上海交通大学学报

上海交通大学学报 >

2024 , Vol. 58 >Issue 11: 1772 - 1782

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2024.207

制导、导航与控制

折叠翼垂直起降飞行器多体动力学建模和控制

  • 吕海龙 ,
  • 刘燕斌 ,
  • 陈柏屹 ,
  • 何真 ,
  • 贾军
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  • 1.南京航空航天大学 航天学院,南京 211106
    2.南京航空航天大学 自动化学院,南京 211106
    3.上海机电工程研究所,上海 201109
吕海龙(2000—),硕士生,从事变体无人机垂直起降研究.
陈柏屹,副研究员;E-mail:chenboyi1989@nuaa.edu.cn.

收稿日期: 2024-06-06

  修回日期: 2024-06-26

  录用日期: 2024-07-01

  网络出版日期: 2024-07-25

基金资助

国家自然基金青年基金(62103187);南京航空航天大学研究生科研与实践创新计划资助(xcxjh20231509)

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Multibody Dynamics Modeling and Control of Folding Wing Vertical Takeoff and Landing Aircraft

  • Lü Hailong ,
  • LIU Yanbin ,
  • CHEN Boyi ,
  • HE Zhen ,
  • JIA Jun
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  • 1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
    2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
    3. Shanghai Institute of Mechanical and Electrical Engineering, Shanghai 201109, China

Received date: 2024-06-06

  Revised date: 2024-06-26

  Accepted date: 2024-07-01

  Online published: 2024-07-25

Fold

摘要

针对旋翼飞行器续航能力有限及固定翼飞行器飞行场地受限的问题,提出一种可垂直起降的多单元翼串联式总体布局方案.首先,根据多体串联运动学和升力线理论,分析集中式变形的气动特性,并确定变形过程中的飞行攻角限制.然后,采用拟拉格朗日方程建立完整描述各单元翼间相对运动特性的非线性多体动力学模型,并对比固定翼与折叠翼在爬升过程中的飞行效率,验证了折叠翼的长续航能力以及良好的操纵性.最后,对定直平飞状态下折叠翼姿态与结构耦合特性进行模态分析,据此设计折展和飞行协同控制律,实现倾转折叠过程中的稳定控制.

关键词： 垂直起降; 变体飞行器; 拟拉格朗日方程; 模态分析; 飞行控制

本文引用格式

吕海龙 , 刘燕斌 , 陈柏屹 , 何真 , 贾军 . 折叠翼垂直起降飞行器多体动力学建模和控制[J]. 上海交通大学学报, 2024 , 58(11) : 1772 -1782 . DOI: 10.16183/j.cnki.jsjtu.2024.207

Abstract

To address the limited endurance of rotorcraft and the restricted flight areas of fixed-wing aircraft, a vertically take-off and landing multi-unit wings tandem configuration is proposed. First, using multi-body kinematics and the lifting-line theory, the aerodynamic characteristics of the centralized deformation are analyzed, and limits of the flight angle of attack during the deformation process are determined. Then, a nonlinear multi-body dynamics model is established using the quasi-Lagrangian equation to comprehensively describe the relative motion characteristics between the unit wings. The flight efficiency of fixed wings and folding wings during the climb process is compared, which verifies the long endurance and good maneuverability of the folding wings. Finally, a modal analysis of the attitude and structural coupling characteristics of the folding wings in steady-level flight is conducted, based on which the cooperative control law of folding and flight is designed to achieve stable control in the process of tilting and folding.

Key words： vertical takeoff and landing; variant vehicle; quasi-Lagrange equation; modal analysis; flight control

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