飞机地面动力学若干关键技术研究
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摘要
飞机的地面运动特性是一个复杂的动力学问题。本文从飞机地面动力学的精确建模入手,结合飞机的防滑刹车系统建模,研究了飞机在着陆、滑跑、刹车和转弯时的动态特性,对指导飞机起落架和防滑刹车系统设计,提高飞机和起落架疲劳寿命,保证飞机具有良好的地面运动特性,具有重要意义。
首先以多轮多支柱式起落架飞机和多轮小车式起落架飞机为研究对象,建立了含机体六自由度运动的多轮飞机地面动力学模型。采用时域积分法求解动力学方程,对飞机的对称和非对称着陆进行了仿真分析,并根据仿真结果指导小车式起落架辅助缓冲器和刹车平衡装置的设计。基于滑移速度和滑移率控制方式分别建立了小车式起落架多通道防滑刹车控制系统,在全机动力学模型的基础上,对飞机在干燥跑道和湿滑跑道的滑跑刹车进行仿真分析。结果表明,滑移率控制方式在干燥跑道和湿滑跑道上均能得到满意的控制效果;而滑移速度式控制方式在干燥跑道上能得到满意的控制效果,在湿滑跑道上控制效果较差。在非对称条件下,施加交叉保护和自锁保护后的滑移率控制防滑系统能够自动调节刹车力矩,避免飞机产生剧烈的偏航运动。将多学科协同仿真技术应用于飞机地面动力学研究,以ADAMS/Aircraft软件进行多体动力学建模为核心,联合CATIA软件生成飞机和起落架几何构件,PATRAN/NASTRAN软件进行模态分析生成柔性体,MATLAB软件建立控制系统模型,采用落震与静力试验的结果校核模型,然后对飞机地面滑跑转弯、防滑刹车、摆振等进行多学科协同仿真。
提出了随机中心差分法结合改进的等价线性化方法,求解飞机地面滑行非平稳随机激励下的动态响应的方法。该方法导出的递推算法只涉及矩阵相加和相乘,简单易行,计算效率高。通过与已有文献结果和Monte Carlo数字模拟的比较验证了该方法的正确性。飞机在不平跑道变速滑跑,受非平稳随机激励时,由于非对称项的存在,致使响应的平衡点移动,响应均值不再为零。同时,非零均值响应使等价线性化方法求得的等效刚度系数和阻尼系数发生改变,并对结果产生影响。
将主动控制缓冲器应用于飞机地面滑行减振。建立了飞机在随机跑道激励下,计及机身弹性的简化非线性随机动力学模型。采用等价线性化方法,使模型在平衡点附近线性化。加入前置线性滤波器将随机路面高斯激励转换成高斯白噪声激励。基于随机最优控制理论,分别对飞机匀速和变速滑跑,设计了线性二次型高斯(LQG)控制器。结果表明,与被动控制缓冲器相比,采用主动控制缓冲器后,不同滑行速度下,飞机的舒适性和减振性能都得到较大改善。
The research on aircraft ground maneuver characteristics is very complicated. From modeling aircraft ground maneuver dynamics exactly, combined with the anti-skid braking system modeling, investigation of the dynamic characteristics of aircraft landing, taxing, braking to stop with anti-skid, and steering, is quite significant in guidancing aircraft landing gears and braking systems design, improving aircraft fatigue life, and ensuring aircraft having good ground maneuver characteristics.
A mathematic model of aircraft ground movement is established for aircraft with multi-wheels and multi-landing gears, and for aircraft with four wheel bogies, considering the six-degree-of-freedom aircraft body and the flexible landing gear strut and body. The time-domain integral method is adopted to solve the dynamics equations. Then, the aircraft symmetric landing and asymmetric landing are simulated. The results are used to guidance the design of pitch damper and brake balance mechanism of the bogie.
