• 论文 •

基于Hamilton体系的Lagrange方程盒式倾转旋翼无人机建模

1. 1. 西北工业大学 航空学院, 西安 710072;
2. 西北工业大学 无人机特种技术重点实验室, 西安 710065
• 收稿日期:2019-11-25 发布日期:2020-12-28
• 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,硕士,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。
• 基金资助:
航空科学基金（2016ZA53002）；陕西省重点研发计划（2018ZDCXL-GY-03-04）

Modeling of box-wing tilt-rotor UAV based on Lagrange equation in Hamilton system

WU Han1, WANG Zhengping1, ZHOU Zhou1,2, WANG Rui1

1. 1. School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Special Technology on UAV, Northwestern Polytechnical University, Xi'an 710065, China
• Received:2019-11-25 Published:2020-12-28

Abstract: The dynamics modeling of the tilt-rotor aircraft is studied during dynamic transition process. Firstly, starting from the multibody dynamics, a box-wing tilt-rotor UAV is taken as an example, which is assumed as a multi-rigid-body system consisting of wings, a body, ducted fans, tilt rotors, etc. Secondly, the non-conservative force and moment matrix of the UAV system are established by the displacement constraints of different rigid body centroids, and the kinetic energy, potential energy, complementary virtual work and inverse potential energy of the UAV are established. Finally, based on the Lagrange equation in Hamilton system and the second Lagrange equation, the dynamics model of the box-wing tilt-rotor UAV is deduced and established. The simulation results show that the simulation results of the dynamics models established by the two types of Lagrange equations are consistent with the experimental data, which verifies the rationality of the proposed modeling method. In the case that the rotation speed of the tilt rotor is constant, the longer the transition process takes, the less the UAV is dropped, the smoother the trajectory is, but the more input energy is, and the design of the specific transition process should be determined according to the actual needs of the time that the transition process takes, input energy, etc.