可悬停双旋翼微型飞行器设计与制造
|
摘要
本文针对一种可悬停双旋翼微型飞行器进行了总体设计、计算流体力学数值计算,飞行动力学建模与配平计算和加工制造和飞行试验进行了研究。
结合飞机总体设计的方法,提出了一种新的针对微型飞行器的总体设计重量估算方法。根据设计指标,进行了可悬停双旋翼微型飞行器总体设计,在CATIA中建立了三维模型。使用南京航空航天大学微型飞行器研究中心自行开发的3D2MUFS求解器,对设计好的微型飞行器进行了低雷诺数空气动力学计算与研究。
根据常规螺旋桨气动计算方法,结合低雷诺数下微型螺旋桨翼型气动特性分析,利用修正后的动量法和叶素法组合方法对可悬停双旋翼微型飞行器旋翼的气动特性进行研究,并把此方法用于微型旋翼的建模。
针对可悬停双旋翼微型飞行器,建立了低雷诺数飞行条件下考虑螺旋桨滑流影响的飞行动力学模型。在MATLAB/ Simulink仿真环境中构建了可悬停双旋翼微型飞行器的仿真模型,并运用建立的仿真模型对可悬停双旋翼微型飞行器进行了配平计算和稳定性分析。
最后,完成了全机的结构设计,零件设计,并加工了样机,做了飞行试验。
The design, the CFD numerical calculation, modeling of flight dynamics, the calculation of the trim, the airframe manufacturing and flight test of a Dual Rotor Micro Aerial Vehicle which can hover is studied in this paper.
According to the target of the design, using an equation for estimating the the weight of MAV, and the method of aircraft design to complete the design.establishing a 3D model in CATIA. Numerical simulation of flow-field around Dual Rotor MAV is completed by using 3D2MUFS solver which is developed by MAV Center of Nanjing University of Aeronautics and Astronautics.
The aerodynamic characteristic of micro propeller with low Reynolds numbers is studied in this paper. In order to compute the micro propeller aerodynamics approximately, a revised theory of combination of momentum theory and the blade element approach is applied. The theory has been used to establish the mathematical model of the rotor.
The mathematical model of Dual Rotor MAV is built, and a model used for simlulation is built in the Matlab/Simulik simulation environment, then some analysis work is done to a unmanned tilt-rotor aircraft with the model ,so that we know much characteristic of the unmanned tilt rotor aircraft.
Finally, the structure and part design of the Dual Rotor MAV is done in CATIA, the prototype of the Dual Rotor MAV is Manufactured and the flight tests is also been done.
结合飞机总体设计的方法,提出了一种新的针对微型飞行器的总体设计重量估算方法。根据设计指标,进行了可悬停双旋翼微型飞行器总体设计,在CATIA中建立了三维模型。使用南京航空航天大学微型飞行器研究中心自行开发的3D2MUFS求解器,对设计好的微型飞行器进行了低雷诺数空气动力学计算与研究。
根据常规螺旋桨气动计算方法,结合低雷诺数下微型螺旋桨翼型气动特性分析,利用修正后的动量法和叶素法组合方法对可悬停双旋翼微型飞行器旋翼的气动特性进行研究,并把此方法用于微型旋翼的建模。
针对可悬停双旋翼微型飞行器,建立了低雷诺数飞行条件下考虑螺旋桨滑流影响的飞行动力学模型。在MATLAB/ Simulink仿真环境中构建了可悬停双旋翼微型飞行器的仿真模型,并运用建立的仿真模型对可悬停双旋翼微型飞行器进行了配平计算和稳定性分析。
最后,完成了全机的结构设计,零件设计,并加工了样机,做了飞行试验。
The design, the CFD numerical calculation, modeling of flight dynamics, the calculation of the trim, the airframe manufacturing and flight test of a Dual Rotor Micro Aerial Vehicle which can hover is studied in this paper.
According to the target of the design, using an equation for estimating the the weight of MAV, and the method of aircraft design to complete the design.establishing a 3D model in CATIA. Numerical simulation of flow-field around Dual Rotor MAV is completed by using 3D2MUFS solver which is developed by MAV Center of Nanjing University of Aeronautics and Astronautics.
The aerodynamic characteristic of micro propeller with low Reynolds numbers is studied in this paper. In order to compute the micro propeller aerodynamics approximately, a revised theory of combination of momentum theory and the blade element approach is applied. The theory has been used to establish the mathematical model of the rotor.
The mathematical model of Dual Rotor MAV is built, and a model used for simlulation is built in the Matlab/Simulik simulation environment, then some analysis work is done to a unmanned tilt-rotor aircraft with the model ,so that we know much characteristic of the unmanned tilt rotor aircraft.
