CN203870468U - Mechanical failure debugging device used for rotorcraft - Google Patents

Abstract

The utility model discloses a mechanical fault debugging device for a rotorcraft which can improve the debugging effect. The debugging device includes a base, the base is supported by a telescopic tripod, a spherical universal joint is installed on the upper surface of the base, an encoder is connected to the spherical universal joint, and the spherical universal joint A force arm fixing frame is installed, a pressure sensor is installed on each force arm, and a control processing chip, a remote control signal adapter and a display device are also included. The debugging device can realize the detection of the signal direction and stroke of each channel of the remote controller, detect whether the sensors and rotors of the rotorcraft are working normally, and initially detect whether the rotation axis of the rotor deviates too much, etc. According to the above detection results, the aircraft's The control system is further debugged to reduce the influence of mechanical installation errors on the control accuracy of the rotorcraft, and the debugging effect is better. It is suitable for popularization and application in the field of aircraft debugging equipment.

Description

Mechanical fault debugging device for rotorcraft

technical field

The utility model belongs to the field of aircraft debugging equipment, in particular to a mechanical failure debugging device for rotorcraft.

Background technique

A quadrotor is an unmanned aerial vehicle with four rotors (propellers). The four rotors have a cross-shaped or X-shaped cross structure, and the two opposing rotors form a group with the same rotation direction; different groups of rotors have different rotation directions. Different from traditional helicopters, quadrotors can only achieve various actions by changing the speed of the rotor (propeller). It can realize flight actions such as vertical take-off and landing, hovering, advance and retreat, etc. It has the characteristics of simple mechanical structure, high space flexibility, simple control, and good autonomy. Inspection and other fields have broad application prospects, and it is the frontier field of intelligent robot research in recent years.

Quadrotor aircraft usually rely on the integrated navigation system composed of gyroscope, accelerometer, magnetometer, GPS and other sensors to realize the measurement of attitude and position, and solve it through the flight controller (microprocessor), and then calculate the attitude through the control algorithm. Position control signal; the flight controller outputs control signals to respectively control the electronic governors on the four rotors, drive the four motors and their rotors to rotate at corresponding speeds, and realize different flight movements. The aircraft is a typical nonlinear underactuated system. Four motors and their rotors are driven by four driving (input) signals to realize six flight actions including pitch (advance and retreat), roll and lift.

The aerodynamic model of the quadrotor aircraft is relatively simple, and its dependence on atmospheric pressure and air flow characteristics is low during flight. While it has the advantages of small area and small range of flexible movement, it is more vulnerable to the surrounding environment and the failure of its own control device system, resulting in yaw or even crash accidents in a short period of time. Quadrotor flight control failures usually include six aspects: loss of remote control signal, unreasonable remote control signal, sensor failure, loss of motor servo signal, unreasonable motor servo state, and mechanical installation failure.

At present, the flight control fault debugging of the rotorcraft is only for the debugging of the flight control system, without considering the impact of the mechanical installation accuracy of the rotorcraft, that is, the existing aircraft control fault debugging is based on the perfect mechanical installation accuracy of the aircraft. However, due to the influence of various external conditions, the mechanical installation accuracy cannot reach the perfect state at the time of design, and there must be certain installation errors, and even if the aircraft installation accuracy is adjusted after the aircraft is assembled, in general Under the circumstances, the debugging site of the aircraft installation accuracy is far away from the actual flight site, and the debugged rack may also have rack structure deviations or wiring errors during the carrying process. This error in mechanical installation accuracy will cause the actual flight. The control accuracy of the aircraft is relatively poor, and the existing aircraft fault debugging is carried out by using aeromodelling, which requires not only the experience of aeromodelling control, but also the use of tools such as computers and calipers, which is extremely inconvenient.

Utility model content

The technical problem to be solved by the utility model is to provide a mechanical fault debugging device for a rotorcraft that can improve the debugging effect.

The technical solution adopted by the utility model to solve the technical problem is: the mechanical failure debugging device for rotorcraft includes a base, the base is supported by a telescopic tripod, and a spherical surface is installed on the upper surface of the base. Universal joint, the spherical universal joint is connected with an encoder for obtaining the three-dimensional attitude data of the spherical universal joint, the spherical universal joint is equipped with a force arm fixing frame, and the force arm number of the force arm fixing frame is the same as The rotor bracket quantity of rotorcraft is corresponding, and pressure sensor is all installed on described each force arm, when rotorcraft is installed on the arm fixed frame, described pressure sensor is positioned between the arm of force and the rotor bracket of rotorcraft for Detecting the pressure generated by the rotor here also includes a control processing chip, a remote control signal adapter, and a display device, and the remote control signal adapter, pressure sensor, encoder, and display device are respectively connected to the control processing chip for signals.

