拖曳式重复使用运载器飞行动力学
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摘要
运载器的重复使用是未来航天运输发展的必然趋势，而重复使用运载器的发射方式多种多样，拖曳式空中发射就是其中的一种。
为了实现我国天地往返航天运输系统“快速、机动、廉价、可靠”的发展目标，国家高技术研究发展计划(863计划)对各种天地往返运输系统的发射方式进行了探索研究。在国家863计划的支持下，我们对拖曳式两级重复使用跨大气层飞行器概念及关键技术进行了专题研究，本论文的研究内容就是该专题的一部分。由于缺乏相应的参考资料，该项研究的困难极大。在国内，尚无他人开展此项工作；在国外，除了提出拖曳式空中发射RLV这个概念外，再也没有其他有价值的资料可以参考。所以，该项目和该论文的任何一项研究成果都是具有一定的创新性和探索性。
论文回顾和分析了国外，包括日本、欧洲、俄罗斯、印度，特别是美国的重复使用运载器的发展历史、现状，总结了世界未来重复使用运载器的发展趋势，分析了重复使用运载器空中发射方式的性能优势。简要阐述了如下3种空中发射方式：背负式发射、空中加油式发射和拖曳式发射，并对拖曳式空中发射的概念和优点进行了较为详细的介绍。根据拖曳式空中发射系统的特点，进行了系统的概念设计。通过对拖曳系统中拖缆细致而深入的研究，建立了多种拖缆的数学模型。依据拖曳系统的耦合特性和约束条件，建立了拖曳飞行动力学和运动学方程，提出了一种基于仿真的拖曳系统飞行性能计算方法。最后，在分析拖曳系统中飞行器的静稳定性之后，采用拖缆的“直线线性弹簧”模型，建立了拖曳系统的小扰动运动方程，并对系统中飞行器的动态特性和品质进行了初步计算、仿真和分析。论文所进行的创新性研究主要表现在以下几个方面：
1) 针对拖曳式空中发射重复使用运载器的技术指标要求及拖曳系统的特点，进行了拖曳式空中发射系统的概念设计，尤其是运载器的概念设计。
2) 针对拖曳系统的耦合特性和约束条件，对拖曳系统中的柔性体——拖缆进行了细致的研究，建立了拖缆的多种数学模型，包括：直线线性弹簧、刚化柔性悬索、弹簧柔性体、等距约束、刚化柔性体、完全柔性体等。其中“直线线性弹簧”模型和“刚化柔性悬索”模型在拖曳系统的仿真计算中得到了成功应用。
3) 从拖曳飞机、运载器运动方程和拖缆数学模型出发，建立了拖曳系统中三体相互耦合和约束的动力学和运动学方程。
4) 根据建立的拖曳系统动力学和相应的运动学方程，对拖曳系统中运载器在纵向平面内和水平面内的航迹控制进行了研究，达到使运载器跟随拖曳飞机的目的。
5) 基于仿真的方法，对拖曳系统的起飞性能和基本飞行性能进行了研究，以验证拖曳系统的飞行性能能否满足运载器发射的要求。所研究的拖曳系统起飞性能和基本飞行性能有：起飞滑跑距离、平飞最大速度、平飞最小速度、升限。
6) 采用拖缆的“直线线性弹簧”模型，建立了拖曳系统的小扰动运动方程，
The reuse of vehicle is the trend of the development of space transportation. There are many kinds of launch modes for reusable launch vehicles (RLVs), the air-launch is just one.
In order to implement our development target of the space transportation system, that is "quick, flexible, cheap and reliable", the high-tech research and development program of China (863 program) has investigated all kinds of launch methods of transportation system. Under this project, we carried on an exploratory research of the two-stage-to-orbit transatmospheric vehicle and some key technology. This dissertation belongs to this research. The difficulties of the research came from the lack of references. So, every piece of the research findings is creative and exploratory.
This dissertation reviewed and analyzed the history, current status and development trend of foreign RLVs in Japan, Europe, Russia, India and America. 3 kinds of air-launched methods and their performance advantages were introduced simply, including captive on top, aerial refueled, and towed. The concept design of the towed air-launched system was studied in detail according to the system characteristics. The towline in the towed air-launched vehicle system was researched in depth and finely. Many kinds of the towline mathematical models were founded. According to the coupling characteristics and constrained conditions of the towing system, the models of dynamics and kinematics of the towing system were built up. Some flight performances of the towing system were studied by simulation method. Finally, the static stability and the dynamic characteristics and flying quality of the vehicles in the towing system were analyzed and simulated. All creative research findings are showed as follows.
1) Aiming at the technical order to the towed air-launched vehicle and the characteristics of the towing system, a concept design for a towed air-launch system is archived
2) On the basis of the towing system's coupling characteristics constrained conditions, 6 kinds of mathematical models of the towline —a flexible body, are studied, which are linear spring, flexible suspended cable with rigidization, spring flexible body, equal distance restriction, flexible body with rigidization, and flexible body. The linear spring model and flexible suspended cable with rigidization model are applied in simulation calculation of the towing system.
3) Based on dynamic and kinematic equations of the towing aircraft and towed vehicle and towline's mathematical models, the dynamic and kinematic equations of the towing system with three entities coupling and constrained are build.
