俯仰操纵方式对自转旋翼机操稳特性的影响

林清; 蔡志浩; 闫坤; 王英勋

doi:10.13700/j.bh.1001-5965.2015.0776

俯仰操纵方式对自转旋翼机操稳特性的影响

doi: 10.13700/j.bh.1001-5965.2015.0776

林清^1,2,
蔡志浩^1,2, ,,
闫坤^1,2,
王英勋^1,2

1.
北京航空航天大学自动化科学与电气工程学院, 北京 100083
2. 北京航空航天大学飞行器控制一体化国防重点实验室, 北京 100083

详细信息

作者简介:
林清,男,博士,工程师。主要研究方向:自转旋翼无人机飞行控制、旋翼-机翼复合式无人机多模态飞行控制。Tel.:15101522879,E-mail:linqingbh@163.com;蔡志浩,男,博士,副教授。主要研究方向:无人机自主导航与控制、多机协同与任务规划、机器视觉。Tel.:010-82338792,E-mail:czh@buaa.edu.cn;闫坤,男,硕士研究生。主要研究方向:复合式无人机飞行控制。Tel.:010-82338792,E-mail:1182668247@qq.com;王英勋,男,研究员,博士生导师。主要研究方向:无人机自主控制、无人机系统工程。Tel.:010-82338792,E-mail:wangyx@buaa.edu.cn

通讯作者:
蔡志浩,Tel.:010-82338792,E-mail:czh@buaa.edu.cn

中图分类号: V249.12
计量
- 文章访问数: 702
- HTML全文浏览量: 53
- PDF下载量: 733
- 被引次数: 0
出版历程
- 收稿日期: 2015-11-25
- 修回日期: 2016-01-27
- 网络出版日期: 2016-11-20

Influence of pitch manipulation modes on controllability and stability of autogyro

LIN Qing^1,2,
CAI Zhihao^{1,2
, ,},
YAN Kun^1,2,
WANG Yingxun^1,2

1.
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 为了研究不同的俯仰操纵方式对于旋翼机飞行动力学特性的影响，首先基于解析形式叶素法给出自转旋翼的建模方法，并建立了对象无人旋翼机的数学模型；然后分析了2种操纵方式在配平、稳定性及操纵性等方面的差异。研究表明，2种操纵方式各有优缺点：旋翼操纵方式的配平俯仰姿态变化更小且长周期稳定性更好，但螺旋模态不稳定；升降舵操纵方式的螺旋稳定性更好，且俯仰可达力矩较大，但高速配平迎角为负且存在速度静不稳定的问题。针对2种操纵方式，分别设计集成了2架样例无人旋翼机并进行了飞行试验。基于试验数据分析了无人旋翼机飞行过程中自转旋翼的转速变化特性；分别对2架无人旋翼机进行了姿态控制律设计与试验，较好地实现了姿态跟踪控制，并基于试飞数据验证了无人旋翼机数学模型。
- 自转旋翼机 /
- 操纵方式 /
- 叶素法 /
- 姿态控制 /
- 模型验证
Abstract: To study the influence of two manipulation modes on flight dynamics characteristics of autogyro, an example autogyro UAV was chosen and modeled based on closed-form blade element method. Then the differences of the two modes in trim results, stability and handling characteristics were analyzed in the whole speed envelope. The results indicate that each manipulation mode has its advantages and disadvantages:for the rotor manipulation mode, the trim pitch angle has little change and the phugoid mode is stable, but the spiral mode is unstable in the whole envelope. For the elevator manipulation mode, the spiral mode is stable at relatively high speed and the attainable pitch moment is larger, but the trim angle of attack is negative at high speed and the speed static stability is negative. Then two prototype autogyro UAVs were assembled and flight-tested for the two manipulation modes respectively. The autorotation of the main rotor during the whole flight were analyzed. Attitude control laws were designed and flight-tested for the two prototype UAVs, which both achieve attitude tracking relatively well. Finally, the model of the autogyro UAV was validated with the flight test data.
- autogyro /
- manipulation mode /
- blade element method /
- attitude control /
- model validation

HTML全文

参考文献(24)

