Modeling and analysis of multi-helicopter coordinate system with slung load
-
摘要: 对多直升机协调吊挂系统中每一架直升机与外吊挂载荷分别建立他们的飞行动力学模型,将弹性吊索视为弹簧阻尼系统,建立弹性吊索数学模型;然后通过弹性吊索动力学将多直升机与吊挂载荷的运动耦合到一起,建立了通用的多直升机协调吊挂系统仿真模型;最后,针对单、四直升机协调吊挂系统建立了仿真验证模型,对直升机协调吊挂系统的稳定性、配平特性进行了分析.仿真结果表明外挂载荷对直升机的稳定性和配平特性产生了较大影响,通过分析证明了仿真结果的合理性,同时证明本文提出的多直升机协调吊挂系统飞行动力学建模方法的可行性.Abstract: A generic simulation model of multi-helicopter cooperated system with slung load by using elastic cable has been developed for research on control and avionic instrumentation. Flight dynamic models of each helicopter and payload were developed respectively. Elastic cables were treated as spring/damping systems, and the dynamics of each helicopter and slung loads was tightly coupled by elastic cables'dynamics. Simulation model of helicopter system with slung load was built, and analysis of stability and trim were conducted. The results indicate that slung load obviously affects each helicopter's dynamics properties based on qualitative analysis, and the modeling method is validated and feasible for multi-helicopter system with slung load.
-
Key words:
- helicopters /
- flight dynamics /
- stability, simulation /
- slung load /
-
[1] Lucassen L,Sterk F.Dynamic stability analysis of a hovering helicopter with a sling load [J].Journal of the American Helicopter Society,1965,10(2):6-12 [2] Morten B,Jan D B.Modeling of generic slung load system [J].Journal of Guidance,Control,and Dynamics,2009,32(2):573-585 [3] Maza I,Kondak K,Bernard M.Multi-UAV cooperation and control for load transportation and deployment [J].Journal of Intelligent & Robotic Systems,2010,57(1):417-449 [4] Hamers M,von Hinuber E,Richter A.CH53G experiences with a flight director for slung load handling[C]// Proceedings of the 64th American Helicopter Society Annual Forum.Montreal Canada:American Helicopter Society,2008 [5] Brenner H.Helicopter sling load positioning[C]// Proceedings of the 35th annual european rotorcraft forum.Germany:German Society for Aeronautics and Astronautics,2009 [6] Brenner H.Helicopter sling load pendulum damping[C]// Proceedings of the 35th Annual European Rotorcraft Forum.Germany:German Society for Aeronautics and Astronautics,2009 [7] Cicolani L S,Kanning G.General equilibrium characteristics of a dual-lift helicopter system[R].NASA TP-2615,1986 [8] Cicolani L S.Kanning G.Equations of motion of slung load systems including multi-lift systems[R].NASA TM 1038798,1991 [9] Mittal M,Prasad J V R.Three-dimensional modeling and control of a twin-lift helicopter system [J].Journal of Guidance,Control and Dynamics,1993,16(1):86-95 [10] Mittal M,Prasad J V R,Schrage D P.Comparison of stability and control characteristics of two twin-lift helicopter configurations [J].Journal of Nonlinear Dynamics,1992,3(3):199-223 [11] Curtiss H C,Warburton F W.Stability and control of the twin lift helicopter system [J].Journal of the American Helicopter Society,1985,30(2):14-23 [12] Padfield G D.Helicopter flight dynamics the theory and application of flying qualities and simulation modeling [M].2nd ed.Washington DC:AIAA Inc,1996:87-185 -
点击查看大图
计量
- 文章访问数: 1336
- HTML全文浏览量: 119
- PDF下载量: 665
- 被引次数: 0
下载:
