The invention relates to a calibration method for an automatic inclinator control mechanism of an unmanned helicopter, and the method comprises the steps: firstly, moving three steering engines of the unmanned helicopter for multiple times, and measuring and recording a total pitch value, a longitudinal periodic pitch value and a transverse periodic pitch value corresponding to a rotor wing; then, according to the size of an actual front flapping angle, the measured longitudinal periodic variable-pitch value and the measured transverse periodic variable-pitch value are subjected to front flapping angle conversion; then, multiple linear regression processing is carried out on each measured steering engine offset and the three variable pitch values, and three regression coefficient estimated values are obtained; and finally, checking the fitting accuracy, and performing matrix transformation on the three regression coefficient estimated values to obtain a transformation matrix and an inverse matrix between the steering engine and the variable pitch. According to the method, the calibration process of the automatic inclinator control mechanism of the unmanned helicopter can be simplified, operation is easy, and efficiency and accuracy are high.
本发明涉及一种无人直升机自动倾斜器操纵机构的标定方法,该方法包括:首先,多次运动无人直升机的三个舵机,测量并记录旋翼对应的总距值、纵向周期变距值和横向周期变距值;而后根据实际前置挥舞角的大小,将测得的纵向周期变距值和横向周期变距值进行前置挥舞角的转换;接着将测得的每个舵机偏移量分别与三个变距值进行多元线性回归处理,得到三个回归系数估计值;最后校验拟合的准确性,并且对三个回归系数估计值进行矩阵变换得到舵机与变距间的转换矩阵与逆矩阵。本发明方法能够简化无人直升机自动倾斜器操纵机构的标定过程,操作简单,并且效率和准确度高。
Calibration method for control mechanism of automatic inclinator of unmanned helicopter
一种无人直升机自动倾斜器操纵机构的标定方法
2024-03-05
Patent
Electronic Resource
Chinese
IPC: | B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
Helicopter rotor wing variable-pitch rod, helicopter automatic inclinator and helicopter
European Patent Office | 2020
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