[1]	LEISHMAN J G.Development of the autogiro:A technical perspective[J].Journal of Aircraft,2004,41(4):765-781.
[2]	王焕瑾,高正.自转旋翼的气动优势和稳定转速[J].航空学报,2001,22(4):337-339.WANG H J,GAO Z.Aerodynamic virtue and steady rotary speed of autorotating rotor[J].Acta Aeronoutica et Astronautica Sinica,2001,22(4):337-339(in Chinese).
[3]	HOUSTON S S,THOMSON D G.The aerodynamics of gyroplanes：CAA Paper 2009/02[R].West Sussex:Civil Aviation Authority,2010.
[4]	HOUSTON S S.Identification of autogyro longitudinal stability and control characteristics[J].Journal of Guidance,Control,and Dynamics,1998,21(3):391-399.
[5]	THOMSON D G,HOUSTON S S,SPATHOPOULOS V M.Experiments in autogiro airworthiness for improved handling qualities[J].Journal of the American Helicopter Society,2005,50(4):295-301.
[6]	BAGIEV M,THOMSON D G.Handling qualities evaluation of an autogiro against the existing rotorcraft criteria[J].Journal of Aircraft,2009,46(1):168-174.
[7]	崔钊,韩东,李建波,等.加装格尼襟翼的自转旋翼气动特性研究[J]. 航空学报，2012,33(10):1791-1799.CUI Z,HAN D,LI J B,et al.Study on aerodynamic characteristics of auto-rotating rotors with Gurney flaps[J].Acta Aeronoutica et Astronautica Sinica,2012,33(10):1791-1799(in Chinese).
[8]	朱清华.自转旋翼飞行器总体设计关键技术研究[D].南京:南京航空航天大学,2007:37-48.ZHU Q H.Research on key technologies of gyroplane preliminary design[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2007:37-48(in Chinese).
[9]	王俊超,李建波,韩东.自转旋翼机飞行性能理论建模技术[J].航空学报,2014,35(12):3244-3253.WANG J C,LI J B,HAN D.Theoretical modeling technology for gyroplane flight performance[J].Acta Aeronoutica et Astronautica Sinica,2014,35(12):3244-3253(in Chinese).
[10]	王俊超,李建波.自转旋翼/机翼组合构型飞行器飞行动力学特性[J].南京航空航天大学学报,2011,43(3):399-405.WANG J C,LI J B.Flight dynamics characteristics of autorotating rotor/wing combination aircraft[J].Journal of Nanjing University of Aeronautics and Astronautics,2011,43(3):399-405(in Chinese).
[11]	王俊超,李建波.机翼对自转旋翼机纵向稳定性的影响[J].航空学报,2014,35(1):151-160.WANG J C,LI J B.Effects of wing on autogyro longitudinal stability[J].Acta Aeronoutica et Astronautica Sinica,2014,35(1):151-160(in Chinese).
[12]	陈淼.自转式无人旋翼机飞行控制技术研究[D].南京:南京航空航天大学,2012:16-88.CHEN M.Research on flight control technologies for unmanned gyroplane[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2012:16-88(in Chinese).
[13]	PROUTY R W.Helicopter performance,stability,and control[M].Boston:PWS Engineering,1986:163-187.
[14]	陈仁良,高正.直升机飞行动力学[M].北京:科学出版社,2003:18-19.CHEN R L,GAO Z.Helicopter flight dynamics[M].Beijing:Science Press,2003:18-19(in Chinese).
[15]	MATTHEW J T.Elevators in autogyro propeller wake enable low-speed pitch control[J].Aircraft Engineering and Aerospace Technology,2011,83(3):154-159.
[16]	MATTHEW J T,CARTER R G.Pitch control benefits of elevators for autogyros in low-speed forward flight[C]//Proceedings of 43rd AIAA Aerospace Sciences Meeting and Exhibit.Reston:AIAA,2005:11953-11961.
[17]	LOPEZ C A,WELLS V L.Dynamics and stability of an autorotating rotor/wing unmanned aircraft[J].Journal of Guidance,Control,and Dynamics,2004,27(2):258-270.
[18]	HOUSTON S S.Validation of a rotorcraft mathematical model for autogyro simulation[J].Journal of Aircraft,2000,37(3):403-409.
[19]	HOUSTON S S.Identification of gyroplane lateral/directional stability and control characteristics from flight test[J].Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,1998,212(4):271-285.
[20]	STEVENS B L,LEWIS F L.Aircraft control and simulation[M].Hoboken,NJ:John Wiley & Sons,2003:101-138.
[21]	DREIER M E.直升机和倾转旋翼飞行器飞行仿真引论[M].孙传伟,译.北京:航空工业出版社,2014:323-346.DREIER M E.Introduction to helicopter and tiltrotor simulation[M].Translated by SUN C W.Beijing:Aviation Industry Press,2014:323-346(in Chinese).
[22]	闫坤,蔡志浩,林清,等.带预旋自转旋翼机起降阶段关键飞行参数测量方法[C]//IEEE Chinese Guidance,Navigation and Control Conference 2014,2014:1643-1648.YAN K,CAI Z H,LIN Q,et al.Key parameters measurement method in takeoff and landing of autogyro with prerotating[C]//IEEE Chinese Guidance,Navigation and Control Conference 2014,2014:1643-1648(in Chinese).
[23]	FUTABA.Futaba SBS-01RM Magnetic RPM Sensor[EB/OL].Japan:Futaba radio control(RC-R/C) systems and accessories,2015[2015-11-20].http://www.futabarc.com/accessories/futm0850.html.
[24]	杨金鹏,蔡志浩,林清,等.一种复合式短距起降无人机自动飞行控制系统设计[C]//IEEE Chinese Guidance,Navigation and Control Conference 2014,2014:1044-1049.YANG J P,CAI Z H,LIN Q,et al.Autonomous flight control system design for STOL flight of a compound autogyro UAV[C]//IEEE Chinese Guidance,Navigation and Control Conference 2014,2014:1044-1049(in Chinese).