折叠翼无人机冷气发射装置动态特性分析及优化

张钊; 彭一明; 周福亮; 魏小辉; 聂宏; 杨刚

doi:10.13700/j.bh.1001-5965.2021.0059

折叠翼无人机冷气发射装置动态特性分析及优化

doi: 10.13700/j.bh.1001-5965.2021.0059

张钊^{1, 2},
彭一明^{1, 2},
周福亮^{1, 2},
魏小辉^{1, 2, ,},
聂宏^{1, 2},
杨刚^{1, 2}

1.
南京航空航天大学飞行器先进设计技术国防重点学科实验室, 南京 210016
2.
南京航空航天大学机械结构力学及控制国家重点实验室, 南京 210016

基金项目:

国防科技卓越青年科学基金 2018-JCJQ-ZQ-053

中国博士后科学基金 2019M651827

江苏省博士后科研资助计划项目 2018K042B

江苏高校优势学科建设工程

详细信息

通讯作者:
魏小辉, E-mail: wei_xiaohui@nuaa.edu.cn

中图分类号: V279⁺.2
计量
- 文章访问数: 628
- HTML全文浏览量: 140
- PDF下载量: 75
- 被引次数: 0
出版历程
- 收稿日期: 2021-02-02
- 录用日期: 2021-05-11
- 网络出版日期: 2021-06-15
- 整期出版日期: 2022-10-20

Analysis and optimization of dynamic characteristics of air-cooled launcher for fold-rotor UAV

ZHANG Zhao^{1, 2},
PENG Yiming^{1, 2},
ZHOU Fuliang^{1, 2},
WEI Xiaohui^{1, 2
, ,},
NIE Hong^{1, 2},
YANG Gang^{1, 2}

1.
Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2.
State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Funds:

National Defense Science Foundation for Distinguished Young Scholars 2018-JCJQ-ZQ-053

China Postdoctoral Science Foundation 2019M651827

Jiangsu Planned Project for Postdoctoral Research Funds 2018K042B

A Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions

More Information

Corresponding author: WEI Xiaohui, E-mail: wei_xiaohui@nuaa.edu.cn

摘要

摘要:
针对冷气投放装置工作过程中存在的机械系统和气压系统耦合非线性动力学问题，提出了一种满足折叠翼无人机（UAV）结构形式和空中发射技术要求的冷气发射动态特性分析方法及优化设计方法。以某型折叠翼无人机为研究对象，基于联合仿真建立了无人机气动发射系统动力学模型，搭建了冷气发射系统试验样机，并完成压缩气体空中发射试验，验证了仿真模型的准确性。在此基础上，分析了无人机与冷气发射装置主要系统参数对无人机发射动态性能的影响，针对该系统进行了参数优化设计。结果表明：储气瓶体积和充气压力是影响无人机冷气发射动态特性的关键参数，随着储气瓶体积和充气压力增大，最大发射速度和加速度明显增大，储气瓶体积从15 L增加至30 L，最大发射速度增加了52.7%，最大发射加速度增长了60.9%呈正相关影响；充气压力从0.4 MPa增加至0.7 MPa，最大发射速度增长了50.5%，最大发射加速度增长了69.9%；发射角度对无人机发射性能影响较小，可忽略不计。
- 无人机(UAV) /
- 冷气发射 /
- 动力学 /
- 联合仿真 /
- 优化设计
Abstract:
In order to solve the coupling nonlinear dynamics problem of the mechanical system and pneumatic system in the process of a new air-cooled launch device, an analysis method and optimization design method for the air-cooled launching dynamic characteristics of folding-rotor unmanned aerial vehicle (UAV) were proposed to satisfy the requirements of its structural form and launching technology. Taking a folding-rotor UAV as the research object, the dynamics model of the compressed gas launch system of UAV was established based on co-simulation, and the test prototype of the cold air launch system was built, the compressed gas launch experiment was completed to verify the accuracy of the simulation model. The effect of the main system parameters of UAV and air-cooled launcher on the dynamic performance of UAV launch is analyzed. Finally, the parameter optimization design is carried out for the system. Results show that the volume of the air cylinder and the inflation pressure are the key parameters influencing the dynamic characteristics of the UAV air conditioning launch, with air cylinder volume and air pressure, the largest launch speed and overload increasing, air cylinder volume increased from 15 L to 30 L, the largest launch speed increased by 52.7%, the largest launch overload grew by 60.9%, were positively correlated; When the charging pressure increases from 0.4 MPa to 0.7 MPa, the maximum launch velocity increases by 50.5% and the maximum launch overload increases by 69.9%. The launch angle has little effect on UAV launch performance and can be ignored.
- unmanned aerial vehicle (UAV) /
- air-cooled launch /
- dynamics /
- co-simulation /
- optimization design

