无人机质量特性参数一体化测量系统的研究

摘要

Based on three-point weighing method and torsion pendulum method,a mass property measurement system which is adapted to the Unmanned Aerial Vehicle with quality of 200 ～ 1 000 kg,the total length less than 4 m,and the wingspan of no more than 2 m is designed.This system is able to measure all the quality characteristic parameters by one time,is easy to make and use.Compared with the traditional vertical installation method,small flip angle measurement is presented,which can not only improve the measurement accuracy,but also ensure the safety of the product measurement.The actual sample measurement results show that measurement time reduced by 60％,the relative errors of the measured mass centroid are all less than 1％,the relative errors of the measured moment of inertia and product of inertia are all less than 4％.%基于三支点称重法、扭摆法和惯性椭球法,设计出适用于质量范围为200～1 000kg、全长不超过4m、翼展不超过2m的无人机质量特性参数一体化测量系统.该系统只需通过一次装夹就可以测量出所有质量特性参数,操作方便.在测量过程中,相对于传统的竖直安装测量法,该系统采用小角度翻转测量法,此方法在满足测量准确度的同时既提升了测量效率又保证了产品测量的安全性.实际样件测试结果表明,相较以往同类型系统,测试时间缩短60％,质量质心相对误差小于1％,转动惯量和惯性积相对误差不超过4％.