阅读说明：本技术 无人机性能测试系统及方法 (Unmanned aerial vehicle performance test system and method ) 是由 王立发 于 2020-07-30 设计创作，主要内容包括：本发明涉及无人机技术领域,具体涉及一种无人机性能测试系统,包括：第一采集模块,用于获取无人机的气动性能参数；第二采集模块,用于获取无人机的电机运行参数；判断模块,用于根据气动性能参数判断无人机是否出现失速；调整模块,用于调整无人机的机翼的迎角；储存模块,用于储存无人机从失速开始到回归正常,这个时间段的气动性能参数和电机运行参数；分析模块,用于对储存的气动性能参数和电机运行参数进行分析,判断无人机的性能是否符合要求。本发明解决了现有技术并不能针对无人机陷入失速状态时对动力系统的特殊要求进行测试的技术问题。(The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle performance test system, which comprises: the first acquisition module is used for acquiring the pneumatic performance parameters of the unmanned aerial vehicle; the second acquisition module is used for acquiring the motor operation parameters of the unmanned aerial vehicle; the judging module is used for judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters; the adjusting module is used for adjusting the attack angle of the wings of the unmanned aerial vehicle; the storage module is used for storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the stalling to the return to the normal state; and the analysis module is used for analyzing the stored pneumatic performance parameters and the motor operation parameters and judging whether the performance of the unmanned aerial vehicle meets the requirements or not. The invention solves the technical problem that the prior art can not test the special requirements of the power system when the unmanned aerial vehicle is in a stall state.)

1. Unmanned aerial vehicle capability test system, its characterized in that includes:

the first acquisition module is used for acquiring the pneumatic performance parameters of the unmanned aerial vehicle;

the second acquisition module is used for acquiring the motor operation parameters of the unmanned aerial vehicle;

the judging module is used for judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;

the adjusting module is used for adjusting the attack angle of the wings of the unmanned aerial vehicle;

the storage module is used for storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the stalling to the return to the normal state;

and the analysis module is used for analyzing the stored pneumatic performance parameters and the motor operation parameters and judging whether the performance of the unmanned aerial vehicle meets the requirements or not.

2. The unmanned aerial vehicle performance test system of claim 1, wherein the first acquisition module specifically includes:

the speed unit is used for acquiring the flight speed of the unmanned aerial vehicle;

the inertial unit is used for acquiring attitude data of the unmanned aerial vehicle;

and the pressure unit is used for acquiring the air flow pressure values of all parts of the upper surface and the lower surface of the wing.

3. The unmanned aerial vehicle performance test system of claim 2, wherein the second acquisition module specifically includes:

the power unit is used for acquiring the power value of the motor of the unmanned aerial vehicle;

the rotating speed unit is used for acquiring a rotating speed value of the motor of the unmanned aerial vehicle;

the current unit is used for acquiring the current value of the motor of the unmanned aerial vehicle;

and the voltage unit is used for acquiring the voltage value of the motor of the unmanned aerial vehicle.

4. The unmanned aerial vehicle performance test system of claim 3, wherein the determining module specifically comprises:

the speed judging unit is used for judging whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value or not;

the inertia judging unit is used for judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value;

and the pressure judging unit is used for judging whether the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is greater than the pressure threshold value or not.

5. The unmanned aerial vehicle performance test system of claim 4, wherein the analysis module specifically includes:

the external performance analysis unit is used for analyzing the change rule of the power value and the rotating speed value of the motor in the time period from the stalling of the unmanned aerial vehicle to the returning to the normal state and judging whether the change rule of the power value and the rotating speed value meets the preset requirement or not;

and the internal performance analysis unit is used for analyzing the change rule of the current value and the voltage value of the motor from the unmanned aerial vehicle stalling to the time period of returning to normal, and judging whether the change rule of the current value and the voltage value meets the preset requirement.

