阅读说明：本技术 无人机机翼副翼机构可靠性试验加载系统及试验方法 (Loading system and method for reliability test of wing and aileron mechanism of unmanned aerial vehicle ) 是由 宋军 唐驹 陶然 王校培 王婷婷 于 2021-07-16 设计创作，主要内容包括：本发明公开无人机机翼副翼机构可靠性试验加载系统及试验方法,所述试验加载系统包括机翼副翼、加载作动缸组、作动缸底座组、加载拉压工装组、传感器单元以及承力试验台架；所述加载作动缸组安装在作动缸底座组上,其通过加载拉压工装组对所述机翼副翼的待测试翼面施加拉压力；所述传感器单元包含若干传感器用于实时测量副翼受力和角度和变化；所述试验加载系统的整体安装于承力试验台架上。该加载系统可以用于施加无人机副翼在飞行过程中所承受的真实气动载荷,开展无人机机翼副翼的运动机构可靠性试验,考察副翼在运动过程中是否存在变形卡死等故障现象。(The invention discloses a reliability test loading system and a reliability test method for an unmanned aerial vehicle wing aileron mechanism, wherein the test loading system comprises a wing aileron, a loading actuating cylinder group, an actuating cylinder base group, a loading tension-compression tooling group, a sensor unit and a force bearing test bench; the loading actuating cylinder group is arranged on the actuating cylinder base group and applies pulling pressure to the to-be-tested airfoil surface of the wing aileron through a loading pulling and pressing tooling group; the sensor unit comprises a plurality of sensors for measuring the stress, the angle and the change of the aileron in real time; the whole test loading system is arranged on the bearing test bed frame. The loading system can be used for applying real aerodynamic load borne by the ailerons of the unmanned aerial vehicle in the flying process, developing a reliability test of a motion mechanism of the ailerons of the wings of the unmanned aerial vehicle, and investigating whether the ailerons have the fault phenomena of deformation, blocking and the like in the motion process.)

1. The reliability test loading system for the wing aileron mechanism of the unmanned aerial vehicle is characterized by comprising a wing aileron, a loading actuating cylinder group, an actuating cylinder base group, a loading tension-compression tooling group, a sensor unit and a force bearing test bench;

the loading actuating cylinder group is arranged on the actuating cylinder base group and applies pulling pressure to the to-be-tested airfoil surface of the wing aileron through a loading pulling and pressing tooling group;

the sensor unit comprises a plurality of sensors for measuring the stress and angle changes of the ailerons in real time;

the whole test loading system is arranged on the bearing test bed frame.

2. The unmanned aerial vehicle wing aileron mechanism reliability test loading system of claim 1, wherein the loading cylinder set of the test loading system comprises a plurality of loading cylinders, at least two loading cylinders are provided for each wing surface to be tested, correspondingly, a corresponding cylinder base is provided in the cylinder base set, and a loading tension-compression tool is provided in the loading tension-compression tool set, two loading cylinders are connected to the same, and the connection point is a point.

3. The unmanned aerial vehicle wing aileron mechanism reliability test loading system of claim 1, wherein the sensor unit comprises a force sensor group and an angle sensor group, for each wing surface to be tested, an angle sensor is installed on the upper wing surface of the aileron, and a force sensor is installed between the actuating cylinder and the tension and compression tool.

4. The drone wing aileron mechanism reliability test loading system of claim 1, wherein the test loading system includes loading devices for each of two airfoils to be tested.

5. The method of testing a drone wing aileron mechanism reliability test loading system of claim 1, wherein the method of testing includes the steps of:

step one, determining the maximum motion angle alpha of the aileron according to the design requirement of the aileron_max；

Step two, determining the initial position l of the loading acting cylinder of a single aileron₁、l₂H, mounting a working cylinder, l₁、l₂The distances between the fixed positions of the two loading actuating cylinders and the vertical points of the loading tension-compression tool on the horizontal line of the fixed positions are respectively; h is the height obtained by subtracting the thickness of the tension and compression tooling from the vertical distance of the fixed plane of the two loading actuating cylinders at the center point of the aerodynamic center on the aileron;

step three, mounting an angle sensor, measuring the real-time motion angle alpha of the aileron, and providing a signal to a loading control system as an input parameter of the control system;

step four, inputting a loading function Force _ i (f (alpha)) of each loading acting cylinder in a loading control system by taking the aerodynamic load Force required to be applied to the wing aileron of the unmanned aerial vehicle as an input parameter value and combining the initial position of the acting cylinder and the real-time motion angle alpha of the aileron;

and fifthly, changing the pneumatic load applied by the loading acting cylinder to perform the reliability test of the aileron mechanism according to the technical requirements of the aileron until the test is finished.

