复合式高速无人直升机飞行力学建模及操纵策略研究

doi:10.12305/j.issn.1001-506X.2024.07.30

摘要/Abstract

摘要：

双螺旋桨复合式高速无人直升机同时具备了直升机和固定翼飞机的优势, 是目前高速飞行器的研究热门之一。针对双螺旋桨复合式高速无人直升机进行了飞行力学相关分析和操纵策略研究。首先, 以干扰因子的方式构建旋翼对机翼的气动干扰模型, 机身模型采用风洞实验数据, 然后, 建立该直升机的非线性飞行动力学模型。针对操纵冗余问题, 提出一种操纵策略, 以权重系数来分配操纵通道, 通过添加平均螺距杆纵向通道, 由螺旋桨平均螺距控制前飞速度。在此基础上进行配平, 实现了各个杆操纵量在3个模式间的光滑过渡, 从而验证了操纵策略的合理性。

关键词: 双螺旋桨复合式高速无人直升机, 操纵冗余, 飞行动力学模型, 操纵策略

Abstract:

Double-propeller compound high-speed unmanned helicopter, which is currently one of the hottest research topics in high-speed aircraft, has the advantages of both helicopter and fixed wing aircraft. In this paper, the flight-dynamics related analysis and manipulation strategy research of the double-propeller compound high-speed unmanned helicopter are carried out. The aerodynamic interference model of rotor to wing is constructed by using the interference factor, and the fuselage model is based on the wind tunnel test data. Then, the nonlinear flight dynamics model of double-propeller compound high-speed unmanned helicopter is presented. In view of the problem of control redundancy, a manipulation strategy is proposed, which allocates the control channel with the weight coefficient, and controls the forward flight speed by the longitudinal channel of the mean propeller pitch. On this basis, the smooth transition of each rod between the three modes is realized, which verifies the rationality of the control strategy.

Key words: double-propeller compound high-speed unmanned helicopter, control redundancy, flight dynamics model, manipulation strategy

中图分类号:

V212.4

杨洋, 黄维宁, 杨永文, 徐亮, 李华松. 复合式高速无人直升机飞行力学建模及操纵策略研究[J]. 系统工程与电子技术, 2024, 46(7): 2481-2489.

Yang YANG, Weining HUANG, Yongwen YANG, Liang XU, Huasong LI. Flight dynamics and manipulation strategy of compound high speed helicopter[J]. Systems Engineering and Electronics, 2024, 46(7): 2481-2489.

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参数	数值	参数	数值
总重/kg	12.5	机翼弦长/mm	125
主旋翼直径/mm	1 340	垂尾展长/mm	210
推力桨半径/mm	155	垂尾平均弦长/mm	100
推力桨力臂/mm	385	平尾展长/mm	340
机翼翼展/mm	770	平尾弦长/mm	100

操纵通道	操纵机构
油门1	控制旋翼的总距, 实现高度控制
油门2	控制螺旋桨的平均螺距, 实现前飞控制
航向	控制两个螺旋桨的差分螺距, 实现偏航运动
俯仰	控制旋翼的纵向周期变距, 实现俯仰角控制
滚转	控制旋翼的横向周期变距, 实现左/右侧飞

操纵通道	操纵机构
油门1	-
油门2	控制螺旋桨的平均螺距, 实现前飞速度控制
航向	控制方向舵和差分螺距, 实现偏航运动
俯仰	控制升降舵, 使得直升机抬/低头, 实现高度控制
滚转	控制副翼, 使得直升机左/右滚转, 左/右侧飞

操纵杆	行程/(°)	杆操纵量/mm
总距杆	0~15	6
横向杆	-3~3	6
纵向杆	-3~3	6
航向杆	-10~10	6
平均螺距杆	0~50	6