北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (5): 835-840.doi: 10.13700/j.bh.1001-5965.2014.0342

• 论文 • 上一篇    下一篇

含单边非完整约束飞机滑跑的建模与仿真方法

徐梓尧, 王琪   

  1. 北京航空航天大学 航空科学与工程学院, 北京 100191
  • 收稿日期:2014-06-11 修回日期:2014-06-25 出版日期:2015-05-20 发布日期:2015-06-02
  • 通讯作者: 王琪(1959—),男,北京人,教授,bhwangqi@sina.com,主要研究方向为多体系统动力学. E-mail:bhwangqi@sina.com
  • 作者简介:徐梓尧(1988—),男,湖北黄冈人,博士研究生,xuziyao1988@126.com
  • 基金资助:

    国家自然科学基金(11372018)

Method for modeling and simulation of aircraft taxiing with unilateral and non-holonomic constraints

XU Ziyao, WANG Qi   

  1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2014-06-11 Revised:2014-06-25 Online:2015-05-20 Published:2015-06-02

摘要:

当飞机在地面上滑行时,其运动会受到风载荷和不对称刹车力矩的影响.为分析飞机的动力学行为,给出了一种基于非完整非光滑多体系统动力学的建模与数值仿真方法.将飞机视为由机身和前后起落架组成的多体系统,主起落架的轮子为纯滚动,飞机在地面滑跑时考虑前起落架轮子的侧向滑移.飞机在跑道上滑跑的动力学方程由Routh方程导出,用约束稳定化方法抑制约束的漂移.轮与地面间的摩擦模型为库仑摩擦模型并用集值函数描述,以用于判断前轮是否发生侧向滑移.最后通过数值仿真算例分析风载荷和不对称刹车力矩作用下飞机在跑道上滑行的动力学行为.

关键词: 飞机滑跑, 多体系统, 非光滑, 单边约束, 非完整约束

Abstract:

The motion of the aircraft taxiing along the ground was related to wind load and asymmetric braking torque. The method for modeling and simulation of the aircraft was presented on the basis of the dynamics of the non-smooth multibody system with non-holonomic constraints in order to analyze the dynamic behavior of the aircraft taxiing along the ground. The aircraft was treated as the multibody system which consisted of a rigid fuselage, two wheels of main landing gears and a wheel of nose landing gear. Two wheels of main landing gears rolled on the ground without slip. The lateral slip of the wheel on the nose landing gear was taken into account when the aircraft taxied along the ground. The dynamic equations of the system were obtained by Routh's equations and the constraint-stabilized method to reduce constraint drift. The frictional model between the wheels and the ground was the model of Coulomb friction which was described by the set value of function to determine whether the wheel of the nose landing gear slipped in lateral direction or not. Finally, numerical examples were presented to analyze the dynamic behavior of the aircraft undertook the wind load and the asymmetric braking torque.

Key words: aircraft taxiing, multibody system, non-smooth, unilateral constraint, non-holonomic constraint

中图分类号: 


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