4) In the light of the dynamic and kinematic equations of the towing system, the trajectory control of the towed vehicle is studied, in order to achieve that the vehicle can follow the towing aircraft.
为了实现我国天地往返航天运输系统“快速、机动、廉价、可靠”的发展目标，国家高技术研究发展计划(863计划)对各种天地往返运输系统的发射方式进行了探索研究。在国家863计划的支持下，我们对拖曳式两级重复使用跨大气层飞行器概念及关键技术进行了专题研究，本论文的研究内容就是该专题的一部分。由于缺乏相应的参考资料，该项研究的困难极大。在国内，尚无他人开展此项工作；在国外，除了提出拖曳式空中发射RLV这个概念外，再也没有其他有价值的资料可以参考。所以，该项目和该论文的任何一项研究成果都是具有一定的创新性和探索性。
论文回顾和分析了国外，包括日本、欧洲、俄罗斯、印度，特别是美国的重复使用运载器的发展历史、现状，总结了世界未来重复使用运载器的发展趋势，分析了重复使用运载器空中发射方式的性能优势。简要阐述了如下3种空中发射方式：背负式发射、空中加油式发射和拖曳式发射，并对拖曳式空中发射的概念和优点进行了较为详细的介绍。根据拖曳式空中发射系统的特点，进行了系统的概念设计。通过对拖曳系统中拖缆细致而深入的研究，建立了多种拖缆的数学模型。依据拖曳系统的耦合特性和约束条件，建立了拖曳飞行动力学和运动学方程，提出了一种基于仿真的拖曳系统飞行性能计算方法。最后，在分析拖曳系统中飞行器的静稳定性之后，采用拖缆的“直线线性弹簧”模型，建立了拖曳系统的小扰动运动方程，并对系统中飞行器的动态特性和品质进行了初步计算、仿真和分析。论文所进行的创新性研究主要表现在以下几个方面：
1) 针对拖曳式空中发射重复使用运载器的技术指标要求及拖曳系统的特点，进行了拖曳式空中发射系统的概念设计，尤其是运载器的概念设计。
2) 针对拖曳系统的耦合特性和约束条件，对拖曳系统中的柔性体——拖缆进行了细致的研究，建立了拖缆的多种数学模型，包括：直线线性弹簧、刚化柔性悬索、弹簧柔性体、等距约束、刚化柔性体、完全柔性体等。其中“直线线性弹簧”模型和“刚化柔性悬索”模型在拖曳系统的仿真计算中得到了成功应用。
3) 从拖曳飞机、运载器运动方程和拖缆数学模型出发，建立了拖曳系统中三体相互耦合和约束的动力学和运动学方程。
4) 根据建立的拖曳系统动力学和相应的运动学方程，对拖曳系统中运载器在纵向平面内和水平面内的航迹控制进行了研究，达到使运载器跟随拖曳飞机的目的。
5) 基于仿真的方法，对拖曳系统的起飞性能和基本飞行性能进行了研究，以验证拖曳系统的飞行性能能否满足运载器发射的要求。所研究的拖曳系统起飞性能和基本飞行性能有：起飞滑跑距离、平飞最大速度、平飞最小速度、升限。
6) 采用拖缆的“直线线性弹簧”模型，建立了拖曳系统的小扰动运动方程，
The reuse of vehicle is the trend of the development of space transportation. There are many kinds of launch modes for reusable launch vehicles (RLVs), the air-launch is just one.
In order to implement our development target of the space transportation system, that is "quick, flexible, cheap and reliable", the high-tech research and development program of China (863 program) has investigated all kinds of launch methods of transportation system. Under this project, we carried on an exploratory research of the two-stage-to-orbit transatmospheric vehicle and some key technology. This dissertation belongs to this research. The difficulties of the research came from the lack of references. So, every piece of the research findings is creative and exploratory.
This dissertation reviewed and analyzed the history, current status and development trend of foreign RLVs in Japan, Europe, Russia, India and America. 3 kinds of air-launched methods and their performance advantages were introduced simply, including captive on top, aerial refueled, and towed. The concept design of the towed air-launched system was studied in detail according to the system characteristics. The towline in the towed air-launched vehicle system was researched in depth and finely. Many kinds of the towline mathematical models were founded. According to the coupling characteristics and constrained conditions of the towing system, the models of dynamics and kinematics of the towing system were built up. Some flight performances of the towing system were studied by simulation method. Finally, the static stability and the dynamic characteristics and flying quality of the vehicles in the towing system were analyzed and simulated. All creative research findings are showed as follows.
1) Aiming at the technical order to the towed air-launched vehicle and the characteristics of the towing system, a concept design for a towed air-launch system is archived
2) On the basis of the towing system's coupling characteristics constrained conditions, 6 kinds of mathematical models of the towline —a flexible body, are studied, which are linear spring, flexible suspended cable with rigidization, spring flexible body, equal distance restriction, flexible body with rigidization, and flexible body. The linear spring model and flexible suspended cable with rigidization model are applied in simulation calculation of the towing system.
3) Based on dynamic and kinematic equations of the towing aircraft and towed vehicle and towline's mathematical models, the dynamic and kinematic equations of the towing system with three entities coupling and constrained are build.
4) In the light of the dynamic and kinematic equations of the towing system, the trajectory control of the towed vehicle is studied, in order to achieve that the vehicle can follow the towing aircraft.
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