Further, the telescopic tripod includes a sleeve, a support rod is arranged in the sleeve, and a locking device is arranged on the sleeve.

Further, a locking nut is arranged on the sleeve to form the locking device.

Further, a level is provided on the base.

Further, a damping spring is connected to the end of the force arm, and the other end of the damping spring is fixed on the upper surface of the base.

Further, the display device is an LCD display screen.

The beneficial effect of the utility model is that: the mechanical fault debugging device for the rotorcraft described in the utility model can realize the detection of the signal direction and stroke of each channel of the remote controller, detect whether the sensor and the rotor of the rotorcraft are working normally, and preliminarily detect Whether the rotation axis of the rotor deviates too much, check whether the PID control parameters of the rotorcraft are within a certain reasonable range in the hovering state of each axis, and check whether the load center of gravity of the rotorcraft is at the rotation center of the rotorcraft, the operator can according to the above The test results further debug the control system of the aircraft, reduce the influence of mechanical installation errors on the control accuracy of the rotorcraft, improve the control accuracy of the aircraft, and the debugging effect is better. Moreover, the mechanical failure debugging device for rotorcraft When in use, you only need to use the telescopic tripod to support and level the base, and adjust the spherical universal joint to make it in a balanced position, then fix the rotorcraft on the arm fixed frame, and then make the rotorcraft The above detection can be completed by doing different gestures and actions. The whole process is very convenient to operate and can be completed without the debugger having experience in model airplanes.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the mechanical failure debugging device of the utility model for rotorcraft;

Explanation of reference numerals: base 1, telescopic tripod 2, sleeve 201, support rod 202, spherical universal joint 3, encoder 4, force arm fixing frame 5, pressure sensor 6, control processing chip 7, remote control Signal adapter 8, display device 9, spirit level 10, damping spring 11.

Detailed ways

Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described further.

As shown in Figure 1, the mechanical failure debugging device for rotorcraft includes a base 1, the base 1 is supported by a telescopic tripod 2, and a spherical universal joint 3 is installed on the upper surface of the base 1 , the spherical universal joint 3 is connected with an encoder 4 for obtaining the three-dimensional attitude data of the spherical universal joint 3, the spherical universal joint 3 is equipped with a moment arm holder 5, and the force of the moment arm holder 5 is The number of arms corresponds to the rotor bracket quantity of the rotorcraft, and a pressure sensor 6 is installed on each of the arms of the arm. It is used to detect the pressure generated by the rotor at this place between the rotor brackets, and also includes a control processing chip 7, a remote control signal adapter 8 and a display device 9, the remote control signal adapter 8, pressure sensor 6, encoder 4, display The devices 9 are signally connected to the control processing chip 7 respectively. The mechanical failure debugging device for the rotorcraft described in the utility model can realize the detection of the signal direction and stroke of each channel of the remote control, detect whether the sensors of the rotorcraft and the rotor are working normally, and initially detect whether the rotation axis of the rotor deviates too much Large, check whether the PID control parameters of the rotorcraft are within a certain reasonable range under the hovering state of each axis, and check whether the load center of gravity of the rotorcraft is at the rotation center of the rotorcraft. Carry out further debugging, reduce the influence of mechanical installation error on the control accuracy of the rotorcraft, can improve the control accuracy of the aircraft, and the debugging effect is better, and when the mechanical fault debugging device for the rotorcraft is in use, only need to use The telescopic tripod 2 supports and balances the base 1, and adjusts the spherical universal joint 3 so that it is in a balanced position, and then fixes the rotorcraft on the arm fixing frame 5, and then makes the rotorcraft take different attitudes The above-mentioned inspection can be completed, the whole process is very convenient to operate, and it can be completed without the experience of the debugger with model airplanes.