Finally, the structure and part design of the Dual Rotor MAV is done in CATIA, the prototype of the Dual Rotor MAV is Manufactured and the flight tests is also been done.
引文
[1]昂海松,微型飞行器器技术的发展和分析.国防科技报告,2002年.
[2] Grasmeyer, J.M., Keennon, M.T., \Development of the Black Widow Micro Air Vehicle", 39th AIAA Aerospace Sciences Meeting and Exhibit,Reno,NV,Jan. 2001.
[3] Davis W R, Kosicki B B, Boroson D M,et al. Micro air vehicles for optical surveillance[j].The Lincoln Lavoratory J,1996,9:197-217.
[4] Dr. Stephen J. Morris,Dr. Michael Holden,Design of Micro Air Vehicles and Flight Test Validation,1999.
[5] Daniel P.Raymer.Aircraft Design:A conceptual Approach(third edition).AIAA education series,1999.
[6] M. Hepperie.,“Basic Design of Flying Wing Models”www.wh-aerotools.de/airfoils.
[7] Torenbeek E. Aerodynamic performance of wing2body con2 figurations and t he flying wing [ R] . SAE Technical Paper Series , 911019 ,1991:1– 6.
[8]余雄庆,徐惠民,昂海松,飞机总体设计,航空工业出版社,2000。
[9]韦琨,任军军,熊宇等.无位置传感器无刷直流电机SMULINK仿真模型的建模.微电机,37(5):26-29。
[10]叶金虎.无刷直流电动机的选用.微特电机.2004(4) :43-47。
[11]刘颖,昂海松,段文博.微型飞行器驱动装置特性研究..南京航空航天大学第八届研究生学术会议论文集(光盘).2006。
[12]肖天航,昂海松,定常/非定常全速流场数值计算的预处理法。中国第一届近代空气动力学与气动热力学会议,CARS-2006-00043,2006。
[13]王适存,徐国华.直升机旋翼空气动力学的发展.南京航空航天大学学报.Vol.33, No.3,Jun.2001.
[14] William M F. From Davinci to The Present-A Review of Airscrew Theory for Helicopters, Propellers, Windmills and Engines. AIAA Paper 76-367.1976.
[15]罗东明.微型飞行器的螺旋桨气动优化设计和飞行仿真技术研究.[博士论文],南京航空航天大学,2003。
[16]刘沛清著.空气螺旋桨理论及其应用.北京:北京航空航天大学出版社,2006。
[17]钟伯文,乔志德.螺旋桨性能计算的升力线与升力面方法.推进技术.No.5,Oct. 1994。
[18] Bohorquez, F. and Pines, D., \Rotor Design for E±cient Rotary Wing Micro Air Vehicles," Proceedings of the AHS International Specialists' Meeting - Unmanned Rotorcraft: Design, Control and Testing, Chandler, AZ, January 18-20, 2005.
[19]陈泽民,潘杰元.一种计算螺旋桨性能的高效升力线方法。航空动力学报。Vol.6,No.4,1991。
[20] Cuomo T., Gray N., Koratkar N. A.,“Rotor Blade Design Considerations forMicro-Rotorcraft”, In Proceedings of the AHS 58th Annual Forum, Montreal, Canada, June 11-13, 2002.
[21]亚历山大洛夫著,王适存,王培生彭炎午译.北京:空气螺旋桨.高等教育出版社,1954。
[22]范立钦,周鼎义.飞机空气动力学.西安:西北工业大学出版社,1989。
[23] C.P.Elington,C.Van den Berg,A.P.Willot,etc.Leading Edge Vortices insect Flight.Nature,19/26 Dec.1996,Vol.384,pp.626-630.
[24] Mueller, T. J.,“The Influence of laminar Separation and Transition on Low Reynold’s Number Airfoil Hysteresis,”J. Aircraft 22, pp. 763-700,1985.
[25] Mueller, T.J., \Aerodynamic Measurements at Low Reynolds Numbers for Fixed Wing Micro- Air Vehicles", presented at the Development and Operation of UAVs for Military and Civil Appli- cations, course held at the Von Karman Institute for Fluid Dynamics, Belgium, Sept 13-17, 1999.
[26] Nelson J., Koratkar N. A.,“Effect of trailing-edge Gurney flaps on the aerodynamic efficiency of micro-rotorcraft”, In Proc. of the AHS 60th Annual Forum, Baltimore, MD, June 8-10, 2004.
[27] R.W.普劳蒂著.高正,施永立译.直升机性能及稳定性和操纵性.北京:航空工业出版社,1990.
[28] Bohorquez, F., Samuel, P., Sirohi, J., Rudd, L., Pines, D. and Perel, R., \Design, Analysis and Performance of a Rotary Wing MAV, Journal of the American Helicopter Society, Vol. 48, No. 2, pp. 80-90, April, 2003.