6. The test method according to claim 5, wherein the loading function is specifically:

force _1 and Force _2 are the forces of the two loading acting cylinders respectively.

7. Test method according to claim 5, characterized in that the base of the load acting cylinder is designed at the position of the centre of gravity of the load acting cylinder.

8. The test method according to claim 5, wherein the total force of the acting cylinder loads is not greater than the maximum torque of the drone aileron steering engine.

9. The test method according to claim 5, wherein in the fourth step, the control system and the control system of the aileron of the unmanned aerial vehicle are synchronously loaded, the control steering engine of the aileron of the unmanned aerial vehicle is firstly electrified to control the aileron to move, and then a load Force _ i (f (alpha)) which changes along with the real-time movement angle alpha of the aileron is applied to two loading acting cylinders on each aileron to form a resultant Force.

10. The test method according to claim 5, wherein in the fourth step, the relationship between the distances of the initial positions of the loading acting cylinders of the single aileron is as follows: l₁≥(h-l×sinα)×tanα+l×(1-cosα)，l₂The rotor wing aerodynamic force loading point is more than or equal to (h + l x sin alpha) x tan alpha-l x (1-cos alpha), alpha is the real-time motion angle of the aileron, and l is the distance from the aileron rotating shaft to the aileron aerodynamic force center loading point.

Technical Field

The invention relates to a coordinated loading system and a coordinated loading method for a reliability test of an unmanned aerial vehicle wing aileron mechanism, and belongs to the technical field of unmanned aerial vehicle structural strength tests.

Background

The wings of the drone, as one of its key components, bear almost the aerodynamic load of the whole drone. The aileron is as the important component part on the wing, and the aileron in case the inefficacy condition such as card is died appears, can lead to unmanned aerial vehicle unable control, leads to the catastrophic consequence of unmanned aerial vehicle crash in the serious time. Therefore, the reliability test of the unmanned aerial vehicle aileron system must be carried out to ensure the safety and reliability of the unmanned aerial vehicle aileron system.

The aileron system of the unmanned aerial vehicle is different from wings, is a mechanism which is composed of an aileron driving steering engine, a wing surface, a rotating shaft and the like, and the motion amplitude of the mechanism can reach +/-30 degrees. Meanwhile, the aerodynamic load borne by the unmanned aerial vehicle is generally vertical to the aileron airfoil surface, and the unmanned aerial vehicle moves up and down in the operation process, so that the maneuvering effect of the unmanned aerial vehicle is controlled. At present, the reliability test of the aileron of the unmanned aerial vehicle is less, even if the test is carried out, the load perpendicular to the initial airfoil surface in one direction is only roughly applied to the aileron, the real stress condition of the aileron cannot be simulated, and the effect of observing the reliability of the movement mechanism of the aileron cannot be achieved.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a coordinated loading system for reliability test of an unmanned aerial vehicle wing aileron mechanism and a using method thereof.

The invention relates to a reliability test loading system for an unmanned aerial vehicle wing aileron mechanism, which comprises a wing aileron, a loading actuating cylinder group, an actuating cylinder base group, a loading tension-compression tooling group, a sensor unit and a force-bearing test bench;

the loading actuating cylinder group is arranged on the actuating cylinder base group and applies pulling pressure to the to-be-tested airfoil surface of the wing aileron through a loading pulling and pressing tooling group;

the sensor unit comprises a plurality of sensors for measuring the stress and angle changes of the ailerons in real time;

the whole test loading system is arranged on the bearing test bed frame.

Furthermore, the loading actuating cylinder group of the test loading system comprises a plurality of loading actuating cylinders, at least two loading actuating cylinders are arranged for each airfoil to be tested, correspondingly, corresponding actuating cylinder bases are arranged in the actuating cylinder base group, a loading tension-compression tool is arranged in the loading tension-compression tool group, the two loading actuating cylinders are connected to the same, and the connecting point is a point.

