倾转旋翼机冗余操纵的舵面分配策略和飞行转换路径分析
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摘要
倾转旋翼机的不同舵面存在冗余操纵,而冗余舵面的分配策略和飞行转换路径对其控制重构具有重要的意义。对建立的小型无人倾转旋翼机全量非线性飞行动力学模型在不同飞行模式下的进行配平计算、模型线化后,求出单位操纵面位移所引起的俯仰、滚转和偏航力矩的改变量,即考察倾转旋翼机各操纵面的操纵功效,并对其结果进行详细分析,以确定倾转旋翼机的冗余舵面控制重构能力;确定各飞行模式下倾转旋翼机的操纵方式,给出舵面分配策略的权重系数矩阵;在此基础上,提出三种不同的全模式飞行转换路径方案,并分别计算三种方案下倾转旋翼机的飞行速度与前倾角、姿态角及操纵量的关系。结果表明:三种方案都能实现对飞行器的合理操纵,表明倾转旋翼机的冗余舵面控制重构是可以实现的。
The redundant manipulations on different control surfaces of tilt-rotorcraft are of great importance for its control reconfiguration.The nonlinear model trim and small perturbation linearization processing result are presented based on the small unmanned tilt-rotorcraft flight dynamics model.The pitch,roll and yaw moment changing results are obtained,and manipulation efficiency is analyzed in detail under independent control of the different control surface,which confirmed that redundant control surface of tilt-rotorcraft is of the reconfiguring capacity.Manipulation styles under different flight mode are determined,and weight coefficient matrix of allocation strategy of control surface is obtained.Based on the results of analysis,the three different full mode flight conversion paths are presented,and the relations among the flight speed and turn forward angle,attitude angle,manipulation quantity are calculated.The results show that manipulation efficiency can be achieved through the three conversion paths,and indicate that redundant control surface reconfiguring ability of tilt-rotorcraft can be realized.
The redundant manipulations on different control surfaces of tilt-rotorcraft are of great importance for its control reconfiguration.The nonlinear model trim and small perturbation linearization processing result are presented based on the small unmanned tilt-rotorcraft flight dynamics model.The pitch,roll and yaw moment changing results are obtained,and manipulation efficiency is analyzed in detail under independent control of the different control surface,which confirmed that redundant control surface of tilt-rotorcraft is of the reconfiguring capacity.Manipulation styles under different flight mode are determined,and weight coefficient matrix of allocation strategy of control surface is obtained.Based on the results of analysis,the three different full mode flight conversion paths are presented,and the relations among the flight speed and turn forward angle,attitude angle,manipulation quantity are calculated.The results show that manipulation efficiency can be achieved through the three conversion paths,and indicate that redundant control surface reconfiguring ability of tilt-rotorcraft can be realized.
引文
[1]Ferguson S W.A mathematical model for real time flight simulation of a generic tilt-rotor aircraft[R].NASA CR-166536,1988.
[2]Ferguson S W.Development and validation of a simulation for a generic tilt-proprotor aircraft[R].NASA CR-166537,1989.
[3]Klein G D.Linear modeling of tilt-rotor aircraft(in helicopter and airplane modes)for stability analysis and preliminary design[D].USA:Naval Postgraduate School,1996.
[4]Miller M,Narkiewicz J.Tilt-rotor modeling for simulation in various flight conditions[J].Journal of Theoretical and Applied Mechanics,2006,44(4):881-906.
[5]沙虹伟.无人倾转旋翼机飞行力学建模与姿态控制技术研究[D].南京:南京航空航天大学,2007.Sha Hongwei.A mathematical model of unmanned tilt-rotor aircraft and research on attitude control system design[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2007.(in Chinese)
[6]沙虹伟,陈仁良.倾转旋翼机飞行力学特性[J].航空动力学报,2012,27(4):749-754.Sha Hongwei,Chen Renliang.Flight dynamics characteristic of tilt rotor aircraft[J].Journal of Aerospace Power,2012,27(4):749-754.(in Chinese)
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[8]Gavito V E,Colins D J.Application of eigenstructure assignment to self-recomfiguring aircraft MIMO controllers[J].AIAA,Guidance,Navigation and Control Conference,Monterey,1987.
[9]Marc Gervais.Tiltrotor noise reduction through flight trajectory management and aircraft configuration control[D].Maryland:University of Maryland,2004.