A multi-channel anti-skid braking system with slip-ratio-control or with slip-velocity-control is established separately. Based on the aircraft dynamics model, aircraft brakeing to stop with anti-skid on dry runway and on wet runway are simulated. The results indicate that: the slip-ratio-controlled braking syetem can obtain good control effect nowhere on dry runway or on wet runway. The slip-velocity-controlled one can obtain good control effect on dry runway, but bad effect on wet runway. Under asymmetric conditions, using cross protection and self-locked protection system, the braking system with slip-ratio-control can automatically regulate brake torque to avoid deep sliding and correct aircraft course.
A new method called multi-disciplinary collaborative simulation is presented for research on aircraft ground maneuver characteristics. The virtual prototyp established in ADAMS/Aircraft, which is taken as core, integrated with the aircraft and landing gear geometry components biult in CATIA, the flex parts exported from PATRAN/NASTRAN, and the control system established in MATLAB, are used to implement the multi-disciplinary collaborative simulation of aircraft ground maneuvers. Then, some important conclusions are obtainted.
Using the stochastic central difference formula, together with the time-dependent equivalent linearization, a recursive algorithm for the covariance matrix of the nonstationary random response of nonlinear systems is developed. Then, the equivalent linearization method is modified for the problem of asymmetric nonlinear systems,considering the nonzero mean response induced by the asymmetric term. The derived algorithm is simple,efficient and easy to implement in computers.The examples given in this paper show that the results obtained with the recursive algorithm are in agreement with those from the Monte Carlo simulation, and they are more exact than those obtained in the reference.
Active control landing gears are used to alleviate vibration during aircraft taxiing. A simple nonlinear stochastic dynamics model is established, considering the aircraft elastic vibration excited by the random runway. The equivalent linearization method is adopted to make the model linearity near the balance point, and the Gaussian random process of the runway is generated from the Gaussian white noise by a shape filter. Based on the stochastic optimal control theory, the Linear Quadratic Gaussian controller is designed with weighted quadratic performance index related to comfort, shock absorption, and expending lest energy. The aircraft dynamic responses are obtained through the runway random process modeled by Monte Carlo method. The results from simulation show that,compared with the passive ones,active control landing gears can effectively improve comfort and shock absorption of the aircraft.
首先以多轮多支柱式起落架飞机和多轮小车式起落架飞机为研究对象,建立了含机体六自由度运动的多轮飞机地面动力学模型。采用时域积分法求解动力学方程,对飞机的对称和非对称着陆进行了仿真分析,并根据仿真结果指导小车式起落架辅助缓冲器和刹车平衡装置的设计。基于滑移速度和滑移率控制方式分别建立了小车式起落架多通道防滑刹车控制系统,在全机动力学模型的基础上,对飞机在干燥跑道和湿滑跑道的滑跑刹车进行仿真分析。结果表明,滑移率控制方式在干燥跑道和湿滑跑道上均能得到满意的控制效果;而滑移速度式控制方式在干燥跑道上能得到满意的控制效果,在湿滑跑道上控制效果较差。在非对称条件下,施加交叉保护和自锁保护后的滑移率控制防滑系统能够自动调节刹车力矩,避免飞机产生剧烈的偏航运动。将多学科协同仿真技术应用于飞机地面动力学研究,以ADAMS/Aircraft软件进行多体动力学建模为核心,联合CATIA软件生成飞机和起落架几何构件,PATRAN/NASTRAN软件进行模态分析生成柔性体,MATLAB软件建立控制系统模型,采用落震与静力试验的结果校核模型,然后对飞机地面滑跑转弯、防滑刹车、摆振等进行多学科协同仿真。
提出了随机中心差分法结合改进的等价线性化方法,求解飞机地面滑行非平稳随机激励下的动态响应的方法。该方法导出的递推算法只涉及矩阵相加和相乘,简单易行,计算效率高。通过与已有文献结果和Monte Carlo数字模拟的比较验证了该方法的正确性。飞机在不平跑道变速滑跑,受非平稳随机激励时,由于非对称项的存在,致使响应的平衡点移动,响应均值不再为零。同时,非零均值响应使等价线性化方法求得的等效刚度系数和阻尼系数发生改变,并对结果产生影响。
将主动控制缓冲器应用于飞机地面滑行减振。建立了飞机在随机跑道激励下,计及机身弹性的简化非线性随机动力学模型。采用等价线性化方法,使模型在平衡点附近线性化。加入前置线性滤波器将随机路面高斯激励转换成高斯白噪声激励。基于随机最优控制理论,分别对飞机匀速和变速滑跑,设计了线性二次型高斯(LQG)控制器。结果表明,与被动控制缓冲器相比,采用主动控制缓冲器后,不同滑行速度下,飞机的舒适性和减振性能都得到较大改善。