In the above embodiment, the telescopic tripod 2 can adopt various existing structures, as long as the purpose of the length can be achieved, as a preferred way is: the telescopic tripod 2 includes a sleeve 201, the sleeve 201 is provided with a support rod 202, and the sleeve 201 is provided with a locking device. For the retractable tripod 2 of this structure, when adjusting, open the locking device, and then adjust the support rod The protruding length of 202 can be adjusted in place and then locked with the locking device to lock the support rod 202. The adjustment process is convenient and quick. Further, the locking device may adopt various existing fastening devices, preferably: a locking nut is provided on the sleeve 201 to form the locking device.

In order to visually observe and understand whether the base 1 is leveled, a level 10 is provided on the base 1 .

In order to facilitate the installation of the rotorcraft on the arm fixed frame 5, the end of the arm is connected with a damping spring 11, and the other end of the damping spring 11 is fixed on the upper surface of the base 1, and the damping spring 11 is set to make The moment arm can not shake, and the docking can be realized quickly when installing the rotorcraft.

For the convenience of observation, the display device 9 is an LCD display screen.

The use process of this mechanical fault debugging device for rotorcraft is as follows:

The first step, the preparation work before mechanical failure debugging:

1. First fix the base 1 on the ground surface through the telescopic tripod 2, and adjust the telescopic tripod 2 according to the level 10 to ensure that the base 1 is stable, and then obtain the three-dimensional posture of the spherical gimbal 3 through the encoder 4, And adjust the spherical universal joint 3 so that it is in a balanced position, that is, the pitch angle, roll angle, and heading angle are all 0°, and now the rotorcraft is also in a horizontal position;

2. Fix the rotorcraft on the arm fixing frame 5, and fix each rotor arm and each arm of the arm fixing frame 5 together. At the same time, observe the reading of the pressure sensor 6 through the LCD display to ensure that the pressure sensor 6 To work normally, the remote control signal adapter 8 is arranged between the remote control signal receiver and the rotor flight controller, so that the remote control signal first passes through the remote control signal adapter 8 and then enters the flight controller.

The second step is to carry out mechanical fault diagnosis:

1. Detect the direction and travel of each signal of the remote control. During the detection process, the remote control signal adapter 8 enters the locking mode, that is, the remote control signal adapter 8 receives the remote control signal but does not send it to the flight controller of the rotorcraft, and the remote control signal adapter 8 collects the current remote control signal value and sends Give the control processing chip 7, the control processing chip 7 calculates the corresponding flight state by formula a according to the current remote control signal, and displays the flight trend of the rotorcraft under the coordinate system on the LCD display screen, that is, the heading angle of the rotorcraft Pitch angle θ, roll angle ρ, for the operator to finally judge whether the current remote control settings are correct.

Rotorcraft flight status including heading angle Pitch angle θ, roll angle ρ, and the corresponding three-way remote control signal PPM(i)i=1, 2, 3 respectively represent the relationship between heading, pitch, and roll signals, as shown in formula a.

The operator first dials each signal of the remote controller to the maximum and minimum points to obtain the midpoint of the corresponding signal, that is, mid(i)i=1,2,3.

2. Detect whether the sensors and rotors of the rotorcraft are working normally, and preliminarily detect whether the rotation axis of the rotor deviates too much. Place the base 1 in a sheltered environment. During the detection process, the remote control signal adapter 8 enters the locking mode, that is, the remote control signal adapter 8 receives the remote control signal but does not send it to the flight controller of the rotorcraft, and the control processing chip 7. The throttle signal is sent to the flight controller of the rotorcraft through the remote control signal adapter 8, and the pitch, roll, and heading of the other three-way attitude signals are kept in a balanced position, so that the rotorcraft can control its own balance on the base 1, so that Its body remains on a stable plane. Afterwards, the three-dimensional angle of the current spherical gimbal 3 is obtained through the encoder 4. If the pressures received on the four pressure sensors 6 are uniform or zero, the three-dimensional angle and the equilibrium position angle, that is, pitch angle, roll angle, heading angle, etc. There is an obvious and constant error between the angles of 0°, indicating that there is an offset error in the sensor of the rotorcraft, and it needs to be calibrated again, and the calibration information corresponding to the error is output through the LCD display screen; if the three-dimensional angle and the equilibrium position angle are pitch There is an obvious and periodic error between the angle, roll angle and heading angle of 0°, which indicates that the rotation axis of the rotorcraft rotor deviates too much from the original position, and the corresponding rotor number and axis adjustment information are output through the LCD screen ;

At the same time, check whether the lift generated by each rotor under the constant servo signal obtained by the pressure sensor 6 is constant. If the pressure sensor 6 of the rotor on a certain axis continuously detects a high-frequency jitter signal, report the rotor or electronic adjustment on the LCD screen. Gear failure.

