• 航空航天 •

### 共轴双旋翼动力学建模与验证

1. 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. 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

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.