基于凯恩方程的无人机伞降回收动力学建模与仿真

doi:10.13700/j.bh.1001-5965.2018.0602

北京航空航天大学学报 ›› 2019, Vol. 45 ›› Issue (6): 1256-1265.doi: 10.13700/j.bh.1001-5965.2018.0602

基于凯恩方程的无人机伞降回收动力学建模与仿真

吴翰, 王正平, 周洲, 王睿

西北工业大学无人机特种技术国防科技重点实验室, 西安 710065

收稿日期:2018-10-22 出版日期:2019-06-20 发布日期:2019-06-18
通讯作者: 王正平 E-mail:ad502@nwpu.edu.cn
作者简介:吴翰男,硕士研究生。主要研究方向:飞行器总体设计与无人机多体动力学建模;王正平男,教授,硕士生导师。主要研究方向:飞行器总体设计与结构设计;周洲女,教授,博士生导师。主要研究方向:飞行器总体设计与气动布局设计;王睿男,副教授。主要研究方向:飞行器动力学建模与控制。
基金资助:
航空科学基金（2016ZA53002）；陕西省重点研发计划（2018ZDCXL-GY-03-04）

Dynamics modeling and simulation of UAV parachute recovery based on Kane equation

WU Han, WANG Zhengping, ZHOU Zhou, WANG Rui

National Key Laboratory of Special Technology on UAV, Northwestern Polytechnical University, Xi'an 710065, China

Received:2018-10-22 Online:2019-06-20 Published:2019-06-18

摘要/Abstract

摘要： 在无人机的伞降回收过程中，无人机与降落伞一直都处于实时的动平衡状态，两者在伞降回收过程中的耦合关系及其复杂，因此很难建立精准的无人机伞降回收动力学模型。针对该问题，将伞降回收系统划分为降落伞和无人机分别进行处理。针对时变对象降落伞，通过阻力面积随充气时间的变化关系建立其动力学模型。针对无人机，首先，基于多体动力学思路，将其划分为左右机翼和机身的多体系统，通过平板绕流系数优化其伞降过程中的大迎角动力学模型；然后，通过偏速度矩阵将各体的动力学模型引入伞降回收系统质心；最终，基于凯恩方程推导并建立了伞降回收系统六自由度模型，并引入海拔高度和风力对无人机伞降回收的影响。通过数值仿真与实验数据的对比，可以发现两者具有较好的一致性，该动力学模型能够为无人机的伞降回收提供指导。

关键词: 伞降回收, 飞翼无人机, 凯恩方程, 多体系统, 动力学建模

Abstract: In the UAV parachute recovery process, the UAV and parachute are always in real-time dynamic balance state, and the coupling relationship between the two in the parachute recovery process is very complicated, so it is difficult to establish accurate dynamics model of UAV parachute recovery. For solving this problem, the UAV parachute recovery system was divided into the parachute and UAV, and the dynamics model of the parachute was established by the relationship between the drag area and the inflating time. First, based on the method of multibody dynamics, the UAV was divided into a multibody system, including the left wing, right wing and fuselage, and its high angle of attack dynamics model was optimized by the coefficient of flow around a flat plate. Second, the models of each body were introduced into the center of mass of the entire parachute recovery system by the partial velocity matrices. Finally, based on Kane equation, a six-degree-of-freedom model of the parachute recovery system was derived and established and the effects of the altitude and wind on the parachute recovery system dynamics were considered. Through the comparison of numerical simulation and experimental data, it is found that the two have good consistency, and this dynamics model can provide guidance for the UAV parachute recovery.

Key words: parachute recovery, flying-wing UAV, Kane equation, multibody system, dynamics modeling

中图分类号:

V249

吴翰, 王正平, 周洲, 王睿. 基于凯恩方程的无人机伞降回收动力学建模与仿真[J]. 北京航空航天大学学报, 2019, 45(6): 1256-1265.

WU Han, WANG Zhengping, ZHOU Zhou, WANG Rui. Dynamics modeling and simulation of UAV parachute recovery based on Kane equation[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2019, 45(6): 1256-1265.