6. Unmanned aerial vehicle performance test method, its characterized in that includes the step:

s1, acquiring the pneumatic performance parameters of the unmanned aerial vehicle;

s2, acquiring motor operation parameters of the unmanned aerial vehicle;

s3, judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;

s4, adjusting the attack angle of the wings of the unmanned aerial vehicle;

s5, storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the beginning of stalling to the return to normal;

s6, analyzing the stored pneumatic performance parameters and the motor operation parameters, and judging whether the performance of the unmanned aerial vehicle meets the requirements.

7. The unmanned aerial vehicle performance test method of claim 6, wherein S1 includes:

s11, acquiring the flight speed of the unmanned aerial vehicle;

s12, acquiring attitude data of the unmanned aerial vehicle;

and S13, acquiring the air flow pressure values of all parts of the upper surface and the lower surface of the wing.

8. The unmanned aerial vehicle performance test method of claim 7, wherein S2 includes:

s21, acquiring a power value and a rotating speed value of the motor of the unmanned aerial vehicle;

s22, obtaining the current value and the voltage value of the unmanned aerial vehicle motor.

9. The unmanned aerial vehicle performance test method of claim 8, wherein S3 includes:

s31, judging whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value or not, and if the flying speed of the unmanned aerial vehicle is smaller than the preset threshold value, judging that the unmanned aerial vehicle stalls; otherwise, carrying out the next step;

s32, judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value, and if the attitude data of the unmanned aerial vehicle is larger than the corresponding threshold value, judging that the unmanned aerial vehicle stalls; otherwise, carrying out the next step;

s33, judging whether the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is greater than a pressure threshold value, and if the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is greater than the pressure threshold value, judging that the unmanned aerial vehicle stalls; otherwise, judging that the unmanned aerial vehicle does not have stall.

10. The unmanned aerial vehicle performance test method of claim 9, wherein S6 includes:

s61, analyzing the change rule of the power value and the rotating speed value of the motor from the stalling of the unmanned aerial vehicle to the returning to the normal time period, and judging whether the change rule of the power value and the rotating speed value meets the preset requirement: if the change rule of the power value and the rotating speed value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; on the contrary, if the change rule of the power value and the rotating speed value meets the preset requirement, the next step is carried out;

s62, analyzing the change rule of the current value and the voltage value of the motor from the stalling of the unmanned aerial vehicle to the returning to the normal time period, and judging whether the change rule of the current value and the voltage value meets the preset requirement: if the change rule of the current value and the voltage value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; on the contrary, if the change rule of the current value and the voltage value meets the preset requirement, the unmanned aerial vehicle is judged to be qualified in performance.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle performance test system and method.

Background

Drones, i.e. drones, operate with radio remote control devices and self-contained program control devices, or are controlled autonomously, either completely or intermittently, by an on-board computer. In recent years, unmanned aerial vehicles have been widely used in urban management, agriculture, geology, weather, electric power, rescue and relief work, video shooting and other industries.

In order to ensure that the unmanned aerial vehicle has good performance, the testing work of the performance of the unmanned aerial vehicle is started in the design stage. The general test mode is that the performance parameters of the power part of the unmanned aerial vehicle are tested on the ground, and then power model selection is carried out according to the performance parameters. Because the environment of ground test is not completely the same as the environment of actual flight, the best result can not be obtained, and the optimal matching of the motor and the propeller is difficult to realize.

To this end, document CN109774972A discloses an unmanned aerial vehicle power and pneumatic performance test system, which includes: the system comprises a main control unit, a first measuring system, a second measuring system, a positioning module and a storage module, wherein the power and pneumatic performance testing system is installed on the unmanned aerial vehicle, and in the dynamic flight testing process of the unmanned aerial vehicle, the relevant parameters of the power and pneumatic performance of the unmanned aerial vehicle are measured in real time through the first measuring system and the second measuring system, and the relevant parameters measured in real time are recorded through the main control unit, so that engineering designers can perform quantitative analysis and comprehensive judgment on the performance parameters and the working efficiency of the power unit of the unmanned aerial vehicle; and the pneumatic performance of the unmanned aerial vehicle is verified, so that scientific and accurate judgment standards and technical bases are provided for power supply part type selection and system integration.