HTML全文

图 1 储气瓶充气过程原理

Figure 1. Schematic diagram of gas cylinder filling process

下载: 全尺寸图片幻灯片

图 2 储气瓶放气过程原理

Figure 2. Schematic diagram of gas cylinder deflation process

下载: 全尺寸图片幻灯片

图 3 开口气缸作动过程示意图

Figure 3. Diagram of actuating process of open cylinder

下载: 全尺寸图片幻灯片

图 4 无人机发射过程示意图

Figure 4. Schematic diagram of UAV launch process

下载: 全尺寸图片幻灯片

图 5 摩擦力示意图

Figure 5. Diagram of friction force

下载: 全尺寸图片幻灯片

图 6 无人机冷气发射试验方案原理

Figure 6. Diagram of principle of air-cooled launch test of UAV

下载: 全尺寸图片幻灯片

图 7 冷气空中发射试验装配

Figure 7. Diagram of air-cooled launch test

下载: 全尺寸图片幻灯片

图 8 试验结果与仿真结果对比

Figure 8. Comparison of test results and simulation results

下载: 全尺寸图片幻灯片

图 9 无人机质量对发射速度的影响

Figure 9. Effect of UAV mass on launch speed

下载: 全尺寸图片幻灯片

图 10 无人机质量对发射加速度的影响

Figure 10. Effect of UAV mass on launch acceleration

下载: 全尺寸图片幻灯片

图 11 发射角度对发射速度的影响

Figure 11. Effect of launch angle on launch speed

下载: 全尺寸图片幻灯片

图 12 发射角度对发射加速度的影响

Figure 12. Effect of launch angle on launch acceleration

下载: 全尺寸图片幻灯片

图 13 充气压力对发射速度的影响

Figure 13. Effect of inflation pressure on launch speed

下载: 全尺寸图片幻灯片

图 14 充气压力对发射加速度的影响

Figure 14. Effect of inflation pressure on launch acceleration

下载: 全尺寸图片幻灯片

图 15 储气瓶体积对发射速度的影响

Figure 15. Effect of cylinder volume on launch velocity

下载: 全尺寸图片幻灯片

图 16 储气瓶体积对加速度的影响

Figure 16. Effect of cylinder volume on acceleration

下载: 全尺寸图片幻灯片

图 17 联合仿真优化模型

Figure 17. Co-simulation optimization model

下载: 全尺寸图片幻灯片

表 1 仿真与试验对比工况

Table 1. Comparison of simulation and test conditions

参数	工况1	工况2	工况3
工作压力/MPa	0.4	0.5	0.5
储气瓶体积/L	15	15	20
电磁脉冲阀口径/寸	1	1	1
注：1寸=3.333 333 333 33 cm。

下载: 导出CSV

表 2 仿真与试验发射速度对比

Table 2. Comparison of exit velocity between simulation and test

参数	工况1	工况2	工况3
试验发射速度/(m·s^-1)	8.9	10.3	12.7
仿真发射速度/(m·s^-1)	9.3	10.9	13.1
误差/%	4.5	5.8	3.1

下载: 导出CSV

表 3 仿真与试验发射加速度对比

Table 3. Comparison of launch overload between simulation and test

参数	工况1	工况2	工况3
试验发射加速度/(m·s^-2)	162	180	240
仿真发射加速度/(m·s^-2)	156	182	229
误差/%	-3.7	1.1	-4.6

下载: 导出CSV

表 4 无人机质量对发射性能的影响

Table 4. Effect of UAV mass on launch performance

影响参数	最大发射速度/(m·s^-1)	最大发射加速度/(m·s^-2)
无人机质量5 kg	11.4	239
无人机质量20 kg	8.5	126
增长率/%	-25.4	-47.3