3. Detect whether each PID control parameter of the rotorcraft under the hovering state of each axis is within a certain reasonable range. Place the base 1 in a sheltered environment. During the detection process, the remote control signal adapter 8 enters the locking mode, that is, the remote control signal adapter 8 receives the remote control signal but does not send it to the flight controller of the rotorcraft, and the control processing chip 7. The throttle signal greater than 1/3 of the throttle stroke is sent to the flight controller of the rotorcraft through the remote control signal adapter 8, and the pitch, roll, and heading of the other three-way attitude signals are kept in a balanced position, so that the rotorcraft is on the base 1. Self-control its own balance to keep its fuselage on a stable plane. By changing the attitude angle of the rotorcraft pitch or roll axis and keeping this angle constant. Detect the current attitude angle of the aircraft through the spherical gimbal 3, and record the parameter values of the corresponding four-way servo signals from the fluctuation to the stable stage after the attitude angle of the axis is changed; If it is greater than 15% of the stable value, then the P parameter is too large signal will be output through the LCD; if the time from the angle change of a certain servo signal to the stable state is greater than 7s, it is recommended to reduce the integral time through the LCD output.

4. Check whether the load center of gravity of the rotorcraft is at the center of rotation of the rotorcraft. Place the base 1 in a sheltered environment. During the detection process, the remote control signal adapter 8 enters the locking mode, that is, the remote control signal adapter 8 receives the remote control signal but does not send it to the flight controller of the rotorcraft, and the control processing chip 7. Send throttle signals and attitude signals including pitch, roll, and heading to the rotorcraft flight controller through the remote control signal adapter 8. The throttle signal is kept at a constant value, and only one of the signals is changed at the same time when the pitch or roll signal is changed periodically, and the other signal is kept at the balance point, so that the aircraft performs periodic reciprocating motion in a certain plane. According to the two sets of encoder 4 angle values corresponding to signals with opposite directions and the same amplitude of the pitch or roll signals, if the angle values corresponding to the signals with opposite directions but the same amplitude of the remote control signal are different, it indicates that the one with the smaller angle value If the center of gravity is too large, report the number of the motor with a smaller angle value to the LCD screen and output a suggestion for adjusting the center of gravity.

Claims (6)

1. The mechanical fault debugging device for rotorcraft, it is characterized in that: comprise base (1), described base (1) is supported by retractable tripod (2), described base (1) upper surface A spherical universal joint (3) is installed, and the spherical universal joint (3) is connected with an encoder (4) for obtaining three-dimensional attitude data of the spherical universal joint (3), and the spherical universal joint (3) Arm fixed frame (5) is installed on it, and the amount of force arm of described force arm fixed frame (5) is corresponding with the rotor bracket quantity of rotorcraft, and pressure sensor (6) is all installed on described each force arm, when rotor When the aircraft was installed on the arm fixed mount (5), the pressure sensor (6) was located between the arm of force and the rotor bracket of the rotorcraft for detecting the pressure generated by the rotor at this place, and also included a control processing chip (7), Remote control signal adapter (8) and display device (9), described remote control signal adapter (8), pressure sensor (6), encoder (4), display device (9) and control processing chip (7) ) signal connection. 2. The mechanical fault debugging device for rotorcraft as claimed in claim 1, characterized in that: the telescopic tripod (2) comprises a sleeve (201), and the sleeve (201) is provided with The support rod (202), the sleeve (201) is provided with a locking device. 3. The mechanical fault debugging device for rotorcraft according to claim 2, characterized in that: a locking nut is arranged on the sleeve (201) to form the locking device. 4. The mechanical fault debugging device for rotorcraft according to claim 3, characterized in that: a level (10) is arranged on the base (1). 5. The mechanical fault debugging device for rotorcraft as claimed in claim 4, characterized in that: the end of the arm is connected with a damping spring (11), and the other end of the damping spring (11) is fixed on the base The upper surface of the seat (1). 6. The mechanical fault debugging device for rotorcraft according to claim 5, characterized in that: the display device (9) is an LCD display.