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倾转动力无人机三维过渡走廊

夏济宇 周洲 王正平 王睿

夏济宇,周洲,王正平,等. 倾转动力无人机三维过渡走廊[J]. 北京航空航天大学学报,2024,50(3):886-895 doi: 10.13700/j.bh.1001-5965.2022.0284
引用本文: 夏济宇,周洲,王正平,等. 倾转动力无人机三维过渡走廊[J]. 北京航空航天大学学报,2024,50(3):886-895 doi: 10.13700/j.bh.1001-5965.2022.0284
XIA J Y,ZHOU Z,WANG Z P,et al. Three-dimensional transition corridor of tilt-propulsion UAV[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(3):886-895 (in Chinese) doi: 10.13700/j.bh.1001-5965.2022.0284
Citation: XIA J Y,ZHOU Z,WANG Z P,et al. Three-dimensional transition corridor of tilt-propulsion UAV[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(3):886-895 (in Chinese) doi: 10.13700/j.bh.1001-5965.2022.0284

倾转动力无人机三维过渡走廊

doi: 10.13700/j.bh.1001-5965.2022.0284
基金项目: 陕西省重点研发计划(2021ZDLGY09-08)
详细信息
    通讯作者:

    E-mail:zhouzhou@nwpu.edu.cn

  • 中图分类号: V 279;V 249.1

Three-dimensional transition corridor of tilt-propulsion UAV

Funds: Key R & D Program in Shaanxi Province (2021ZDLGY09-08)
More Information
  • 摘要:

    为解决传统过渡走廊中忽略系统动态特征、缺少迎角信息、难以直接用于过渡路径规划的问题,提出一种适用于倾转动力类无人机的三维过渡走廊建立方法。所提方法从物理约束角度限制飞行速度与倾转角度边界,从飞行力学角度限制全机升力特性边界,从能源配置角度限制动力系统功率边界,从而建立关于飞行速度、倾转角度与迎角的三维过渡走廊,并且设计综合性能指标函数用于描述走廊内各飞行路径点的性能。基于所建三维过渡走廊采用鸽群优化算法完成最优过渡路径的搜索工作。结果表明:所建三维过渡走廊能够更加具体地描述可用飞行范围,其不仅包括传统过渡走廊的飞行速度与倾转角度,同时还包含迎角与性能指标信息,这为过渡路径规划提供基础;鸽群优化算法具有良好的过渡路径优化能力,通过优化使无人机拥有良好的飞行效果,动力系统油门杆量变化平稳、幅值较小,证明使用三维过渡走廊指导过渡飞行与规划过渡路径的可行性。

     

  • 图 1  倾转动力无人机总体布局

    Figure 1.  Overall layout of tilt-propulsion unmanned aerial vehicle

    图 2  倾转动力无人机3种飞行模式

    Figure 2.  Three flight modes of tilt-propulsion unmanned aerial vehicle

    图 3  前置螺旋桨地面实验

    Figure 3.  Ground test of front propeller

    图 4  涵道螺旋桨地面实验

    Figure 4.  Ground test of ducted propeller

    图 5  前置螺旋桨转速-拉力曲线

    Figure 5.  Speed - pull curve of front propeller

    图 6  前置螺旋桨转速-功率曲线

    Figure 6.  Speed-power curve of front propeller

    图 7  涵道螺旋桨转速-拉力曲线

    Figure 7.  Speed-pull curve of ducted propeller

    图 8  涵道螺旋桨转速-功率曲线

    Figure 8.  Speed-power curve of ducted propeller

    图 9  三维过渡走廊

    Figure 9.  Three-dimensional transition corridor

    图 10  传统倾转过渡走廊分析方法[13]

    Figure 10.  Analysis method of traditional tilt transition corridor[13]

    图 11  三维过渡走廊速度-倾转角关系图

    Figure 11.  Relationship between flight speed and tilt angle of 3D transition corridor

    图 12  三维过渡走廊飞行速度-迎角关系图

    Figure 12.  Relationship between flight speed and attack angle of 3D transition corridor

    图 13  三维过渡走廊倾转角度-迎角关系图

    Figure 13.  Relationship between tilt angle and attack angle of 3D transition corridor

    图 14  基于综合性能指标函数的三维过渡走廊

    Figure 14.  Three-dimensional transition corridor based on comprehensive performance index function

    图 15  适应度值收敛结果

    Figure 15.  The convergence result of fitness value

    图 16  最优过渡路径

    Figure 16.  Optimal transition path

    图 17  基于三维过渡走廊的最优过渡路径

    Figure 17.  Optimal transition path based on 3D transition corridor

    图 18  动力系统油门杆量变化

    Figure 18.  Variation in powertrain throttle lever volume

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出版历程
  • 收稿日期:  2022-04-26
  • 录用日期:  2022-05-29
  • 网络出版日期:  2022-08-26
  • 整期出版日期:  2024-03-27

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