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

doi:10.16183/j.cnki.jsjtu.2024.207

Abstract

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

CLC Number:

V275.2

LÜ Hailong, LIU Yanbin, CHEN Boyi, HE Zhen, JIA Jun. Multibody Dynamics Modeling and Control of Folding Wing Vertical Takeoff and Landing Aircraft[J]. Journal of Shanghai Jiao Tong University, 2024, 58(11): 1772-1782.

Figures/Tables 17

Fig.1

Fig.2

Fig.3

Tab.1

Parameters of FWA

参数	值	参数	值
机舱质量, m_b/kg	2	机翼对y轴惯量, $J y w$ /(kg·m²)	8.98×10^-3
机翼质量, m_w/kg	0.2	机翼对z轴惯量, $J z w$ /(kg·m²)	0.2404
机舱长度, l_b/m	1	机舱对x轴惯量, $J x b$ /(kg·m²)	4.35×10^-3
平均气动弦长, c_ref/m	0.3	机舱对y轴惯量, $J y b$ /(kg·m²)	7.82×10^-2
翼展长, l_w/m	0.4	机舱对z轴惯量, $J z b$ /(kg·m²)	7.82×10^-2
翼面积, S/m²	0.12	折叠角, η/(°)	0~75
机翼对x轴惯量, $J x w$ /(kg·m²)	0.2317	单元翼翼型	NACA6412

Tab.1

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Tab.2

Tab.3

Longitudinal modal eigenvector analysis

参数	运动模态
参数	短周期	长周期	折叠模态1	折叠模态2
v	0.0187	0.4206	0.0117	0.0017
α	0.4113	0.0209	0.2562	0.1028
q	0.4038	0.1176	0.0388	0.0011
θ	0.0176	0.4314	0.0124	0.0001
η	0.0710	0.0040	0.3901	0.4371
$η ·$	0.0777	0.0055	0.2908	0.4573

Tab.3

Fig.12

Fig.13

Fig.14

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模态	特征值	时间常数	稳定性
短周期模态	-2.4028±2.4101i	0.4162	稳定
长周期模态	0.0475±0.6737i	21.0444	发散
折叠模态1	-2.9714	0.3365	稳定
折叠模态2	2.6006	0.3845	发散
滚转模态	-5.5187	0.1812	稳定
荷兰滚模态	-0.129±1.2939i	7.7528	稳定
螺旋模态	-0.0838	11.9370	稳定