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基于Hamilton体系的Lagrange方程盒式倾转旋翼无人机建模

吴翰 王正平 周洲 王睿

吴翰, 王正平, 周洲, 等 . 基于Hamilton体系的Lagrange方程盒式倾转旋翼无人机建模[J]. 北京航空航天大学学报, 2020, 46(12): 2320-2328. doi: 10.13700/j.bh.1001-5965.2019.0602
引用本文: 吴翰, 王正平, 周洲, 等 . 基于Hamilton体系的Lagrange方程盒式倾转旋翼无人机建模[J]. 北京航空航天大学学报, 2020, 46(12): 2320-2328. doi: 10.13700/j.bh.1001-5965.2019.0602
WU Han, WANG Zhengping, ZHOU Zhou, et al. Modeling of box-wing tilt-rotor UAV based on Lagrange equation in Hamilton system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(12): 2320-2328. doi: 10.13700/j.bh.1001-5965.2019.0602(in Chinese)
Citation: WU Han, WANG Zhengping, ZHOU Zhou, et al. Modeling of box-wing tilt-rotor UAV based on Lagrange equation in Hamilton system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(12): 2320-2328. doi: 10.13700/j.bh.1001-5965.2019.0602(in Chinese)

基于Hamilton体系的Lagrange方程盒式倾转旋翼无人机建模

doi: 10.13700/j.bh.1001-5965.2019.0602
基金项目: 

航空科学基金 2016ZA53002

陕西省重点研发计划 2018ZDCXL-GY-03-04

详细信息
    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

    通讯作者:

    王正平, E-mail:ad502@nwpu.edu.cn

  • 中图分类号: V211

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

Funds: 

Aeronautical Science Foundation of China 2016ZA53002

Key Research and Development Program of Shanxi Province 2018ZDCXL-GY-03-04

More Information
  • 摘要:

    针对倾转旋翼飞行器动态倾转过程中动力学建模问题进行了研究。首先,从多体动力学出发,以某盒式倾转旋翼无人机为算例,将该无人机假设成由机翼、机体、涵道风扇、倾转旋翼等组成的多刚体系统。其次,通过不同刚体质心间的位移约束,建立该无人机系统的非保守力和力矩矩阵,以及动能、势能、余虚功和逆势能模型。最后,分别基于Hamilton体系下的Lagrange方程和第二类Lagrange方程推导并建立了该盒式倾转旋翼无人机的动力学模型。仿真结果表明:两类Lagrange方程所建动力学模型的仿真结果与实验数据一致,验证了所提建模方法的合理性;在倾转旋翼转速不变的情况下,倾转过程所用时间越长,无人机掉高越少,轨迹越光滑,但输入能量越多,具体倾转过程的设计要根据实际输入能量、倾转时间等需求进行确定。

     

  • 图 1  盒式倾转旋翼无人机参考坐标系示意图

    Figure 1.  Schematic diagram of reference coordinate systems for box-wing tilt-rotor UAV

    图 2  盒式倾转旋翼无人机任务剖面

    Figure 2.  Mission profile of box-wing tilt-rotor UAV

    图 3  倾转轴与无人机机体内部连接示意图

    Figure 3.  Schematic diagram of internal connection between tilt axis and UAV body

    图 4  实验盒式倾转旋翼无人机示意图

    Figure 4.  Schematic diagram of experimental box-wing tilt-rotor UAV

    图 5  无人机飞行高度仿真与实验结果对比

    Figure 5.  Comparison of UAV flight height between simulation and experimental results

    图 6  无人机前飞速度仿真与实验结果对比

    Figure 6.  Comparison of UAV forward velocity between simulation and experimental results

    图 7  无人机俯仰角仿真与实验结果对比

    Figure 7.  Comparison of UAV pitch angle between simulation and experimental results

    图 8  盒式倾转旋翼无人机前飞速度

    Figure 8.  Forward velocity of box-wing tilt-rotor UAV

    图 9  盒式倾转旋翼无人机上升速度

    Figure 9.  Rising velocity of box-wing tilt-rotor UAV

    图 10  盒式倾转旋翼无人机飞行高度

    Figure 10.  Flight height of box-wing tilt-rotor UAV

    图 11  盒式倾转旋翼无人机迎角

    Figure 11.  Angle of attack of box-wing tilt-rotor UAV

    图 12  盒式倾转旋翼无人机输入能量

    Figure 12.  Input energy of box-wing tilt-rotor UAV

    表  1  盒式倾转旋翼无人机具体参数

    Table  1.   Specific parameters of box-wing tilt-rotor UAV

    参数 数值
    盒式倾转旋翼无人机最大起飞总重/kg 7.5
    盒式倾转旋翼无人机机翼总面积/m2 0.8
    盒式倾转旋翼无人机展长/m 2
    盒式倾转旋翼无人机弦长/m 0.2
    盒式倾转旋翼无人机机身长度/m 1.44
    有效载荷/kg 2.5
    最大升阻比 11.4
    翼载荷/(kg·m-2) 8.75
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-11-25
  • 录用日期:  2020-02-14
  • 网络出版日期:  2020-12-20

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