The research on aircraft ground maneuver characteristics is very complicated. From modeling aircraft ground maneuver dynamics exactly, combined with the anti-skid braking system modeling, investigation of the dynamic characteristics of aircraft landing, taxing, braking to stop with anti-skid, and steering, is quite significant in guidancing aircraft landing gears and braking systems design, improving aircraft fatigue life, and ensuring aircraft having good ground maneuver characteristics.
A mathematic model of aircraft ground movement is established for aircraft with multi-wheels and multi-landing gears, and for aircraft with four wheel bogies, considering the six-degree-of-freedom aircraft body and the flexible landing gear strut and body. The time-domain integral method is adopted to solve the dynamics equations. Then, the aircraft symmetric landing and asymmetric landing are simulated. The results are used to guidance the design of pitch damper and brake balance mechanism of the bogie.
A multi-channel anti-skid braking system with slip-ratio-control or with slip-velocity-control is established separately. Based on the aircraft dynamics model, aircraft brakeing to stop with anti-skid on dry runway and on wet runway are simulated. The results indicate that: the slip-ratio-controlled braking syetem can obtain good control effect nowhere on dry runway or on wet runway. The slip-velocity-controlled one can obtain good control effect on dry runway, but bad effect on wet runway. Under asymmetric conditions, using cross protection and self-locked protection system, the braking system with slip-ratio-control can automatically regulate brake torque to avoid deep sliding and correct aircraft course.
A new method called multi-disciplinary collaborative simulation is presented for research on aircraft ground maneuver characteristics. The virtual prototyp established in ADAMS/Aircraft, which is taken as core, integrated with the aircraft and landing gear geometry components biult in CATIA, the flex parts exported from PATRAN/NASTRAN, and the control system established in MATLAB, are used to implement the multi-disciplinary collaborative simulation of aircraft ground maneuvers. Then, some important conclusions are obtainted.
Using the stochastic central difference formula, together with the time-dependent equivalent linearization, a recursive algorithm for the covariance matrix of the nonstationary random response of nonlinear systems is developed. Then, the equivalent linearization method is modified for the problem of asymmetric nonlinear systems,considering the nonzero mean response induced by the asymmetric term. The derived algorithm is simple,efficient and easy to implement in computers.The examples given in this paper show that the results obtained with the recursive algorithm are in agreement with those from the Monte Carlo simulation, and they are more exact than those obtained in the reference.
Active control landing gears are used to alleviate vibration during aircraft taxiing. A simple nonlinear stochastic dynamics model is established, considering the aircraft elastic vibration excited by the random runway. The equivalent linearization method is adopted to make the model linearity near the balance point, and the Gaussian random process of the runway is generated from the Gaussian white noise by a shape filter. Based on the stochastic optimal control theory, the Linear Quadratic Gaussian controller is designed with weighted quadratic performance index related to comfort, shock absorption, and expending lest energy. The aircraft dynamic responses are obtained through the runway random process modeled by Monte Carlo method. The results from simulation show that,compared with the passive ones,active control landing gears can effectively improve comfort and shock absorption of the aircraft.
引文
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