北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (11): 2454-2465.doi: 10.13700/j.bh.1001-5965.2015.0776

• 论文 • 上一篇    下一篇

俯仰操纵方式对自转旋翼机操稳特性的影响

林清1,2, 蔡志浩1,2, 闫坤1,2, 王英勋1,2   

  1. 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
  • 收稿日期:2015-11-25 修回日期:2016-01-27 出版日期:2016-11-20 发布日期:2016-03-15
  • 通讯作者: 蔡志浩,Tel.:010-82338792,E-mail:czh@buaa.edu.cn E-mail:czh@buaa.edu.cn
  • 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

Influence of pitch manipulation modes on controllability and stability of autogyro

LIN Qing1,2, CAI Zhihao1,2, YAN Kun1,2, WANG Yingxun1,2   

  1. 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
  • Received:2015-11-25 Revised:2016-01-27 Online:2016-11-20 Published:2016-03-15

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。

关键词: 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.

Key words: autogyro, manipulation mode, blade element method, attitude control, model validation

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