参考文献

[1] WU M J,XIAO T H,ANG H S,et al.Optimal flight planning for a z-shaped morphing-wing solar-powered unmanned aerial vehicle[J].Journal of Guidance,Control,and Dynamics,2018,41(2):497-504.
[2] 张健,张德虎.高空长航时太阳能无人机总体设计要点分析[J].航空学报,2016,37(S1):S1-S7.ZHANG J,ZHANG D H.Essential of configuration design of HALE solar-powered UAVs[J].Acta Aeronautica et Astronautica Sinca,2016,37(S1):S1-S7(in Chinese).
[3] GARRARD W L.Application of inflation theories to preliminary parachute force and stress analyses:AIAA-91-0862[R].Reston:AIAA,1991.
[4] YAVUZ T.The Equation of motion for a parachute system descending through a real fluid[J].Aeronautical Journal,1985,89(889):334-348.
[5] IBRAHIM S K,ENGDAHL R A.Parachute dynamics and stability analysis:NASA-CR-120326[R].Washington,D.C.:NASA,1974.
[6] FALLON Ⅱ E J.Parachute dynamics and stability analysis of the queen match recovery system:AIAA-91-0879-CP[R].Restor:AIAA,1991.
[7] WOLF D.Dynamic stability of a nonrigid parachute and payload system[J].Journal of Aircraft,1971,8(8):604-609.
[8] 程文科,杨小伟,秦子增.物伞系统动力学特性研究[J].国防科技大学学报,1998,20(4),27-30.CHENG W K,YANG X W,QIN Z Z.Analysis of the dynamic performance of a parachute and payload system[J].Journal of National University of Defense Technology,1998,20(4),27-30(in Chinese).
[9] TOWNSEND M A.Kane's equations,Lagrange's equations,and virtual work[J].Journal of Guidance,Control,and Dynamics,1992,15(1):277-280.
[10] KANE T R,LIKENS P W,LEVINSON D A.Spacecraft dynamics[M].New York:McGraw-Hill Book Company,1983.
[11] ZHAO Z J,REN G X.Multibody dynamic approach of flight dynamics and nonlinear aeroelasticity of flexible aircraft[J].AIAA Journal,2011,49(1):41-53.
[12] HOGAN F R,FORBES J R.Modeling of spherical robots rolling on generic surfaces[J].Multibody System Dynamics,2015,35(1):91-109.
[13] CHANG L B,HU B Q,CHANG G B.Modified unscented quaternion estimator based on quaternion averaging[J].Journal of Guidance,Control,and Dynamics,2014,37(1):305-308.
[14] 郭鹏.大型降落伞开伞过程研究[D].长沙:国防科技大学,2012:72-80.GUO P.Research on the opening process of large parachute system[D].Changshan:National University of Defense Technology,2012:72-80(in Chinese).
[15] 夏丹,程维山,刘考军,等.基于Kane方法的仿鱼机器人波状游动的动力学建模[J].机械工程学报,2009,45(6):41-49.XIA D,CHEN W S,LIU K J,et al.Dynamic modeling of a fishlike robot with undulatory motion based on Kane's method[J].Journal of Mechanical Engineering,2009,45(6):41-49(in Chinese).
[16] 荣伟,包进进.火星大气对降落伞充气性能影响的初步探讨[J].航天返回与遥感,2017,38(4):1-4.RONG W,BAO J J.The primary studies on the effect of martian atmosphere on parachute inflation performances[J].Spacecraft Recovery & Remote Sensing,2017,38(4):1-4(in Chinese).
[17] 姜海波,曹树良,程忠庆.平板大攻角扰流升力和阻力系数的计算[J].应用力学学报,2011(5):518-520.JIANG H B,CAO S L,CHENG Z Q.Lift and drag coefficients of flow around a flat plate at high attack angles[J].Chinese Journal of Applied Mechanics,2011(5):518-520(in Chinese).
[18] 陈迎春,张攀峰,王晋军.绕流片分离流动特性的数值研究[J].北京航空航天大学学报,2004,30(12):1221-1224.CHEN Y C,ZHANG P F,WANG J J.Numerical simulation of separation flow around fiaps with varied gap size[J].Journal of Beijing University of Aeronautics and Astronautics,2004,30(12):1221-1224(in Chinese).
[19] TARN T J,SHOULTS G A,YAHG S P.A dynamic model of underwater vehicle with a robotics manipulator using Kane's method[J].Autonomous Robotics,1996,3(2-3):269-283.

基于凯恩方程的无人机伞降回收动力学建模与仿真

Dynamics modeling and simulation of UAV parachute recovery based on Kane equation

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	徐亚茹, 刘荣. 一种爬壁机器人动力学建模方法[J]. 北京航空航天大学学报, 2018, 44(2): 280-285.
[2]	吕桂志, 刘荣. Udwadia-Kalaba方程构建操作臂名义模型的违约消除[J]. 北京航空航天大学学报, 2018, 44(11): 2305-2311.
[3]	张凯, 熊家军, 付婷婷, 席秋实. 基于耦合气动参数的HGV多模型估计[J]. 北京航空航天大学学报, 2018, 44(10): 2156-2164.
[4]	刘佳, 刘荣. 双臂协调机械手动力学建模的新方法[J]. 北京航空航天大学学报, 2016, 42(9): 1903-1910.
[5]	钟睿. 基于动力学递推算法的绳系卫星系统刚柔耦合多体模型[J]. 北京航空航天大学学报, 2015, 41(7): 1188-1195.
[6]	徐梓尧, 王琪. 含单边非完整约束飞机滑跑的建模与仿真方法[J]. 北京航空航天大学学报, 2015, 41(5): 835-840.
[7]	杨华, 宋磊, 王文剑, 黄俊. 动力翼伞纵向四自由度动力学仿真[J]. 北京航空航天大学学报, 2014, 40(11): 1615-1622.
[8]	刘敬猛, 刘岩, 陈伟海, 张良. 永磁球形电机的神经网络自适应控制算法[J]. 北京航空航天大学学报, 2014, 40(1): 25-30.
[9]	张睿, 吴帅, 焦宗夏. 一种典型盘式单向阀的动力学建模与优化设计[J]. 北京航空航天大学学报, 2013, 39(9): 1197-1202.
[10]	黄庭轩, 张尧, 徐世杰. 飞轮隔振平台组合系统的动力学建模[J]. 北京航空航天大学学报, 2013, (1): 120-125.
[11]	曹洁, 吕敬, 王琪. 含滚阻摩擦平面多体系统的建模和数值方法[J]. 北京航空航天大学学报, 2012, (3): 410-415.
[12]	富立, 王琪. 非光滑多体系统最大Lyapunov指数的计算方法[J]. 北京航空航天大学学报, 2011, 37(1): 45-48.
[13]	祝明, 左宗玉. 高空系留气球建模与稳定性分析[J]. 北京航空航天大学学报, 2010, 36(8): 940-944.
[14]	徐明,贾英宏,徐世杰. Halo轨道探测器的姿态描述与建模[J]. 北京航空航天大学学报, 2007, 33(10): 1166-1169.
[15]	付士慧, 王琪. 带约束多体系统Lyapunov指数的数值计算方法[J]. 北京航空航天大学学报, 2006, 32(06): 742-746.