单点吊挂集装箱动稳定性分析

吕雨竹; 万海明; 徐玉貌

doi:10.13700/j.bh.1001-5965.2023.0036

单点吊挂集装箱动稳定性分析

doi: 10.13700/j.bh.1001-5965.2023.0036

中国直升机设计研究所，景德镇 333001

详细信息

通讯作者:
E-mail：lvyzhu@buaa.edu.cn

中图分类号: V212.4
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出版历程
- 收稿日期: 2023-02-07
- 录用日期: 2023-04-07
- 网络出版日期: 2023-04-24
- 整期出版日期: 2025-02-28

Dynamic stability analysis of a single-point hanging container

China Helicopter Research and Development Institute，Jingdezhen 333001，China

More Information

Corresponding author: E-mail：lvyzhu@buaa.edu.cn

摘要

摘要:
为研究单点吊挂集装箱的动稳定性，利用风洞试验捕捉吊挂集装箱的发散运动规律，进而解耦单点吊挂系统运动方程进行动力学分析，发现集装箱运动发散的原因为侧向气动力对摆动运动产生了激励作用。稳定性判据表明：单点吊挂系统稳定的必要条件为吊挂体的偏航力矩和侧向力对其偏摆运动产生阻尼作用，但偏航回复力矩过大也可能会降低吊挂系统的动稳定性。保持吊挂体的侧向阻尼力和偏航回复力矩适当，减小阻力，增大吊挂体质量和转动惯量均有利于吊挂系统稳定。直升机吊挂飞行过程中如遇到吊挂系统不稳定状态可通过适当减速进行控制，减小吊索长度可增加外吊挂稳定前飞的飞行速度，存在最优吊索长度使巡航速度下吊挂系统稳定性最佳。
- 单点吊挂 /
- 集装箱 /
- 动稳定性 /
- 气动特性 /
- 吊索长度
Abstract:
To study the dynamic stability of a single-point hanging container, the divergent motion of the hanging container was captured by a wind tunnel test, and the motion equation of the single-point hanging system was decoupled for dynamics analysis. It was found that the reason for the divergent motion of the container was that the lateral aerodynamic force had a motivating effect on the swing motion. The stability criterion showed that the necessary condition for the stability of the single-point hanging system was the damping action of the yawing moment and lateral force of the hanging body on its yawing motion, but an excessive yawing recovery force may reduce the dynamic stability of the hanging system. Keeping the lateral damping force and yawing recovery moment appropriate, reducing the resistance, and increasing the mass and moment of inertia of the hanging body were beneficial to the stability of the hanging system. In the process of hanging flight, if the hanging system becomes unstable, the helicopter can be controlled by decelerating properly, and the sling length can be reduced to increase the flight speed of the stable forward flight of the helicopter with an external hanging body. Besides, there is an optimal sling length to ensure the optimal stability of the single-point hanging system at cruising speed.
- single-point hanging /
- container /
- dynamic stability /
- aerodynamic characteristics /
- sling length

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图 1 风洞试验

Figure 1. Wind tunnel test

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图 2 参考坐标系及参数定义

Figure 2. Definition of reference coordinate system and parameters

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图 3 试验结果

Figure 3. Experimental results

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图 4 小波变换结果

Figure 4. Results of wavelet transformation

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图 5 无量纲偏航力矩C_N结果

Figure 5. Results of non-dimensional yawing moment C_N

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图 6 无量纲侧向力C_Y结果

Figure 6. Results of non-dimensional lateral force C_Y

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图 7 C_Yβ和C_Nβ对吊挂系统摆动运动阻尼比ξ的影响

Figure 7. Influence of C_Yβand C_Nβ on damping ratio ξ of swing motion of hanging system

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图 8 C_Nβ过大时吊挂体摆动运动示意图（俯视图）

Figure 8. Schematic diagram of swing motion of hanging body with excessive C_Nβ (top view)

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图 9 C_Yβ和C_Nβ对吊挂系统偏航运动阻尼比ξ的影响

Figure 9. Influence of C_Yβand C_Nβ on damping ratio ξ of yawing motion of hanging system

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图 10 阻力系数对吊挂系统动稳定性的影响

Figure 10. Influence of drag coefficient on dynamic stability of hanging system

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图 11 吊挂体转动惯量对系统摆动运动阻尼比ξ的影响

Figure 11. Influence of moment of inertia of hanging body on damping ratio ξ of swing motion of hanging system

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图 12 吊挂体质量对吊挂系统摆动运动阻尼比ξ的影响

Figure 12. Influence of mass of hanging body on damping ratio ξ of swing motion of hanging system

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图 13 吊索长度和前飞速度对吊挂系统摆动运动阻尼比ξ的影响

Figure 13. Influence of sling length and foward flight speed on damping ratio ξ of swing motion of hanging system

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表 1 计算与试验动稳定性结果

Table 1. Dynamic stability results of calculation and experiment

风速/(m·s⁻¹)	λ₁，λ₂		ξ		ω_n/（rad·s⁻¹）
风速/(m·s⁻¹)	计算	试验	计算	试验	计算	试验
8.7	0.0232±1.52i	0.0227±1.53i	−0.0152	−0.0149	1.53	1.52
11.2	0.0388±1.53i	0.0313±1.52i	−0.0254	−0.0204	1.53	1.53
13.7	0.0636±1.54i	0.0643±1.50i	−0.0413	−0.0428	1.53	1.50

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