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.

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.