[29] Kroo, F.Pinz,M.SHANTZ,etc.The mesicopter:A miniature rotorcraft concept phase II interim report.Jul.2000,Department of aeronautics and astronautics,Standford University.
[30] H.施里希廷,E.特鲁肯布罗特著.王星灿译.飞机空气动力学.北京:国防工业出版社,1978.
[31] H.Rosenstein,M.A.McVeigh.P.A.Mollenkof,V/STOL titl rotor aircraft study mathematical model for areal time simulation of a tilt rotor aircraft(boeing bertol model 222),NASA CR-114601.
[32] Eric B.Carlson,Yiyuan zhao,Robert T.N.chen,Optimal Tilt-rotor runway Operations in One Engine Inoperative,AIAA-99-3961.
[33]熊海泉,刘旭,郑本武飞机飞行动力学航空工业出版社。
[34] Desopper A.,et al.Study of the Low Speed Characteristics of a tiltrotor [A].Presented at the 28th European Rotorcraft Forum,2002.
[35] Olivier HEUZE,Stepphanie DIAZ,Andre DESOPPER,simplified models for tiltrotor aerodynamic phenmena in hover and low speed flight,In CEAS aerospace aerodynamics research conference,Cambidge,untied kingdom,10-12 June 2002.
[36]薛定宇,陈阳泉,基于MATLAB/Simulink的系统仿真技术与应用,清华大学出版社,2004。
[37]张志勇,精通MATLAB6.5版,北京航空航天大学出版社,2004。
[38] Paul Pounds, Robert Mahony, Peter Corke,Modelling and Control of a Quad- Rotor Robot.
[39] Jackowshi J , Boot he K,Albertani R , et al . Modeling the flight dynamics of a micro air vehicle [ A ] . Proc European MAV Conf [ C] ,2004.
[40] Waszak M R , Davidson J B. Simulation and flight control of an aeroelastic fixed wing micro aerial vehicle[ R] . AIAA200224875 ,2002.
[41] P. Pounds, R. Mahony and P. Corke. Small-Scale Aeroelastic Rotor Simulation, Design and Fabrication. In Proc. of Australasian Conference on Robotics and Automation, Sydney, Aust ralia,2005.
[42] R. W. Prouty. Helicopter Performance, Stability, and Control. Krieger Publishing Company, 2002, reprint with additions, original edition 1986.
[2] Grasmeyer, J.M., Keennon, M.T., \Development of the Black Widow Micro Air Vehicle", 39th AIAA Aerospace Sciences Meeting and Exhibit,Reno,NV,Jan. 2001.
[3] Davis W R, Kosicki B B, Boroson D M,et al. Micro air vehicles for optical surveillance[j].The Lincoln Lavoratory J,1996,9:197-217.
[4] Dr. Stephen J. Morris,Dr. Michael Holden,Design of Micro Air Vehicles and Flight Test Validation,1999.
[5] Daniel P.Raymer.Aircraft Design:A conceptual Approach(third edition).AIAA education series,1999.
[6] M. Hepperie.,“Basic Design of Flying Wing Models”www.wh-aerotools.de/airfoils.
[7] Torenbeek E. Aerodynamic performance of wing2body con2 figurations and t he flying wing [ R] . SAE Technical Paper Series , 911019 ,1991:1– 6.
[8]余雄庆,徐惠民,昂海松,飞机总体设计,航空工业出版社,2000。
[9]韦琨,任军军,熊宇等.无位置传感器无刷直流电机SMULINK仿真模型的建模.微电机,37(5):26-29。
[10]叶金虎.无刷直流电动机的选用.微特电机.2004(4) :43-47。
[11]刘颖,昂海松,段文博.微型飞行器驱动装置特性研究..南京航空航天大学第八届研究生学术会议论文集(光盘).2006。
[12]肖天航,昂海松,定常/非定常全速流场数值计算的预处理法。中国第一届近代空气动力学与气动热力学会议,CARS-2006-00043,2006。
[13]王适存,徐国华.直升机旋翼空气动力学的发展.南京航空航天大学学报.Vol.33, No.3,Jun.2001.
[14] William M F. From Davinci to The Present-A Review of Airscrew Theory for Helicopters, Propellers, Windmills and Engines. AIAA Paper 76-367.1976.
