩（
Figure 610272DEST_PATH_IMAGE004
、
Figure 362327DEST_PATH_IMAGE005
、
Figure 184790DEST_PATH_IMAGE006
），解算出无人直升机的重心和转动惯量，直接测量出被测飞机的值； 1. An unmanned helicopter moment of inertia and center of gravity measuring device is characterized in that: comprising the unmanned helicopter to be measured, six-dimensional force sensor, parallel six-degree-of-freedom platform, installation mechanism and control computer of unmanned helicopter; The human helicopter is fixed on the upper annulus of the six-dimensional force sensor through the installation mechanism, and the lower annulus of the six-dimensional force sensor is installed on the upper table of the parallel six-degree-of-freedom platform; the control computer controls the movement of the parallel six-degree-of-freedom platform and accepts the six-dimensional force The signal of the sensor, according to the three-dimensional normal force (
Figure 81967DEST_PATH_IMAGE001
,
Figure 966484DEST_PATH_IMAGE002
,
Figure 215062DEST_PATH_IMAGE003
) and three-dimensional orthogonal moments (
Figure 610272DEST_PATH_IMAGE004
,
Figure 362327DEST_PATH_IMAGE005
,
Figure 184790DEST_PATH_IMAGE006
), solve the center of gravity and moment of inertia of the unmanned helicopter, and directly measure the value of the tested aircraft; 所述六维力传感器由上环面、下环面、六根连接杆、六只力传感器组成，六个力传感器呈对称结构布置，下环面连接在并联六自由度平台上，上环面连接安装机构固定被测无人直升机； The six-dimensional force sensor is composed of an upper annulus, a lower annulus, six connecting rods, and six force sensors. The six force sensors are arranged in a symmetrical structure. The lower annulus is connected to a parallel six-degree-of-freedom platform, and the upper annulus is connected to The installation mechanism fixes the tested unmanned helicopter; 所述无人直升机安装机构由两根U型滑槽和多个螺栓固定点组成。 The installation mechanism of the unmanned helicopter consists of two U-shaped chutes and a plurality of bolt fixing points. 2.根据权利要求1所述的一种无人直升机转动惯量和重心测量装置，其特征在于：所述的传感器响应频率10HZ，力在满量程线性误差小于0.5%，力矩在满量程线性误差小于1%。 2. The moment of inertia and center of gravity measuring device of a kind of unmanned helicopter according to claim 1, is characterized in that: described sensor response frequency is 10HZ, and force is less than 0.5% at full-scale linear error, and torque is less than at full-scale linear error 1%. 3.根据权利要求1所述的一种无人直升机转动惯量和重心测量装置，其特征在于：所述的并联六自由度平台承载能力满足0-600Kg,响应频率大于6HZ。 3. A measuring device for moment of inertia and center of gravity of an unmanned helicopter according to claim 1, characterized in that: the load capacity of the parallel six-degree-of-freedom platform satisfies 0-600Kg, and the response frequency is greater than 6HZ.
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CN108995827B (en) * 2018-07-03 2021-04-06 南京航空航天大学 A method to quickly obtain the weight, center of gravity and moment of inertia of a helicopter
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