下载: 导出CSV

表 5 发射角度对发射性能的影响

Table 5. Effect of launch angle on launch performance

影响参数	最大发射速度/(m·s^-1)	最大发射加速度/(m·s^-2)
发射角度0°	9.3	156
发射角度60°	8.8	145
增长率/%	-5.4	-7.1

下载: 导出CSV

表 6 充气压力对发射性能的影响

Table 6. Effect of inflation pressure on launch performance

影响参数	最大发射速度/(m·s^-1)	最大发射加速度/(m·s^-2)
充气压力0.4 MPa	9.3	156
充气压力0.7 MPa	14	265
增长率/%	50.5	69.9

下载: 导出CSV

表 7 储气瓶体积对发射性能的影响

Table 7. Effect of cylinder volume on launch performance

影响参数	最大发射速度/(m·s^-1)	最大发射加速度/(m·s^-2)
储气瓶体积15 L	9.3	156
储气瓶体积30 L	14.2	251
增长率/%	52.7	60.9

下载: 导出CSV

表 8 系统参数寻优结果

Table 8. System parameter optimization results

参数	数值
充气压力/MPa	0.54
发射角度/(°)	1
储气瓶体积/L	24
最大发射速度/(m·s^-1)	15
最大发射加速度/(m·s^-2)	275

下载: 导出CSV

参考文献(19)