[15]罗东明.微型飞行器的螺旋桨气动优化设计和飞行仿真技术研究.[博士论文],南京航空航天大学,2003。
[16]刘沛清著.空气螺旋桨理论及其应用.北京:北京航空航天大学出版社,2006。
[17]钟伯文,乔志德.螺旋桨性能计算的升力线与升力面方法.推进技术.No.5,Oct. 1994。
[18] Bohorquez, F. and Pines, D., \Rotor Design for E±cient Rotary Wing Micro Air Vehicles," Proceedings of the AHS International Specialists' Meeting - Unmanned Rotorcraft: Design, Control and Testing, Chandler, AZ, January 18-20, 2005.
[19]陈泽民,潘杰元.一种计算螺旋桨性能的高效升力线方法。航空动力学报。Vol.6,No.4,1991。
[20] Cuomo T., Gray N., Koratkar N. A.,“Rotor Blade Design Considerations forMicro-Rotorcraft”, In Proceedings of the AHS 58th Annual Forum, Montreal, Canada, June 11-13, 2002.
[21]亚历山大洛夫著,王适存,王培生彭炎午译.北京:空气螺旋桨.高等教育出版社,1954。
[22]范立钦,周鼎义.飞机空气动力学.西安:西北工业大学出版社,1989。
[23] C.P.Elington,C.Van den Berg,A.P.Willot,etc.Leading Edge Vortices insect Flight.Nature,19/26 Dec.1996,Vol.384,pp.626-630.
[24] Mueller, T. J.,“The Influence of laminar Separation and Transition on Low Reynold’s Number Airfoil Hysteresis,”J. Aircraft 22, pp. 763-700,1985.
[25] Mueller, T.J., \Aerodynamic Measurements at Low Reynolds Numbers for Fixed Wing Micro- Air Vehicles", presented at the Development and Operation of UAVs for Military and Civil Appli- cations, course held at the Von Karman Institute for Fluid Dynamics, Belgium, Sept 13-17, 1999.
[26] Nelson J., Koratkar N. A.,“Effect of trailing-edge Gurney flaps on the aerodynamic efficiency of micro-rotorcraft”, In Proc. of the AHS 60th Annual Forum, Baltimore, MD, June 8-10, 2004.
[27] R.W.普劳蒂著.高正,施永立译.直升机性能及稳定性和操纵性.北京:航空工业出版社,1990.
[28] Bohorquez, F., Samuel, P., Sirohi, J., Rudd, L., Pines, D. and Perel, R., \Design, Analysis and Performance of a Rotary Wing MAV, Journal of the American Helicopter Society, Vol. 48, No. 2, pp. 80-90, April, 2003.
[29] Kroo, F.Pinz,M.SHANTZ,etc.The mesicopter:A miniature rotorcraft concept phase II interim report.Jul.2000,Department of aeronautics and astronautics,Standford University.
[30] H.施里希廷,E.特鲁肯布罗特著.王星灿译.飞机空气动力学.北京:国防工业出版社,1978.
[31] H.Rosenstein,M.A.McVeigh.P.A.Mollenkof,V/STOL titl rotor aircraft study mathematical model for areal time simulation of a tilt rotor aircraft(boeing bertol model 222),NASA CR-114601.
[32] Eric B.Carlson,Yiyuan zhao,Robert T.N.chen,Optimal Tilt-rotor runway Operations in One Engine Inoperative,AIAA-99-3961.
[33]熊海泉,刘旭,郑本武飞机飞行动力学航空工业出版社。
[34] Desopper A.,et al.Study of the Low Speed Characteristics of a tiltrotor [A].Presented at the 28th European Rotorcraft Forum,2002.
[35] Olivier HEUZE,Stepphanie DIAZ,Andre DESOPPER,simplified models for tiltrotor aerodynamic phenmena in hover and low speed flight,In CEAS aerospace aerodynamics research conference,Cambidge,untied kingdom,10-12 June 2002.
[36]薛定宇,陈阳泉,基于MATLAB/Simulink的系统仿真技术与应用,清华大学出版社,2004。
[37]张志勇,精通MATLAB6.5版,北京航空航天大学出版社,2004。
[38] Paul Pounds, Robert Mahony, Peter Corke,Modelling and Control of a Quad- Rotor Robot.
[39] Jackowshi J , Boot he K,Albertani R , et al . Modeling the flight dynamics of a micro air vehicle [ A ] . Proc European MAV Conf [ C] ,2004.
[40] Waszak M R , Davidson J B. Simulation and flight control of an aeroelastic fixed wing micro aerial vehicle[ R] . AIAA200224875 ,2002.
[41] P. Pounds, R. Mahony and P. Corke. Small-Scale Aeroelastic Rotor Simulation, Design and Fabrication. In Proc. of Australasian Conference on Robotics and Automation, Sydney, Aust ralia,2005.
[42] R. W. Prouty. Helicopter Performance, Stability, and Control. Krieger Publishing Company, 2002, reprint with additions, original edition 1986.