【正文】 摘 要 I 論文題目： 空中機(jī)器人旋翼特性測(cè)控系統(tǒng)開發(fā) 摘 要 空中機(jī)器人因其機(jī)動(dòng)性好，控制靈活方便而廣泛應(yīng)用于很多軍、民用場(chǎng)合中?？罩袡C(jī)器人設(shè)計(jì)開發(fā)的一個(gè)難點(diǎn)就是如何較準(zhǔn)確地測(cè)定機(jī)器人的旋翼特性，目前用于測(cè)試旋翼特性的方法大都采用風(fēng)洞試驗(yàn)，但由于風(fēng)洞試驗(yàn)成本過高且對(duì)實(shí)驗(yàn)者要求高而難于廣泛應(yīng)用。本題目旨在開發(fā)出一種簡(jiǎn)單易操作的旋翼特性測(cè)試裝置，主要用于旋翼升力、扭矩、轉(zhuǎn)速特性的測(cè)試。本課題是從功能需求 → 方案設(shè)計(jì) →結(jié)構(gòu)設(shè)計(jì)→測(cè)控系統(tǒng)設(shè)計(jì)完整的實(shí)踐嘗試，對(duì)于獨(dú)立開發(fā)系統(tǒng)將提供有益的經(jīng)驗(yàn)。論文的主要工作包括： 首先，介紹了直 升機(jī)旋翼的作用以及國(guó)內(nèi)外研究的發(fā)展?fàn)顩r，進(jìn)而闡述了旋翼特性測(cè)控的重要性，然后給出了整體的旋翼特性測(cè)試方案。 在第二章中，介紹了此次畢設(shè)課題所選用的傳感器、數(shù)據(jù)采集模塊、程序設(shè)計(jì)軟件等所需軟硬件及選擇理由。 在第三章中，根據(jù)所提出的測(cè)試方案，設(shè)計(jì)繪制了完整的測(cè)量裝置機(jī)械裝配圖以及零件圖，并且詳細(xì)闡明了機(jī)械裝置的設(shè)計(jì)思路以及裝配方法，同時(shí)構(gòu)建三維模型并且檢查了裝置的可加工性以及可裝配性。 在第四章中，針對(duì)所采用的數(shù)據(jù)采集模塊進(jìn)行程序測(cè)試，并且利用 LabVIEW程序設(shè)計(jì)軟件編寫出了測(cè)試系統(tǒng)數(shù)據(jù)采集部分所需要的程序 框圖，同時(shí)針對(duì)該程序進(jìn)行測(cè)試證明其可行性。 在第五章中，利用所設(shè)計(jì)出的旋翼特性測(cè)試系統(tǒng)對(duì)于測(cè)試裝置進(jìn)行組裝和連接，并且對(duì)旋翼各參數(shù)進(jìn)行數(shù)據(jù)采集，利用采集到的原始數(shù)據(jù)進(jìn)行數(shù)據(jù)分析，找出旋翼轉(zhuǎn)速與升力、轉(zhuǎn)速與扭矩之間的大致關(guān)系，最后針對(duì)該測(cè)試方案提出一定的改進(jìn)意見。 該系統(tǒng)具有良好的擴(kuò)展性，便于以后系統(tǒng)的改進(jìn)、推廣和使用。 關(guān)鍵詞 ：旋翼特性；轉(zhuǎn)速；升力；扭矩；數(shù)據(jù)采集 西安交通大學(xué)本科畢業(yè)設(shè)計(jì)（論文） II Title: The Exploitation of Aerial Robot Rotor Features Control System ABSTRACT Aerial robot, because of its mobility and flexibility, is widely used in many military and civil occasions. The difficulty of aerial robot design and development is how to determine features of the robot39。s rotor more accurately, current methods for testing rotor features mostly using wind tunnel test, but due to the high cost of wind tunnel tests and high requirements for the experimenter, it is difficult to be widely used. This topic aims to develop a rotor characteristic test device which is simple and easy to operate, mainly for testing lift, torque and speed characteristics of the rotor. This topic is a pletely practical attempt from the functional requirements to program design, to structure design, and to control system design, and it will provide useful experience for independent development of the system. First, the paper introduces the role of helicopter rotor and the research development at home and abroad, and thus explains the importance of monitoring and controlling rotor characteristics, and then gives the overall testing program of rotor characteristics. In the second chapter, it introduces the selected sensors, data acquisition module, program design, the selection of hardware and software of this graduation project. In the third chapter, based on the proposed test program, designs to draw a plete mechanical assembly drawings and part drawings of measuring device, and elaborates mechanism design ideas and method of assembling, then builds threedimensional model to check the machinability and operability of this device. In the fourth chapter, I test the data acquisition module, and write the block diagram which the data acquisition part of test system required by using the LabVIEW programming software, then test the program to prove its feasibility. In the fifth chapter, I assemble rotor characteristic test device, and collecte the parameters of rotor, analyse the data to find out the approximate relationship between speed and lift, speed and torque, and finally make certain improvements. The system has good scalability, is easy for improving, promoting and using. KEY WORDS: Rotor characteristics。 Speed。 Lift。 Torque。 Data acquisition目 錄 III 目 錄 1 緒論 ............................................................................................................................ 1 課題介紹 .......................................................................................................... 1 課題背景及意義 .............................................................................................. 2 國(guó)內(nèi)外研究概況 .............................................................................................. 3 國(guó)外研究概況 ........................................................................................ 3 國(guó)內(nèi)研究概況 ........................................................................................ 3 論文主要研究?jī)?nèi)容 .......................................................................................... 4 2 旋翼動(dòng)態(tài)特性測(cè)試方法 ............................................................................................ 6 測(cè)量采用的各傳感器 ...................................................................................... 6 轉(zhuǎn)速測(cè)量 ................................................................................................ 6 扭矩測(cè)量 ................................................................................................ 7 升力測(cè)量 ................................................................................................ 9 數(shù)據(jù)采集分析系統(tǒng)的硬件和軟件選擇 ........................................................ 11 硬件部分 —— 數(shù)據(jù)采集板卡 .............................................................. 11 軟件部分 —— LabVIEW 程序開發(fā)軟件 ............................................ 12 3 測(cè)試實(shí)驗(yàn)臺(tái)機(jī)械結(jié)構(gòu)設(shè)計(jì) ...................................................................................... 14 測(cè)試裝置整體裝配結(jié)構(gòu)構(gòu)想 ........................................................................ 14 測(cè)試裝置各待加工零件設(shè)計(jì)圖 .................................................................... 15 旋翼底座 .............................................................................................. 15 扭矩傳感器底座 .................................................................................. 16 拉壓力傳感器底座 .............................................................................. 17 測(cè)試裝置底盤 ...................................................................................... 17 測(cè)試裝置所需各標(biāo)準(zhǔn)緊固零件 .................................................................... 18 4 數(shù)據(jù)采集測(cè)試 .......................................................................................................... 20 USB4711A 數(shù)據(jù)采集測(cè)試 ............................................................................ 20 模擬量輸入采集測(cè)試 .......................................................................... 21 脈沖計(jì)數(shù)采集測(cè)試 .............................................................................. 23 旋翼特性測(cè)試系統(tǒng)數(shù)據(jù)采集程序 ................................................................ 24 5 旋翼動(dòng)態(tài)特性測(cè)試 .....