[1]	包晓翔, 张云飞, 杨晓树. 新型折叠翼机构设计[J]. 北京航空航天大学学报, 2014, 40(8): 1127-1133. doi: 10.13700/j.bh.1001-5965.2013.0462 BAO X X, ZHANG Y F, YANG X S. Design of a folding wing mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(8): 1127-1133(in Chinses). doi: 10.13700/j.bh.1001-5965.2013.0462
[2]	孙文芳, 李建伟, 覃海鹰, 等. 国外折叠翼桨毂构型技术分析[J]. 直升机技术, 2019(3): 57-61. doi: 10.3969/j.issn.1673-1220.2019.03.013 SUN W F, LI J W, QIN H Y, et al. Analysis of foreign folding rotor head configuration technology[J]. Helicopter Technique, 2019(3): 57-61(in Chinses). doi: 10.3969/j.issn.1673-1220.2019.03.013
[3]	何嘉琛. 可折叠翼式防空无人机设计[J]. 科技风, 2019(14): 15. https://www.cnki.com.cn/Article/CJFDTOTAL-KJFT201914014.htm HE J C. Foldable rotor air defense UAV design[J]. Technology Wind, 2019(14): 15(in Chinses). https://www.cnki.com.cn/Article/CJFDTOTAL-KJFT201914014.htm
[4]	徐浩军, 邵伟平, 袁备. 折叠式共轴双旋翼桨叶操纵机构的设计[J]. 成组技术与生产现代化, 2015, 32(4): 8-11. doi: 10.3969/j.issn.1006-3269.2015.04.003 XU H J, SHAO W P, YUAN B. Design for operating mechanism of foldable coaxial rotors[J]. Group Technology & Production Modernization, 2015, 32(4): 8-11(in Chinese). doi: 10.3969/j.issn.1006-3269.2015.04.003
[5]	张群峰, 闫盼盼, 黎军. 战斗机武器外挂投放与内埋投放比较[J]. 北京航空航天大学学报, 2017, 43(6): 1085-1097. doi: 10.13700/j.bh.1001-5965.2016.0497 ZHANG Q F, YAN P P, LI J. Comparison between external store separation and buried store separation of fighter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(6): 1085-1097(in Chinese). doi: 10.13700/j.bh.1001-5965.2016.0497
[6]	黄国勤, 罗莎祁, 于今. 小型无人机气动肌腱式弹射系统动态仿真与优化[J]. 中国机械工程, 2019, 30(4): 448-454. doi: 10.3969/j.issn.1004-132X.2019.04.010 HUANG G Q, LUO S Q, YU J. Dynamic simulation and optimization of pneumatic tendon ejection systems for small UAVs[J]. China Mechanical Engineering, 2019, 30(4): 448-454(in Chinese). doi: 10.3969/j.issn.1004-132X.2019.04.010
[7]	王金贵. 气体炮原理及技术[M]. 北京: 国防工业出版社, 2001: 35-36. WANG J G. Gas gun principle and technology[M]. Beijing: National Defence Industrial Press, 2001: 35-36(in Chinese).
[8]	赵俊利, 高跃飞. 气体炮实用内弹道技术研究[J]. 太原理工大学学报, 2003(3): 288-290. doi: 10.3969/j.issn.1007-9432.2003.03.017 ZHAO J L, GAO Y F. Study on the interior ballistics of the gas gun[J]. Journal of Taiyuan University of Technology, 2003(3): 288-290(in Chinese). doi: 10.3969/j.issn.1007-9432.2003.03.017
[9]	MESLOH C T, THOMPSON L F. Evaluation of the FN 303 less lethal projectile[J]. Journal of Testing and Evaluation, 2006, 34(6): 574.
[10]	SADRAI S, MEECH J A, TROMANS D, et al. Energy efficient comminution under high velocity impact fragmentation[J]. Minerals Engineering, 2011, 24(10): 1053-1061. doi: 10.1016/j.mineng.2011.05.006
[11]	盖玉收, 石岩, 蔡茂林. 多源多出复杂压缩空气管网建模及能效分析[J]. 北京航空航天大学学报, 2013, 39(9): 1243-1248. https://bhxb.buaa.edu.cn/article/id/12732 GAI Y S, SHI Y, CAI M L. Analysis on mathematical modeling for multi-source and multi-outlet complex compressed air network[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(9): 1243-1248(in Chinses). https://bhxb.buaa.edu.cn/article/id/12732
[12]	万悦泉, 王少萍. 气动弹爆破过程性能仿真分析[J]. 北京航空航天大学学报, 2007, 33(6): 644-648. https://bhxb.buaa.edu.cn/article/id/9474 WAN Y Q, WANG S P. Analysis and simulation on the dynamic process of the air blasting device[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(6): 644-648(in Chinses). https://bhxb.buaa.edu.cn/article/id/9474
[13]	赫雷, 尚兴超, 周克栋, 等. 一种压缩空气驱动的武器发射过程动力学分析[J]. 振动与冲击, 2014, 33(21): 202-206. https://www.cnki.com.cn/Article/CJFDTOTAL-ZDCJ201421036.htm HE L, SHANG X C, ZHOU K D, et al. Dynamic analysis for launching process of a compressed air-driving weapon[J]. Journal of Vibration and Shock, 2014, 33(21): 202-206(in Chinses). https://www.cnki.com.cn/Article/CJFDTOTAL-ZDCJ201421036.htm
[14]	陶如意, 叶涛, 李鹏, 等. 小型物体冷气发射系统内弹道过程分析[J]. 弹道学报, 2012, 24(4): 82-85. https://www.cnki.com.cn/Article/CJFDTOTAL-DDXB201204019.htm TAO R Y, YE T, LI P, et al. Interior ballistic process for cool-gas launch system of minitype object[J]. Journal of Ballistics, 2012, 24(4): 82-85(in Chinses). https://www.cnki.com.cn/Article/CJFDTOTAL-DDXB201204019.htm
[15]	李建藩. 气压传动系统动力学[M]. 广州: 华南理工大学出版社, 1991: 53-79. LI J F. Pneumatic transmission system dynamics[M]. Guangzhou: South China University of Technology Press, 1991: 53-79(in Chinses).
[16]	GOMEZ E A, LOPEZ A L. Dynamic of a pneumatic system modeling simulation and experiments[J]. International Journal of Robotics and Automation, 1999, 14(1): 39-43.
[17]	徐炳辉. 气动手册[M] 上海: 上海科学技术出版社, 2005: 24-36. XU B H. Pneumatic manual[M]. Shanghai: Shanghai Science and Technology Press, 2005: 24-36(in Chinses).
[18]	冯勇, 徐振钦. 基于多岛遗传算法的火箭炮初始扰动综合优化分析[J]. 振动与冲击, 2014, 33(9): 168-172. https://www.cnki.com.cn/Article/CJFDTOTAL-ZDCJ201409033.htm FENG Y, XU Z Q. Comprehensive optimization of initial perturbation of a rocket system with multi-island genetic algorithms[J]. Journal of Vibration and Shock, 2014, 33(9): 168-172(in Chinses). https://www.cnki.com.cn/Article/CJFDTOTAL-ZDCJ201409033.htm
[19]	MUNK D J, AULD D J, STEVEN G P, et al. On the benefits of applying topology optimization to structural design of aircraft components[J]. Structural and Multidisciplinary Optimization, 2019, 60(3): 1245-1266.