旋翼无人机六自由度飞行测试系统设计与应用

为安全、精准、高效地解决旋翼无人机实际飞行测试环节的数据依据问题,从被测对象的运动约束及测试需求出发,设计被动悬挂结构的六自由度运动机构,解析需要检测的四个关键参数,给出基于绝对编码的信号检测方案,形成了一种用于旋翼无人机整机飞行测试的全通道运动、多参数检测的实验系统。针对测试系统传感数据进行校对实验,验证了数据测试的有效性。与典型下端球铰链连接支撑方式的三通道检测装置进行了相同条件下的应用对比测试,验证了该测试系统在初始静稳定及抑制震荡方面的优越性。

DESIGN AND APPLICATION OF THE SIX-DOF FLIGHT TEST SYSTEM FOR ROTOR UAV

In order to safely,accurately and efficiently solve the data basis problem in the actual flight test of rotorcraft,this paper starts from the motion constraints and test requirements of the tested object,and designs a six-dof motion mechanism with passive suspension structure.I analyzed four key parameters that needed to be detected,and gave a signal detection scheme based on absolute coding to form an experimental system for full-channel motion and multi-parameter detection for the flight test of the whole rotorcraft UAV.The calibration experiment was carried out for the sensor data of the test system,which verified the validity of the data test.Compared with the typical three-channel testing device connected with the ball hinge at the lower end under the same conditions,the advantages of this test system in the initial static stability and vibration suppression were verified.