Furthermore, the sensor unit comprises a force sensor group and an angle sensor group, the angle sensor is installed on the upper wing surface of the aileron aiming at each wing to be tested, and the force sensor is installed between the actuating cylinder and the tension and compression tool.

Further, the test loading system comprises a loading device for each of the two airfoils to be tested.

The application also provides a test method based on the reliability test loading system for the wing aileron mechanism of the unmanned aerial vehicle, and the test method comprises the following steps:

step one, determining the maximum motion angle alpha of the aileron according to the design requirement of the aileron_max；

Step two, determining the initial position l of the loading acting cylinder of a single aileron₁、l₂And h, installing a working cylinder. l₁、l₂The distances between the fixed positions of the two loading actuating cylinders and the vertical points of the loading tension-compression tool on the horizontal line of the fixed positions are respectively; h is the height of the central point of the aerodynamic center of the aileron after the thickness of the tension and compression tooling is subtracted from the vertical distance of the fixed planes of the two loading actuating cylinders.

Step three, mounting an angle sensor, measuring the real-time motion angle alpha of the aileron, and providing a signal to a loading control system as an input parameter of the control system;

step four, inputting a loading function Force _ i (f (alpha)) of each loading acting cylinder in a loading control system by taking the aerodynamic load Force required to be applied to the wing aileron of the unmanned aerial vehicle as an input parameter value and combining the initial position of the acting cylinder and the real-time motion angle alpha of the aileron;

and fifthly, changing the pneumatic load applied by the loading acting cylinder to perform the reliability test of the aileron mechanism according to the technical requirements of the aileron until the test is finished.

Further, the loading function is specifically:

force _1 and Force _2 are the forces of the two loading acting cylinders respectively.

Furthermore, the base of the loading acting cylinder is designed at the gravity center position of the aileron to be measured.

Furthermore, the resultant force of the loads of the acting cylinders is not greater than the maximum torque of the unmanned aerial vehicle aileron steering engine.

Furthermore, in the fourth step, the control system and the control system of the aileron of the unmanned aerial vehicle are synchronously loaded, the control steering engine of the aileron of the unmanned aerial vehicle is firstly electrified to control the aileron to move, and then a load Force _ i (f (alpha)) which changes along with the real-time movement angle alpha of the aileron is applied to two loading acting cylinders on each aileron to form a resultant Force.

Furthermore, in the fourth step, the relationship among the distances of the initial positions of the loading acting cylinders of the single aileron is as follows: l₁≥(h-l×sinα)×tanα+l×(1-cosα)，l₂The rotor wing aerodynamic force loading point is more than or equal to (h + l x sin alpha) x tan alpha-l x (1-cos alpha), alpha is the real-time motion angle of the aileron, and l is the distance from the aileron rotating shaft to the aileron aerodynamic force center loading point.

The invention provides a coordinated loading system and a coordinated loading method for a reliability test of an unmanned aerial vehicle wing aileron mechanism, which have the following advantages:

(1) based on the test system, the mechanism reliability test can be carried out on the wing ailerons of the unmanned aerial vehicle, and the reliability of the aileron system is inspected.

(2) Compared with the traditional test loading method, the test system disclosed by the invention can apply the aerodynamic load to the aileron, which changes in real time along with the rotation process of the aileron, so that the loading condition of the aileron in the flight process of the unmanned aerial vehicle is better simulated, and the test loading accuracy is greatly improved.

(3) The coordinated loading test system measures the motion angle of the aileron in real time, combines the initial position parameters of the loading actuators, and applies certain load to the two loading actuators respectively, wherein the resultant force is equal to the aerodynamic force actually borne by the aileron. The test loading control system is used for compiling the loading function related to the angle and position parameters, and the implementation is convenient and fast.

(4) The design idea of the test system provided by the invention can also be used for the strength reliability test of other mechanisms with large deformation.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the present invention will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive labor.

