无人机绳钩回收系统的动力学特性仿真分析

doi:10.7527/S1000-6893.2014.0347

固体力学与飞行器总体设计

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无人机绳钩回收系统的动力学特性仿真分析

卢伟, 马晓平, 周明, 孙林峰

西北工业大学 365所, 西安 710072

收稿日期:2014-10-20 修回日期:2014-12-15 出版日期:2015-10-15 发布日期:2014-12-24
通讯作者: 马晓平, Tel.: 025-88450826 E-mail: maxiaoping@nwpu.edu.cn E-mail:maxiaoping@nwpu.edu.cn
作者简介:卢伟男, 硕士研究生。主要研究方向: 飞行器设计。 E-mail: luwei-lw111@163.com;马晓平男, 博士, 研究员, 博士生导师。主要研究方向: 无人机系统、飞机总体及结构设计。 Tel: 025-88450826 E-mail: maxiaoping@nwpu.edu.cn

Simulation analysis of dynamic characteristic of UAV rope-hook recovery system

LU Wei, MA Xiaoping, ZHOU Ming, SUN Linfeng

The 365th Institute, Northwestern Polytechnical University, Xi'an 710072, China

Received:2014-10-20 Revised:2014-12-15 Online:2015-10-15 Published:2014-12-24

摘要/Abstract

摘要：

无人机(UAV)精确定点回收是促进中小型无人机广泛应用的关键技术,而绳钩回收是一种适合小型固定翼无人机在狭窄场地或舰船上实现精确定点回收的先进回收方式,其具有良好的研究应用价值和开发前景。采用基于矢量封闭环、欧拉运动学和动力学方程的联立约束法,解决了无人机绳钩回收系统的空间机构运动的动力学求解问题。基于无人机绳钩回收系统动力学模型,对无人机回收时系统吸能缓冲过程中的动力学特性进行了深入分析。在MATLAB/Simulink环境中通过对动力学模型的仿真,得出以无人机速度变化为代表的系统主要性能指标,同时探讨了参数变化对系统主要性能的影响,并分析了回收过程中拦阻力峰值载荷下的机翼应力和应变。结果表明,无人机绳钩回收性能优良,是一种可开发研制的新型回收技术,为开展无人机绳钩回收系统的工程研制提供了重要的理论参考。

关键词: 无人机, 绳钩回收, 吸能缓冲, 动力学特性, 仿真分析

Abstract:

Accurate-point recovery of unmanned aerial vehicle (UAV) is a critical technology to promote the widespread use of small- and medium-sized UAVs. The rope-hook recovery technology provides an advanced accurate-point recovery method for small-sized fixed-wing UAV in limited recovery fields or naval vessels, which is of great value in advanced research and application and has splendid future. The space mechanism dynamics problem of the rope-hook recovery system is resolved by using the simultaneous constraint method based on the closing-vector-circle method and Euler kinematical and dynamical equations. The energy-absorbing and buffer capability of the rope-hook recovery system is deeply analyzed based on the dynamic modeling of UAV rope-hook recovery system. The main characteristic of the system, for instance, the velocity change, is estimated through the simulation of the dynamics modeling in the environment of MATLAB/Simulink. The influences of parameter variation on the system's main characteristics are discussed. The stress and strain of the wing forced by the arresting peak load in the process of recovery are analyzed. The results and analysis show preliminarily that the rope-hook recovery system has good performance and is a new recovery technology to develop. It offers a significant theoretical reference for the manufacture of the UAV rope-hook recovery system.

Key words: UAV, rope-hook recovery, energy-absorbing and buffer, dynamic characteristic, simulation analysis

中图分类号:

V279
TH137

卢伟, 马晓平, 周明, 孙林峰. 无人机绳钩回收系统的动力学特性仿真分析[J]. 航空学报, 2015, 36(10): 3295-3304.

LU Wei, MA Xiaoping, ZHOU Ming, SUN Linfeng. Simulation analysis of dynamic characteristic of UAV rope-hook recovery system[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(10): 3295-3304.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

无人机绳钩回收系统的动力学特性仿真分析

Simulation analysis of dynamic characteristic of UAV rope-hook recovery system

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