At present, the unmanned aerial vehicle flying at low altitude basically adopts a rectangular wing structure, and the main reason is that even if the rectangular wing is in a stall state due to insufficient lift force during low altitude flying, the vibration of the body of the unmanned aerial vehicle and the fluttering of an engine cannot be caused. As long as ground operating personnel operate properly, the state of the unmanned aerial vehicle and the stall state can be easily recovered. However, when the unmanned aerial vehicle is in a stall state, that is, the wing attack angle is greater than the critical angle, to recover the state of the unmanned aerial vehicle in the stall state, the power device needs to control the tail wing to move in a short time, and thus the power device needs to output high power in a short time. However, the prior art can not test the special requirements of the power device when the unmanned aerial vehicle is in the stall state, so that the obtained performance test result is difficult to deal with the stall state.

Disclosure of Invention

The invention provides a system and a method for testing the performance of an unmanned aerial vehicle, which solve the technical problem that the prior art can not test the special requirements of a power system when the unmanned aerial vehicle is in a stall state.

The basic scheme provided by the invention is as follows: unmanned aerial vehicle capability test system includes:

the first acquisition module is used for acquiring the pneumatic performance parameters of the unmanned aerial vehicle;

the second acquisition module is used for acquiring the motor operation parameters of the unmanned aerial vehicle;

the judging module is used for judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;

the adjusting module is used for adjusting the attack angle of the wings of the unmanned aerial vehicle;

the storage module is used for storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the stalling to the return to the normal state;

and the analysis module is used for analyzing the stored pneumatic performance parameters and the motor operation parameters and judging whether the performance of the unmanned aerial vehicle meets the requirements or not.

The working principle of the invention is as follows: stall refers to the separation of the airflow passing through the wing under the action of the adverse pressure gradient and the viscosity, resulting in the pressure rise at the upper airfoil separation, and thus the lift suddenly decreases. For an unmanned aerial vehicle, the unmanned aerial vehicle is usually in a low-speed flight state, and due to factors such as an increased angle of attack of wings, sideslip and the like, a stall state in which the lift force is suddenly reduced and the flying height is rapidly reduced also occurs. In the process of testing the unmanned aerial vehicle, the pneumatic performance parameters of the unmanned aerial vehicle need to be collected firstly, and then whether the unmanned aerial vehicle stalls or not is judged according to the pneumatic performance parameters. This includes two cases: first, if stall has occurred, the angle of attack of the wing is adjusted, i.e. gradually reduced, so that it gradually returns to normal. Secondly, if the stalling does not occur, the attack angle of the wing needs to be adjusted, so that the wing gradually stalls, and then gradually returns to a normal state from the stalling; that is, the attack angle is gradually increased until the wing stalls, and when the wing stalls, the attack angle of the wing is gradually reduced, so that the wing stalls and then gradually returns to normal. And finally, storing the pneumatic performance parameters and the motor operation parameters of the time period from the beginning of the stalling to the returning to the normal state, so that the pneumatic performance parameters and the motor operation parameters of the time period from the beginning of the stalling to the returning to the normal state of the unmanned aerial vehicle are obtained. Finally, a comprehensive decision is made on the performance of the drone according to this time period.

The invention has the advantages that: firstly, the performance of the unmanned aerial vehicle in the time period from the stalling to the returning to the normal state can be effectively tested, and the adjusting performance of the unmanned aerial vehicle in the stalling is obtained; secondly, when the unmanned aerial vehicle is in a stall state, testing is carried out on special requirements of the power device, and the obtained test result can effectively judge whether the unmanned aerial vehicle can deal with the stall state; and thirdly, only the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the time period from the stalling to the returning to the normal state are stored, and the memory space is saved.

