共轴双旋翼动力学建模与验证

doi:10.16183/j.cnki.jsjtu.2021.044

上海交通大学学报 ›› 2022, Vol. 56 ›› Issue (3): 395-402.doi: 10.16183/j.cnki.jsjtu.2021.044

所属专题：《上海交通大学学报》2022年“航空航天”专题

• 航空航天 • 上一篇

共轴双旋翼动力学建模与验证

胡金硕¹, 黄健哲²()

1.中国民航科学技术研究院无人机适航审定中心,北京 100020
2.上海交通大学航空航天学院,上海 200240

收稿日期:2021-02-05 出版日期:2022-03-28 发布日期:2022-04-01
通讯作者: 黄健哲 E-mail:huangdeng9@sjtu.edu.cn
作者简介:胡金硕(1988-),男,山东省滨州市人,助理研究员,主要从事无人机动力学与控制.
基金资助:
国家自然科学基金(11901385);上海市扬帆计划资助项目(19YF1421600)

Dynamics Modeling and Validation of Coaxial Lifting Rotors

HU Jinshuo¹, HUANG Jianzhe²()

1. UAS Airworthiness Certification Center, China Academy of Civil Aviation Science and Technology, Beijing 100020, China
2. School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2021-02-05 Online:2022-03-28 Published:2022-04-01
Contact: HUANG Jianzhe E-mail:huangdeng9@sjtu.edu.cn

摘要/Abstract

摘要：

建立共轴双旋翼动力学模型可用于共轴多旋翼飞行器的控制器设计、飞行模拟等研究,需要同时兼顾模型的计算实时性和精度.首先,基于伴随理论推导包含旋翼尾迹的全流场诱导速度计算模型.然后,在单旋翼有限状态入流模型基础上进行扩展,建立考虑尾迹倾斜的共轴双旋翼有限状态动力学模型.最后,推导共轴双旋翼悬停状态上下旋翼推力计算公式,并进行试验验证.研究结果表明:所建立的动力学模型计算复杂度在可接受的范围内,推力计算值与测试值在一定转速范围内基本吻合,并可很好地反映出共轴双旋翼推力损失趋势.

关键词: 共轴双旋翼, 动力学建模, 有限入流, 流场干涉

Abstract:

The dynamics model for coaxial lifting rotors can be used to study the controller design and flight simulation for coaxial-rotor aerial vehicles. However, both the computational efficiency and the accuracy should be considered. First, the computational model of the induced velocity of lifting rotor everywhere including the wake region is derived based on adjoint theorem. Then, the finite state dynamics model for coaxial lifting rotors with wake skew considered is developed by extending the finite state inflow model for single rotor. Finally, the equations for calculating the thrust of coaxial lifting rotors in the hover condition are given, and the test is conducted. The results show that the computational complexity of the proposed dynamics model for coaxial lifting rotors is acceptable, and the computational thrusts are almost close to the test results when the rotational speed is within a certain range, which can also reflect the trend of the thrust lost for coaxial lifting rotors.

Key words: coaxial lifting rotors, dynamics modeling, finite-state inflow, flow field interaction

中图分类号:

V211
O39

胡金硕, 黄健哲. 共轴双旋翼动力学建模与验证[J]. 上海交通大学学报, 2022, 56(3): 395-402.

HU Jinshuo, HUANG Jianzhe. Dynamics Modeling and Validation of Coaxial Lifting Rotors[J]. Journal of Shanghai Jiao Tong University, 2022, 56(3): 395-402.

图/表 8

图1

表1

图2

图3

表2

单旋翼不同转速下的推力

ω/(r·min^-1)	F/g	$F ~$ /g	e_F/g
3000	65.7	111.80	46.10
3500	128.0	152.23	24.23
4000	200.0	198.81	-1.19
5000	393.0	310.59	-82.41

表2

图4

图5

表3

双旋翼不同转速下的推力

ω/(r·min^-1)	F^(l)/g	$F ~ (1)$ /g	$e F (l)$ /g	F^(u)/g	$F ~ (u)$ /g	$e F (u)$ /g
1700	39.30	33.11	-6.19	12.75	20.99	8.24
3000	129.21	103.11	-26.10	64.34	65.36	1.02
3700	227.02	156.87	-70.15	135.82	99.44	-36.38
4400	307.86	221.80	-86.06	216.77	140.60	-76.17
4900	395.95	275.13	-120.82	276.72	174.41	-102.31

表3

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r/mm	c/mm
5.0	13.0
25.4	20.8
50.8	29.7
71.2	32.5
91.6	31.0
117.0	24.8

共轴双旋翼动力学建模与验证

Dynamics Modeling and Validation of Coaxial Lifting Rotors

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