六旋翼无人机旋翼转动对测风准确性的影响研究

李正农; 胡昊辉; 沈义俊

doi:10.11729/syltlx20190047

六旋翼无人机旋翼转动对测风准确性的影响研究

doi: 10.11729/syltlx20190047

1.
湖南大学建筑安全与节能教育部重点实验室, 长沙 410082
2.
华南理工大学土木与交通学院, 广州 510641

基金项目:

国家自然科学基金项目 51678233

国家自然科学基金项目 51478179

详细信息

作者简介:
李正农(1962-), 男, 湖北武汉人, 教授, 博士生导师。研究方向:建筑、水工结构及构筑物抗震抗风, 结构可靠度分析及风险评估, 新能源开发利用中的结构问题等。通信地址:湖南省长沙市岳麓区湖南大学土木工程学院(410082)。E-mail:zhn88@263.net

通讯作者:
胡昊辉, E-mail:huhaohui@126.com

中图分类号: V211.52
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- 被引次数: 0
出版历程
- 收稿日期: 2019-04-24
- 修回日期: 2019-07-08
- 刊出日期: 2019-12-25

The influence of rotor rotation of hexacopter on wind measurement accuracy

Li Zhengnong^1
,,
Hu Haohui^{1
, ,},
Shen Yijun^2
,

1.
Key Laboratory of Building Safety and Efficiency of the Ministry of Education, Hunan University, Changsha 410082, China
2.
Schoolof Civil Engineeringand Transportation, South China University of Technology, Guangzhou 510641, China

摘要

摘要: 旋翼无人机可以代替桅杆实现风场的定点或多点同时测量，但是旋翼转动引起的扰流会对测风的准确性产生影响。利用不同高度的支架，在六旋翼无人机上搭载超声波风速仪进行风洞试验，探究旋翼转动对无人机中心上方各高度处风场的影响以及不同风向角和机身倾斜对测量准确性的影响。结果表明：除个别工况外，旋翼转动均会引起较大的风速相对误差；旋翼转动引起的风速误差随高度呈先增大后减小的趋势；机身水平时，随高度增加，各工况下的风速绝对误差趋于一致，且控制风速大于6 m/s时，风速相对误差随风速增大而减小；旋翼转动对风向角测量基本没有影响。研究结果可为多旋翼无人机搭载测风仪器直接测风的实际应用提供参考。
- 旋翼无人机 /
- 超声波风速仪 /
- 风洞试验 /
- 风向角
Abstract: MUAV (Micro Unmanned Aerial Vehicle) can replace the mast to measure the wind field at a fixed point or multiple points at the same time, but the disturbance caused by the rotor rotation can affect the wind measurement accuracy. An ultrasonic anemometer is attached on a hexacopter using different height brackets, and wind tunnel tests are carried out to investigate the influence of the rotor rotation on the wind field at different heights above the center of the hexacopter and the influence of different wind directions and the tilted fuselage on the measurement accuracy. The results show that rotor rotation causes a great relative wind speed error except for a few situations; The wind speed error caused by the rotor rotation increases first and then decreases with height; when the fuselage is horizontal, the absolute wind speed error tends to be the same under various conditions as the height increases, and when the control wind speed is greater than 6 m/s, the relative wind speed error decreases as the wind speed increases. Rotor rotation has almost no influence on the measurement of the wind direction angle. The results can provide reference for the practical application of wind measurement using MUAVs equipped with wind measurement devices.
- MUAV /
- ultrasonic anemometer /
- wind tunnel test /
- wind direction angle

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图 1 尖劈和粗糙元布置图

Figure 1. Layout of spires and roughness elements

下载: 全尺寸图片幻灯片

图 2 试验布置及风向角β设定图

Figure 2. Experimental set-up and wind direction angle

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图 3 机身倾斜角计算示意图

Figure 3. Inclined angle calculation diagram

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图 4 旋翼静止时各工况下的风速相对误差曲线

Figure 4. Curves of relative wind speed error under various conditions when rotors are stationary

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图 5 各工况下旋翼转动引起的风速相对误差曲线

Figure 5. Curves of relative wind speed error caused by rotor rotation under various conditions

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图 6 各工况下测得的风向角

Figure 6. Measured angle data under various conditions

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图 7 机身水平与倾斜时的风速相对误差曲线对比

Figure 7. Comparison of relative wind speed error between tilted fuselage and horizontal fuselage

