牵引飞行动力学初步研究
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摘要
本论文以国家863项目“水平起飞两级入轨跨大气层飞行器总体设计”为依托，对牵引飞行动力学进行初步研究，为我国研究运载火箭空中发射技术提供必要的技术储备。论文通过牵引系统基本性能的计算和分析，完成牵引飞行特性的研究，同时对运载器的稳定性和控制问题进行初步的探讨，最终结果将验证牵引发射方案的可行性。结合以上研究目的，本论文进行了如下具体工作：
首先熟悉牵引系统的结构和功能。通过对牵引飞行过程的分析，提出了五种建立模型的方案，就每种方案的基本理论以及建模过程进行简单的叙述，对它们的优缺点进行比较，结合研究目的选择出适合的方法作为牵引系统的建模方式。
其次将牵引系统作为多刚体系统宋考虑，根据多刚体系统动力学研究方法，建立牵引系统约束方程，由此推导出约束力计算公式；根据牵引飞行实际过程，推导出载机、运载器在起飞阶段，巡航飞行阶段的数学模型，以及相应的参数计算模型。
第三部分熟悉仿真框架软件VPM，并利用VPM提供的用户模块编写牵引飞行仿真程序。根据牵引飞行的目的，对载机应用了“起飞—爬升—平飞”的变轨道飞行方案，同时对载机轨道的倾角、倾角变化规律进行优选设计；再根据载机的飞行规律，对运载器质点系轨道的舵偏规律及其放大系数进行了设计计算，实现运载器稳定牵引飞行。最终设计出一条满足牵引飞行高度和速度的轨道。
最后针对牵引系统的特点提出具体的性能计算方法，根据此方法计算出牵引载机、自由载机和运载器的起飞性能，平飞性能以及缆绳状态等基本参数。利用数据拟合方法，对计算数据进行比较，分析牵引飞行特性。
本论文的研究工作为牵引发射方案提供了初步依据，同时性能计算、性能分析的结果对确定牵引发射的总体方案，具有重要的参考价值。
This paper relies on country 863 project" taking off levelly, two stage to orbit and transatmosphere flight vehicle system design", research towed flight dynamics primarily, development for our country air launch technology of carrier rocket, offering the essential technological reserve. Through calculating and analyzing basic performance, the flight characteristic of the towed system is researched. Stability and control issue of carrier rocket is discussed primarily. The net result of the thesis will prove the feasibility of the scheme of towed launch. Combining the above research purpose. This thesis has carried on the following job:
At first, familiar with structure and function of towed system. Have put forward the schemes of five kinds of setting-up models by analysis to towed flight, concrete course and basic theories of scheme carry on the simple narration on each, compare their pluses and minuses. Combine with study the purpose, the suitable method towed systematic modeling way is chosen.
Secondly, towed system is considered as many rigid body systems. According to research approaches of many rigid body systematic dynamics, The towed systematic engagement calculating models is derived; according to actual course of the towed flight, deriving mathematics model of the course of taking off and towed flight of the towing plane and of carrier rocket, and corresponding parameter calculate models.
The third part, familiar with the frame of the emulation software VPM. Making use of user' s module offered by VPM, write the emulation procedure of the towed flight. According to purpose of the towed flight, a new trajectory consisting of taking off, climbing phase, level flight phase is presented with. Trajectory pitch angle of the towing plane is optimized. According to the flight law of the towing plane, the fin deflection angle and amplification coefficient of particle-system trajectory of carrier rocket are designed, in order to realizing flight steadily of the carrier rocker. Finally, one trajectory meeting the height and the speed of towing flight is designed.
Finally, according to the towed systematic characteristic, the concrete performance computing method is put forward. Making use of this method, the
performance of taking off, level flight and the state of the towed rope are calculated. Utilize data processing method, two groups of data of the towed plane is compared. Characteristic of the towed system is analyed.
Research work of this thesis offers preliminary basis for the scheme of towed launch. At the same time, the result of performance calculation and performance analysis has important reference value to determining overall scheme of towed launch.