The method can effectively test the performance of the unmanned aerial vehicle in the time period from the stalling to the returning to the normal state, and obtain the adjusting performance of the unmanned aerial vehicle when the unmanned aerial vehicle stalls; the technical problem that the special requirements of the power system can not be tested when the unmanned aerial vehicle is trapped in a stall state in the prior art is solved.

Further, the first acquisition module specifically includes:

the speed unit is used for acquiring the flight speed of the unmanned aerial vehicle;

the inertial unit is used for acquiring attitude data of the unmanned aerial vehicle;

and the pressure unit is used for acquiring the air flow pressure values of all parts of the upper surface and the lower surface of the wing.

Has the advantages that: for judging the stalling of the unmanned aerial vehicle, the flight speed, the attitude data and the air flow pressure values of all parts of the upper surface and the lower surface of the wing are extremely important data, whether the unmanned aerial vehicle stalls can be effectively judged through the three data, and compared with the judgment according to other pneumatic parameters, the unmanned aerial vehicle stalls with high accuracy.

Further, the second acquisition module specifically includes:

the power unit is used for acquiring the power value of the motor of the unmanned aerial vehicle;

the rotating speed unit is used for acquiring a rotating speed value of the motor of the unmanned aerial vehicle;

the current unit is used for acquiring the current value of the motor of the unmanned aerial vehicle;

and the voltage unit is used for acquiring the voltage value of the motor of the unmanned aerial vehicle.

Has the advantages that: for the motor of the unmanned aerial vehicle, the current and the voltage can be regarded as internal parameters of the motor, and the internal performance of the motor is reflected; the tension and the rotating speed can be regarded as external parameters of the motor, and the external performance of the motor is reflected. Therefore, the performance of the motor can be comprehensively reflected by adopting the four parameters, so that the analysis is convenient.

Further, the judging module specifically includes:

the speed judging unit is used for judging whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value or not;

the inertia judging unit is used for judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value;

and the pressure judging unit is used for judging whether the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is greater than the pressure threshold value or not.

Has the advantages that: according to the theory related to the air flow separation of aerodynamics and flight principle, when stall occurs, the flying speed is reduced, attitude data (such as deflection angle) is increased, and the air flow separation occurs on the upper surface of the wing, so that the air flow pressure difference of each part of the upper surface and the lower surface is too large, therefore, the method for judging whether stall occurs is more intuitive, and compared with the method for directly judging whether air flow separation occurs, the method is more simple and is understood by specifically referring to the related sections of aerodynamics or flight mechanics books.

Further, the analysis module specifically includes:

the external performance analysis unit is used for analyzing the change rule of the power value and the rotating speed value of the motor in the time period from the stalling of the unmanned aerial vehicle to the returning to the normal state and judging whether the change rule of the power value and the rotating speed value meets the preset requirement or not;

and the internal performance analysis unit is used for analyzing the change rule of the current value and the voltage value of the motor from the unmanned aerial vehicle stalling to the time period of returning to normal, and judging whether the change rule of the current value and the voltage value meets the preset requirement.

Has the advantages that: meanwhile, the change rule of the current value and the voltage value of the motor, the power value and the rotating speed value in the period from the stalling of the unmanned aerial vehicle to the returning to the normal state is analyzed, and through the mode, the comprehensive evaluation can be simultaneously carried out on the performance of the unmanned aerial vehicle from the inside and the outside.

The invention also provides an unmanned aerial vehicle performance test method, which comprises the following steps:

s1, acquiring the pneumatic performance parameters of the unmanned aerial vehicle;

s2, acquiring motor operation parameters of the unmanned aerial vehicle;

s3, judging whether the unmanned aerial vehicle stalls or not according to the pneumatic performance parameters;

s4, adjusting the attack angle of the wings of the unmanned aerial vehicle;

s5, storing the pneumatic performance parameters and the motor operation parameters of the unmanned aerial vehicle in the period from the beginning of stalling to the return to normal;

s6, analyzing the stored pneumatic performance parameters and the motor operation parameters, and judging whether the performance of the unmanned aerial vehicle meets the requirements.