FIG. 1 is a schematic view of an initial state of an experiment;

FIG. 2 is a schematic view of an initial state load analysis of the test;

FIG. 3 is a schematic view of the aileron 3 moving at a certain angle during the test;

FIG. 4 is a schematic view of the analysis of the load of the aileron 3 moving a certain angle during the test;

FIG. 5 is a schematic diagram of the experimental procedure;

FIG. 6 is an isometric view of a testing system of the present patent disclosure;

FIG. 7 is a front view of the testing system of the present patent publication;

FIG. 8 is a side view of the testing system of the present patent publication;

FIG. 9 is a top view of the testing system of the present patent publication;

fig. 10 is a partial schematic view of a loading tension-compression tool of the testing system disclosed in this patent.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1:

as shown in fig. 1, the invention relates to a reliability test loading system for a wing aileron mechanism of an unmanned aerial vehicle, which is characterized in that the test loading system comprises a wing aileron, a loading actuating cylinder group, an actuating cylinder base group, a loading tension-compression tooling group, a sensor unit and a force-bearing test bench;

the loading actuating cylinder group is arranged on the actuating cylinder base group and applies pulling pressure to the to-be-tested airfoil surface of the wing aileron through a loading pulling and pressing tooling group;

the sensor unit comprises a plurality of sensors for detecting the stress and angle changes of the ailerons;

the whole test loading system is arranged on the bearing test bed frame.

Furthermore, the loading actuating cylinder group of the test loading system comprises a plurality of loading actuating cylinders, at least two loading actuating cylinders are arranged for each airfoil to be tested, correspondingly, corresponding actuating cylinder bases are arranged in the actuating cylinder base group, a loading tension-compression tool is arranged in the loading tension-compression tool group, the two loading actuating cylinders are connected to the same, and the connecting point is a point.

Furthermore, the sensor unit comprises a force sensor group and an angle sensor group, the angle sensor is installed on the upper wing surface of the aileron aiming at each wing to be tested, and the force sensor is installed between the actuating cylinder and the tension and compression tool.

Further, the test loading system comprises a device for loading two airfoils to be tested.

As shown in fig. 6 to 10, for each view and partial view of the test system of the present application, the present embodiment provides a reliability test system for an aileron mechanism of an unmanned aerial vehicle, where the test system includes two wings 2 and 14 of the unmanned aerial vehicle and ailerons 5 and 15 on the two wings, and each wing to be tested is provided with at least two loading cylinders, and specifically, the test system mainly includes: the device comprises first to fourth loading acting cylinders 8, 12, 20 and 24, first to fourth acting cylinder bases 9, 13, 21 and 25, first and second loading tension and compression tools 5 and 17, first to fourth acting cylinder joints 6, 10, 18 and 22, first to fourth force sensors 7, 11, 19 and 23, first and second angle sensors 4 and 16, a force bearing test bench 1 and the like.

The reliability test system for the wing and aileron mechanism of the unmanned aerial vehicle controls the multiple actuating cylinders to carry out coordinated loading through the multi-channel coordinated loading system, and applies aerodynamic load to the ailerons in the process of moving along with the wing surfaces.

The schematic diagram of the initial state of the test is shown in fig. 1 and fig. 2 (taking the first wing and the first aileron as examples): wherein: the point A is a first auxiliary wing rotating shaft; the point B is a loading point on the first aileron; c is a fixed position point of the loading acting cylinder 12; e is a fixed position point of the loading acting cylinder 8; and the point D is a vertical point of the loading point on the fixed plane of the loading acting cylinder 12 and the loading acting cylinder 8 when the aileron is in the horizontal state. Force _1 is the acting Force of the loading acting cylinder 12, and Force _2 is the acting Force of the loading acting cylinder 8; force is the loading load actually required on the aileron and is the resultant Force of Force _1 and Force _ 2.

Based on the test system, the mechanism reliability test can be carried out on the wing ailerons of the unmanned aerial vehicle, and the reliability of the aileron system is inspected.

Example 2

The application also provides a test method based on the reliability test loading system for the wing aileron mechanism of the unmanned aerial vehicle, and the test method comprises the following steps:

step one, designing the ailerons according to the design requirementsDetermining the maximum angle of motion alpha of the aileron_max；

Step two, determining the initial position l of the loading acting cylinder of a single aileron₁、l₂And h, installing a working cylinder. l₁、l₂The distances between the fixed positions of the two loading actuating cylinders and the vertical points of the loading tension-compression tool on the horizontal line of the fixed positions are respectively; h is the height of the central point of the aerodynamic center of the aileron after the thickness of the tension and compression tooling is subtracted from the vertical distance of the fixed planes of the two loading actuating cylinders.