首先熟悉牵引系统的结构和功能。通过对牵引飞行过程的分析，提出了五种建立模型的方案，就每种方案的基本理论以及建模过程进行简单的叙述，对它们的优缺点进行比较，结合研究目的选择出适合的方法作为牵引系统的建模方式。
其次将牵引系统作为多刚体系统宋考虑，根据多刚体系统动力学研究方法，建立牵引系统约束方程，由此推导出约束力计算公式；根据牵引飞行实际过程，推导出载机、运载器在起飞阶段，巡航飞行阶段的数学模型，以及相应的参数计算模型。
第三部分熟悉仿真框架软件VPM，并利用VPM提供的用户模块编写牵引飞行仿真程序。根据牵引飞行的目的，对载机应用了“起飞—爬升—平飞”的变轨道飞行方案，同时对载机轨道的倾角、倾角变化规律进行优选设计；再根据载机的飞行规律，对运载器质点系轨道的舵偏规律及其放大系数进行了设计计算，实现运载器稳定牵引飞行。最终设计出一条满足牵引飞行高度和速度的轨道。
最后针对牵引系统的特点提出具体的性能计算方法，根据此方法计算出牵引载机、自由载机和运载器的起飞性能，平飞性能以及缆绳状态等基本参数。利用数据拟合方法，对计算数据进行比较，分析牵引飞行特性。
本论文的研究工作为牵引发射方案提供了初步依据，同时性能计算、性能分析的结果对确定牵引发射的总体方案，具有重要的参考价值。
This paper relies on country 863 project" taking off levelly, two stage to orbit and transatmosphere flight vehicle system design", research towed flight dynamics primarily, development for our country air launch technology of carrier rocket, offering the essential technological reserve. Through calculating and analyzing basic performance, the flight characteristic of the towed system is researched. Stability and control issue of carrier rocket is discussed primarily. The net result of the thesis will prove the feasibility of the scheme of towed launch. Combining the above research purpose. This thesis has carried on the following job:
At first, familiar with structure and function of towed system. Have put forward the schemes of five kinds of setting-up models by analysis to towed flight, concrete course and basic theories of scheme carry on the simple narration on each, compare their pluses and minuses. Combine with study the purpose, the suitable method towed systematic modeling way is chosen.
Secondly, towed system is considered as many rigid body systems. According to research approaches of many rigid body systematic dynamics, The towed systematic engagement calculating models is derived; according to actual course of the towed flight, deriving mathematics model of the course of taking off and towed flight of the towing plane and of carrier rocket, and corresponding parameter calculate models.
The third part, familiar with the frame of the emulation software VPM. Making use of user' s module offered by VPM, write the emulation procedure of the towed flight. According to purpose of the towed flight, a new trajectory consisting of taking off, climbing phase, level flight phase is presented with. Trajectory pitch angle of the towing plane is optimized. According to the flight law of the towing plane, the fin deflection angle and amplification coefficient of particle-system trajectory of carrier rocket are designed, in order to realizing flight steadily of the carrier rocker. Finally, one trajectory meeting the height and the speed of towing flight is designed.
Finally, according to the towed systematic characteristic, the concrete performance computing method is put forward. Making use of this method, the
performance of taking off, level flight and the state of the towed rope are calculated. Utilize data processing method, two groups of data of the towed plane is compared. Characteristic of the towed system is analyed.
Research work of this thesis offers preliminary basis for the scheme of towed launch. At the same time, the result of performance calculation and performance analysis has important reference value to determining overall scheme of towed launch.
引文
[1] 唐硕等，空空导弹虚拟样机设计环境设计报告，西北工业大学航天工程学院、航天工业总公司014中心，1999年。
[2] 唐硕等，运载火箭机载发射概念研究，西北工业大学航天工程学院，1999年。
[3] 徐敏、严恒元，飞行器空气动力工程计算方法，西北工业大学航天工程学院，1998年。
[4] 常振亚等，飞机飞行性能计算手册，飞行力学杂志社，1987年。
[5] 金长江，范立钦，周士林，飞行动力学—飞机飞行性能计算，国防工业出版社，1983年。
[6] 世界飞机手册，航空工业出版社，1988年。
[7] 熊海泉等，飞机飞行力学，航空工业出版社，1990年9月。
[8] 飞机飞行品质计算手册，航空工业出版社，1983年。
[9] 曹金涛，许瑞杰，飞行器飞行与控制，1990年。
[10] 周慧钟，李忠应，王瑾玫，有翼导弹飞行动力学(上、下册)，北京科学教育出版社，1980年。
[11] 中国航天工业公司人事劳动教育局，轨道导弹、运载火箭控制系统设计与分析，1999年。
[12] 王行仁，飞行实时仿真系统及技术，1999年。
[13] 黄柯棣等，系统仿真技术，1995年。
[14] 《世界航天运载器大全》编委会编，世界航天运载器大全，1990年。
[15] 陈义华，数学建模原理与方法，北京海洋出版社，2000年8月。
[16] 陆佑方，柔性多体系统动力学，北京高等教育出版社，1996年7月。
[17] 袁士杰，吕哲勤编著，多刚体系统动力学，北京理工大学出版社，1992年3月。
[18] 洪嘉振，研究生教学用书 计算多体系统动力学，1999年7月。
[19] 汪鸿振，汪开军，用有限元法求解水下拖缆振动特性，上海交通大学学报，1999年3月。
[20] 吴小平，郑友祥，丘光申，拖缆火箭轨道计算研究，轨道学报，1995年3月。
[21] 严似松，黄根余，拖航系统静水中操纵运动的模拟计算，中国造船，
1997年11月。
[22] 严似松，黄根余，拖航系统在风浪中操纵运动的模拟计算，船舶力学，2001年2月。
[23] 唐一华，新形势下我国运载火箭发展战略设想，航天工业管理，2000年。
[24] Dryden Flight Research Center, Eclipse Tow Launch Demonstration Project, National Aeronautics and Space Administration,1998.
