北京航空航天大学学报 ›› 2014, Vol. 40 ›› Issue (9): 1219-1224.doi: 10.13700/j.bh.1001-5965.2013.0561

• 论文 • 上一篇    下一篇

直升机-吊挂耦合系统平衡特性和稳定性分析

曹龙1, 曹义华1, 李春华2   

  1. 1. 北京航空航天大学 航空科学与工程学院, 北京 100191;
    2. 中航工业中国直升机设计研究所, 景德镇 333001
  • 收稿日期:2013-10-10 出版日期:2014-09-20 发布日期:2014-10-10
  • 作者简介:曹龙(1988-),男,湖北大悟人,博士生,caolong.buaa@gmail.com.

Equilibrium characteristics and stability analysis of helicopter-slung-load coupling system

Cao Long1, Cao Yihua1, Li Chunhua2   

  1. 1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. AVIC China Helicopter Research and Development Institute, Jingdezhen 333001, China
  • Received:2013-10-10 Online:2014-09-20 Published:2014-10-10

摘要:

基于单质点吊挂假设,建立了直升机-吊挂耦合系统的非线性动力学模型。在该假设下,吊挂将引入额外的自由度和约束,使运动方程增加4阶,且为隐式的微分代数方程组。通过将惯性力中的广义加速度项与广义速度的二次项分离,可将运动方程转化为显式的微分方程组。针对无吊挂的直升机本体和直升机-吊挂耦合系统这两种模型,采用直接数值方法,计算了它们以不同速度做零侧滑定直平飞的配平状态,并结合飞行试验数据进行对比。进一步对两种模型进行了小扰动线化处理,分析其运动模态并进行对比。结果表明,单质点吊挂会给系统引入两个新的运动模态,使得吊挂两个自由度上的运动与直升机高度响应产生耦合,同时改变直升机本体各个模态的特性,会使部分模态响应品质变坏。

关键词: 直升机, 吊挂载荷, 耦合, 配平, 稳定性, 模态

Abstract:

A nonlinear dynamical model of the helicopter-slung-load coupling system was presented, based on single mass-point hypothesis. Under this hypothesis, the consideration of the slung-load brought in extra degrees of freedom and constraints, which made the equations of motion increased by 4 orders, and being a set of implicit differential algebraic equations. By distinguishing the generalized acceleration terms from the quadratic generalized speed terms in the inertia forces, the equations of motion can be turned into a set of explicit ordinary differential equations. For the helicopter model and the helicopter-slung-load model, trim states for zero-side-slipping forward flight were first computed, using direct numerical approach, and the results were compared with flight test data. Then, both of the two models were linearized under small-perturbed conditions, and modal decomposition was performed on these linearized models. Results show that 2 new dynamical modes would be introduced by the single-mass-point slung-load. Motions of the slung-load's 2 degrees of freedom would be coupled with the helicopter's altitude response, and modify the characteristics of helicopter's inherence modes, make some of them worse.

Key words: helicopter, slung-load, coupling, trim, stability, mode

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