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图 8 机身倾斜时各工况下测得的风向角

Figure 8. Measured angle data under various conditions when tilting the fuselage

下载: 全尺寸图片幻灯片

表 1 超声波风速仪参数

Table 1. Parameters of ultrasonic anemometer

风速测量	量程	0~50 m/s
风速测量	精度	0.5 m/s(v≤10 m/s), 5%(v＞10 m/s)
风向测量	量程	0°~359.9°
风向测量	精度	4°(v≥3 m/s)

下载: 导出CSV

表 2 风速标定结果

Table 2. Wind speed calibration results

控制风速v_c /(m·s^-1)	4	6	8	10
眼镜蛇风速探头测得风速/(m·s^-1)	3.57	5.43	7.22	9.12
超声波风速仪测得风速/(m·s^-1)	3.58	5.41	7.25	9.11

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表 3 各工况下旋翼转动引起的计算湍流度变化

Table 3. The change of calculated turbulent intensity caused by rotors rotation under various conditions

支架编号风向角β旋翼状态		1号						2号
		0°		30°		-30°		0°		30°		-30°
		静	动	静	动	静	动	静	动	静	动	静	动
湍流度/(%)	4 m/s	2.30	1.96	2.30	2.54	2.30	2.76	2.01	1.77	2.23	1.89	1.84	2.14
	6 m/s	1.70	1.42	1.50	1.43	1.45	1.42	1.35	1.27	1.37	1.16	1.47	1.13
	8 m/s	1.17	2.14	1.21	1.05	1.27	1.03	1.01	1.07	1.15	0.82	1.15	0.81
	10 m/s	1.01	2.65	0.96	0.77	0.86	0.70	0.88	1.09	0.90	0.65	0.95	0.80
支架编号风向角β旋翼状态		3号						4号
		0°		30°		-30°		0°		30°		-30°
		静	动	静	动	静	动	静	动	静	动	静	动
湍流度/(%)	4 m/s	2.09	1.76	2.14	2.25	1.91	1.77	2.30	1.81	2.13	1.79	2.28	1.95
	6 m/s	1.40	1.02	1.47	1.13	1.24	1.12	1.61	1.22	1.43	1.07	1.64	1.00
	8 m/s	1.13	0.85	1.16	0.94	1.00	0.93	1.17	0.89	1.00	0.84	1.08	0.91
	10 m/s	0.96	0.91	1.00	0.79	0.92	0.82	0.91	0.78	0.90	0.85	0.83	0.82
支架编号风向角β旋翼状态		5号						6号
		0°		30°		-30°		0°		30°		-30°
		静	动	静	动	静	动	静	动	静	动	静	动
湍流度/(%)	4 m/s	2.54	1.71	2.41	1.76	2.21	1.68	2.40	1.58	2.18	1.63	2.43	1.50
	6 m/s	1.65	1.22	1.69	1.15	1.60	1.07	1.50	1.26	1.63	1.21	1.64	1.29
	8 m/s	1.20	0.97	1.29	1.00	1.01	0.89	1.13	0.95	1.27	0.91	1.23	1.03
	10 m/s	1.02	0.93	1.00	0.80	0.85	0.79	0.94	0.80	0.95	0.87	1.01	0.75

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表 4 各工况下旋翼转动引起的风速绝对误差

Table 4. Absolute wind speed error caused by rotor rotation under various conditions

风向角β控制风速v_c		0°				30°				-30°
风向角β控制风速v_c		4 m/s	6 m/s	8 m/s	10 m/s	4 m/s	6 m/s	8 m/s	10 m/s	4 m/s	6 m/s	8 m/s	10 m/s
绝对误差/(m·s^-1)	1号	0.60	0.30	0.13	0.09	0.21	1.59	2.13	2.02	-0.03	1.42	1.97	2.03
	2号	0.93	1.42	1.68	1.20	0.79	1.95	2.39	2.40	0.72	1.98	2.32	2.27
	3号	1.24	2.04	2.14	1.58	1.23	2.08	2.21	2.09	1.24	2.07	2.22	2.04
	4号	1.29	1.88	1.96	1.69	1.26	1.87	1.86	1.78	1.22	1.87	1.93	1.82
	5号	1.37	1.68	1.60	1.47	1.41	1.60	1.57	1.50	1.36	1.63	1.53	1.50
	6号	1.31	1.36	1.32	1.18	1.22	1.25	1.24	1.21	1.26	1.31	1.29	1.25

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