Step three, mounting an angle sensor, measuring the real-time motion angle alpha of the aileron, and providing a signal to a loading control system as an input parameter of the control system;

step four, inputting a loading function Force _ i (f (alpha)) of each loading acting cylinder in a loading control system by taking the aerodynamic load Force required to be applied to the wing aileron of the unmanned aerial vehicle as an input parameter value and combining the initial position of the acting cylinder and the real-time motion angle alpha of the aileron;

and fifthly, changing the pneumatic load applied by the loading acting cylinder to perform the reliability test of the aileron mechanism according to the technical requirements of the aileron until the test is finished.

Further, the loading function is specifically:

force _1 and Force _2 are the forces of the two loading acting cylinders respectively.

Furthermore, the base of the loading acting cylinder is designed at the gravity center position of the loading acting cylinder.

Furthermore, the resultant force of the loads of the acting cylinders is not greater than the maximum torque of the unmanned aerial vehicle aileron steering engine.

Furthermore, in the fourth step, the control system and the control system of the aileron of the unmanned aerial vehicle are synchronously loaded, the control steering engine of the aileron of the unmanned aerial vehicle is firstly electrified to control the aileron to move, and then a load Force _ i (f (alpha)) which changes along with the real-time movement angle alpha of the aileron is applied to two loading acting cylinders on each aileron to form a resultant Force.

Furthermore, in the fourth step, the relationship among the distances of the initial positions of the loading acting cylinders of the single aileron is as follows: l₁≥(h-l×sinα)×tanα+l×(1-cosα)，l₂The rotor wing aerodynamic force loading point is more than or equal to (h + l x sin alpha) x tan alpha-l x (1-cos alpha), alpha is the real-time motion angle of the aileron, and l is the distance from the aileron rotating shaft to the aileron aerodynamic force center loading point.

As shown in fig. 1 to 5, the mathematical model established based on the loading system is shown schematically, wherein AB is the distance l from the flap rotating shaft to the aerodynamic center loading point of the flap;

CD is the horizontal distance l between the fixed position point C and the vertical point D of the actuating cylinder 12₁；

ED is the horizontal distance l between the fixed position point E and the vertical point D of the actuating cylinder 8₂；

BD is the height h of the fixed plane of the actuating cylinder 12 and the actuating cylinder 8 from the vertical distance of the center point of the aerodynamic center on the aileron minus the thickness of the tension and compression tool;

if the load to be loaded on the aileron is Force, the applied load sizes Force _1 and Force _2 of the two actuating cylinders 12 and 8 can be obtained.

At this time:

(2) when the second vane 3 moves for a certain angle (angle FAB ═ α):

wherein: force _1 is the acting Force of the acting cylinder 1, Force _2 is the acting Force of the acting cylinder 2; force is the loading load actually required on the aileron and is the resultant Force of Force _1 and Force _ 2. Force _1 and Force _2, the angle of motion of the aileron (angle FAB) and the mounting initial position of the acting cylinder are in a functional relationship, and a functional calculation formula can be obtained through the geometric relationship.

Force_1＝f₁(∠FAB)＝f₁(α) (3)

Force_2＝f₂(∠FAB)＝f₂(α) (4)

It is known that:

KJ//EF (5)

JL//FC (6)

JM⊥FC (7)

JN⊥EF (8)

from the geometric relationship, one can obtain:

∠FAB＝∠HFI (9)

∠CFI＝∠CFH+∠HFI＝∠CFH+∠FAB (10)

∠EFI＝∠EFH-∠HFI＝∠EFH-∠FAB (11)

in a loading control system, the loading load force of two actuating cylinders and the mounting initial position l of the actuating cylinder are written₁、l₂H, the motion angle alpha of the aileron and the pneumatic load Force to be applied by the aileron, the Force sensor is used for controlling the loading Force and the feedback value of the actuating cylinder, the actual pneumatic load Force is applied to the aileron, and the reliability of the mechanism motion is inspected.

Compared with the traditional test loading method, the test system disclosed by the invention can apply the aerodynamic load to the aileron, which changes in real time along with the rotation process of the aileron, so that the loading condition of the aileron in the flight process of the unmanned aerial vehicle is better simulated, and the test loading accuracy is greatly improved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.