[10]夏青元,徐景法,金开宝.倾转旋翼飞行器的建模和操纵策略分配[J].航空动力学报,2013,28(9):2016-2028.Xia Qingyuan,Xu Jinfa,Jin Kaibao.Tilt-rotor aircraft modeling and its manipulation assignment strategy[J].Journal of Aerospace Power,2013,28(9):2016-2028.(in Chinese)
[11]夏青元,徐锦法,张梁,等.无人倾转旋翼飞行器冗余操纵控制策略设计[J].哈尔滨工业大学学报,2014,46(1):121-128.Xia Qingyuan,Xu Jinfa,Zhang Liang,et al.Redundant manipulation control strategy for unmanned tilt-rotor aircraft[J].Journal of Harbin Institute of Technology,2014,46(1):121-128.(in Chinese)
[12]吉国明,郑配云,邓茅菁,等.倾转旋翼机转动机构运动学仿真分析[J].航空工程进展,2015,6(4):452-459.Ji Guoming,Zheng Peiyun,Deng Maojing,et al.Kinematic simulation and analysis of tilt-rotor rotating mechanism[J].Advances Aeronautical Science and Engineering,2015,6(4):452-459.(in Chinese)
[13]宋彦国,王焕瑾,沙虹伟,等.倾转旋翼飞行器飞行力学模型研究[J].空气动力学学报,2008,26(2):192-196.Song Yanguo,Wang Huanjin,Sha Hongwei,et al.Flight dynamic mathematical model of tilt aircraft[J].Acta Aerodynamica Sinica,2008,26(2):192-196.(in Chinese)
[14]郭剑东,宋彦国,夏品奇.小型无人倾转旋翼机全模式飞行操纵控制[J].南京航空航天大学报,2009,41(4):439-444.Guo Jiandong,Song Yanguo,Xia Pinqi.Full envelope flight control method for small unmanned tilt-rotor aircraft[J].Journal of Nanjing University of Aeronautics and Astronautics,2009,41(4):439-444.(in Chinese)
[15]郭剑东,宋彦国.小型无人倾转旋翼机气动与操纵特性试验研究[J].空气动力学学报,2015,33(1):107-112.Guo Jiandong,Song Yanguo.Testing study on aerodynamics and control characteristic of a small unmanned tilt-rotor[J].Acta Aerodynamica Sinica,2015,33(1):107-112.(in Chinese)
[2]Ferguson S W.Development and validation of a simulation for a generic tilt-proprotor aircraft[R].NASA CR-166537,1989.
[3]Klein G D.Linear modeling of tilt-rotor aircraft(in helicopter and airplane modes)for stability analysis and preliminary design[D].USA:Naval Postgraduate School,1996.
[4]Miller M,Narkiewicz J.Tilt-rotor modeling for simulation in various flight conditions[J].Journal of Theoretical and Applied Mechanics,2006,44(4):881-906.
[5]沙虹伟.无人倾转旋翼机飞行力学建模与姿态控制技术研究[D].南京:南京航空航天大学,2007.Sha Hongwei.A mathematical model of unmanned tilt-rotor aircraft and research on attitude control system design[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2007.(in Chinese)
[6]沙虹伟,陈仁良.倾转旋翼机飞行力学特性[J].航空动力学报,2012,27(4):749-754.Sha Hongwei,Chen Renliang.Flight dynamics characteristic of tilt rotor aircraft[J].Journal of Aerospace Power,2012,27(4):749-754.(in Chinese)
[7]Jiang J.Design of reconfigurable control systems using eigenstructure assignment[J].International Journal of Control,1994,59(2):395-410.
[8]Gavito V E,Colins D J.Application of eigenstructure assignment to self-recomfiguring aircraft MIMO controllers[J].AIAA,Guidance,Navigation and Control Conference,Monterey,1987.
[9]Marc Gervais.Tiltrotor noise reduction through flight trajectory management and aircraft configuration control[D].Maryland:University of Maryland,2004.
[10]夏青元,徐景法,金开宝.倾转旋翼飞行器的建模和操纵策略分配[J].航空动力学报,2013,28(9):2016-2028.Xia Qingyuan,Xu Jinfa,Jin Kaibao.Tilt-rotor aircraft modeling and its manipulation assignment strategy[J].Journal of Aerospace Power,2013,28(9):2016-2028.(in Chinese)
[11]夏青元,徐锦法,张梁,等.无人倾转旋翼飞行器冗余操纵控制策略设计[J].哈尔滨工业大学学报,2014,46(1):121-128.Xia Qingyuan,Xu Jinfa,Zhang Liang,et al.Redundant manipulation control strategy for unmanned tilt-rotor aircraft[J].Journal of Harbin Institute of Technology,2014,46(1):121-128.(in Chinese)
[12]吉国明,郑配云,邓茅菁,等.倾转旋翼机转动机构运动学仿真分析[J].航空工程进展,2015,6(4):452-459.Ji Guoming,Zheng Peiyun,Deng Maojing,et al.Kinematic simulation and analysis of tilt-rotor rotating mechanism[J].Advances Aeronautical Science and Engineering,2015,6(4):452-459.(in Chinese)
[13]宋彦国,王焕瑾,沙虹伟,等.倾转旋翼飞行器飞行力学模型研究[J].空气动力学学报,2008,26(2):192-196.Song Yanguo,Wang Huanjin,Sha Hongwei,et al.Flight dynamic mathematical model of tilt aircraft[J].Acta Aerodynamica Sinica,2008,26(2):192-196.(in Chinese)
[14]郭剑东,宋彦国,夏品奇.小型无人倾转旋翼机全模式飞行操纵控制[J].南京航空航天大学报,2009,41(4):439-444.Guo Jiandong,Song Yanguo,Xia Pinqi.Full envelope flight control method for small unmanned tilt-rotor aircraft[J].Journal of Nanjing University of Aeronautics and Astronautics,2009,41(4):439-444.(in Chinese)
[15]郭剑东,宋彦国.小型无人倾转旋翼机气动与操纵特性试验研究[J].空气动力学学报,2015,33(1):107-112.Guo Jiandong,Song Yanguo.Testing study on aerodynamics and control characteristic of a small unmanned tilt-rotor[J].Acta Aerodynamica Sinica,2015,33(1):107-112.(in Chinese)