The invention solves the technical problem that the prior art can not test the special requirements of the power system when the unmanned aerial vehicle is in a stall state

Further, S1 includes:

s11, acquiring the flight speed of the unmanned aerial vehicle;

s12, acquiring attitude data of the unmanned aerial vehicle;

and S13, acquiring the air flow pressure values of all parts of the upper surface and the lower surface of the wing.

Has the advantages that: according to the theory related to aerodynamics and flight principle, whether the unmanned aerial vehicle stalls or not can be effectively judged through the three data, however, the judged priority is the flight speed, the attitude data and the airflow pressure values of all parts of the upper surface and the lower surface of the wing in sequence, and therefore the data are collected through the sequence, and the judgment efficiency is improved.

Further, S2 includes:

s21, acquiring a power value and a rotating speed value of the motor of the unmanned aerial vehicle;

s22, obtaining the current value and the voltage value of the unmanned aerial vehicle motor.

Has the advantages that: when the power value and the rotational speed value of motor do not satisfy the requirement, just do not need to judge whether the current value and the voltage value of motor satisfy the requirement, so gather the power value and the rotational speed value of unmanned aerial vehicle motor earlier, can improve data acquisition's efficiency like this, also can not influence the result of follow-up judgement simultaneously.

Further, S3 includes:

s31, judging whether the flying speed of the unmanned aerial vehicle is smaller than a preset threshold value or not, and if the flying speed of the unmanned aerial vehicle is smaller than the preset threshold value, judging that the unmanned aerial vehicle stalls; otherwise, carrying out the next step;

s32, judging whether the attitude data of the unmanned aerial vehicle is larger than a corresponding threshold value, and if the attitude data of the unmanned aerial vehicle is larger than the corresponding threshold value, judging that the unmanned aerial vehicle stalls; otherwise, carrying out the next step;

s33, judging whether the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is greater than a pressure threshold value, and if the air flow pressure difference value of each part of the upper surface and the lower surface of the wing is greater than the pressure threshold value, judging that the unmanned aerial vehicle stalls; otherwise, judging that the unmanned aerial vehicle does not have stall.

Has the advantages that: by the aid of the judging mode, the flying speed, attitude data and the priority of the air flow pressure values of all parts of the upper surface and the lower surface of the wing are considered, and whether stall occurs or not is judged more simply and intuitively.

Further, S6 includes:

s61, analyzing the change rule of the power value and the rotating speed value of the motor from the stalling of the unmanned aerial vehicle to the returning to the normal time period, and judging whether the change rule of the power value and the rotating speed value meets the preset requirement: if the change rule of the power value and the rotating speed value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; on the contrary, if the change rule of the power value and the rotating speed value meets the preset requirement, the next step is carried out;

s62, analyzing the change rule of the current value and the voltage value of the motor from the stalling of the unmanned aerial vehicle to the returning to the normal time period, and judging whether the change rule of the current value and the voltage value meets the preset requirement: if the change rule of the current value and the voltage value does not meet the preset requirement, judging that the unmanned aerial vehicle is unqualified in performance; on the contrary, if the change rule of the current value and the voltage value meets the preset requirement, the unmanned aerial vehicle is judged to be qualified in performance.

Has the advantages that: when the power value and the rotating speed value of the motor do not meet the requirements, whether the current value and the voltage value of the motor meet the requirements or not does not need to be judged, and by means of the mode, comprehensive evaluation can be simultaneously conducted on the performance of the unmanned aerial vehicle from the inside and the outside.

Drawings

Fig. 1 is a block diagram of a system structure of an embodiment of the system for testing the performance of the unmanned aerial vehicle of the invention.

Detailed Description

The following is further detailed by the specific embodiments: