航空学报 > 2014, Vol. 35 Issue (4): 911-920   doi: 10.7527/S1000-6893.2013.0448

三轴承推力矢量喷管运动学建模及试验

王向阳1, 朱纪洪2, 刘凯2, 郑意3   

  1. 1. 清华大学 航天航空学院, 北京 100084;
    2. 清华大学 计算科学与技术系, 北京 100084;
    3. 兰州交通大学 机电工程学院, 甘肃 兰州 730070
  • 收稿日期:2013-08-20 修回日期:2013-10-26 出版日期:2014-04-25 发布日期:2013-11-16
  • 通讯作者: 朱纪洪,Tel.:010-62796706 E-mail:jhzhu@tsinghua.edu.cn E-mail:jhzhu@tsinghua.edu.cn
  • 作者简介:王向阳男,博士研究生。主要研究方向:垂直/短距起降飞机建模与飞行控制。Tel:010-62796711-8049 E-mail:wangxiangyang08@mails.tsinghua.edu.cn;朱纪洪男,博士,教授,博士生导师。主要研究方向:飞行控制与导航、鲁棒控制与非线性控制。Tel:010-62796706 E-mail:jhzhu@tsinghua.edu.cn;刘凯男,博士后。主要研究方向:飞行控制与导航、鲁棒控制与非线性控制。Tel:010-62796711-8060 E-mail:k_liu11@163.com;郑意男,硕士研究生。主要研究方向:推力矢量飞机动力学建模。Tel:010-62796711-8025 E-mail:zhengyi0457@163.com
  • 基金资助:

    国家自然科学基金(60974339)

Kinematic Modeling and Testing of 3-Bearing Swivel Duct Nozzle

WANG Xiangyang1, ZHU Jihong2, LIU Kai2, ZHENG Yi3   

  1. 1. School of Aerospace and Aeronautics, Tsinghua University, Beijing 100084, China;
    2. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;
    3. School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China
  • Received:2013-08-20 Revised:2013-10-26 Online:2014-04-25 Published:2013-11-16
  • Supported by:

    National Natural Science Foundation of China (60974339)

摘要:

三轴承推力矢量(3BSD)喷管是实现大角度偏转的推力矢量主要形式,主要应用于垂直/短距起降(V/STOL)飞机。喷管由3段组成,相邻两段通过轴承连接,喷管与发动机出口也通过轴承连接,因此形成了3对转动副,通过3对转动副的转动喷管可以实现偏转到特定的角度及方向。三轴承推力矢量喷管运动学模型是其控制器设计及应用的前提,通过喷管固联坐标系逐级坐标转换的方法得到喷管运动学模型。通过几何关系分析说明了三轴承推力矢量喷管的基本原理,对推力矢量偏转大小/方向与三级喷管转角之间的非线性关系进行了分析,在3条基本假设的基础上提出了喷管逆运动学控制规律,并利用一个缩比喷管进行了试验验证。试验结果表明,所建立模型可以反映喷管运动学特性,逆运动学控制规律可应用于喷管开环控制。

关键词: 三轴承推力矢量喷管, 垂直/短距起降, 运动学模型, 逆运动学控制规律, 缩比模型试验

Abstract:

The 3-bearing swivel duct (3BSD) nozzle is the main form of large angle deflection. It is chiefly used on vertical and/or short take-off and landing (V/STOL) aircrafts. A 3-bearing swivel duct nozzle contains three ducts. The three ducts and the engine outlet are connected by three bearings thus forming three revolute pairs. The nozzles deflect to a desired angle and direction through the rotation of the revolute pairs. Kinematic modeling is the prerequisite of the design and application of a 3-bearing swivel duct nozzle. A kinematic model is built in this paper using coordinates transformation. Principles of the nozzle are presented through geometric analysis. The nonlinear relationship of the nozzle deflection angle/direction and rotation angles of the three revolute pairs is discussed. The inverse kinematic control law is given, based on three proposed assumptions, and tested on a scaled 3-bearing swivel duct nozzle. The experiment results show that the kinematics model reflects the kinematic behavior of the 3-bearing swivel duct nozzle precisely, and the inverse kinematic control law can be used for its open loop control.

Key words: 3-bearing swivel duct nozzle, vertical and/or short take-off and landing, kinematic model, inverse kinematic control law, scaled model test

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