[25] Ken Norlin and Jim Murray, Simulations in Support of Towed Flight Demonstration, National Aeronautics and Space Administration,1998.
[26] H. H. Kelle, Handbook astronauticalengineering, Mcgraw—HillBook company, 1961
[27] Marti Sarigul-Klijn Ph.D. and Nesrin Sarigul-Klijn Ph.D., A study of air launch methods for RLVs, AIAA,2001
[28] Dan Rasky, RLV technology flight demonstration study interim status briefing, January 23, 2002.
[29] Taylor, J. Janes, All the world Aircraft, Janes London, 1976.
[30] Daniel P. Rayment. Aircraft Design: a conceptual approach, Lockheed Aeronautical, 1995.
[2] 唐硕等，运载火箭机载发射概念研究，西北工业大学航天工程学院，1999年。
[3] 徐敏、严恒元，飞行器空气动力工程计算方法，西北工业大学航天工程学院，1998年。
[4] 常振亚等，飞机飞行性能计算手册，飞行力学杂志社，1987年。
[5] 金长江，范立钦，周士林，飞行动力学—飞机飞行性能计算，国防工业出版社，1983年。
[6] 世界飞机手册，航空工业出版社，1988年。
[7] 熊海泉等，飞机飞行力学，航空工业出版社，1990年9月。
[8] 飞机飞行品质计算手册，航空工业出版社，1983年。
[9] 曹金涛，许瑞杰，飞行器飞行与控制，1990年。
[10] 周慧钟，李忠应，王瑾玫，有翼导弹飞行动力学(上、下册)，北京科学教育出版社，1980年。
[11] 中国航天工业公司人事劳动教育局，轨道导弹、运载火箭控制系统设计与分析，1999年。
[12] 王行仁，飞行实时仿真系统及技术，1999年。
[13] 黄柯棣等，系统仿真技术，1995年。
[14] 《世界航天运载器大全》编委会编，世界航天运载器大全，1990年。
[15] 陈义华，数学建模原理与方法，北京海洋出版社，2000年8月。
[16] 陆佑方，柔性多体系统动力学，北京高等教育出版社，1996年7月。
[17] 袁士杰，吕哲勤编著，多刚体系统动力学，北京理工大学出版社，1992年3月。
[18] 洪嘉振，研究生教学用书 计算多体系统动力学，1999年7月。
[19] 汪鸿振，汪开军，用有限元法求解水下拖缆振动特性，上海交通大学学报，1999年3月。
[20] 吴小平，郑友祥，丘光申，拖缆火箭轨道计算研究，轨道学报，1995年3月。
[21] 严似松，黄根余，拖航系统静水中操纵运动的模拟计算，中国造船，
1997年11月。
[22] 严似松，黄根余，拖航系统在风浪中操纵运动的模拟计算，船舶力学，2001年2月。
[23] 唐一华，新形势下我国运载火箭发展战略设想，航天工业管理，2000年。
[24] Dryden Flight Research Center, Eclipse Tow Launch Demonstration Project, National Aeronautics and Space Administration,1998.
[25] Ken Norlin and Jim Murray, Simulations in Support of Towed Flight Demonstration, National Aeronautics and Space Administration,1998.
[26] H. H. Kelle, Handbook astronauticalengineering, Mcgraw—HillBook company, 1961
[27] Marti Sarigul-Klijn Ph.D. and Nesrin Sarigul-Klijn Ph.D., A study of air launch methods for RLVs, AIAA,2001
[28] Dan Rasky, RLV technology flight demonstration study interim status briefing, January 23, 2002.
[29] Taylor, J. Janes, All the world Aircraft, Janes London, 1976.
[30] Daniel P. Rayment. Aircraft Design: a conceptual approach, Lockheed Aeronautical, 1995.