空中加油软管锥套组合体甩鞭现象动力学建模与分析

doi:10.7527/S1000-6893.2014.0343

电子与控制

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空中加油软管锥套组合体甩鞭现象动力学建模与分析

王海涛¹, 董新民¹, 郭军², 刘娇龙¹, 王健¹

1. 空军工程大学航空航天工程学院, 西安 710038;
2. 北京航空工程技术研究中心, 北京 100076

收稿日期:2014-09-09 修回日期:2014-12-11 出版日期:2015-09-15 发布日期:2014-12-18
通讯作者: 董新民男, 博士, 教授, 博士生导师。主要研究方向: 先进飞行控制理论与仿真, 自主空中加油动力学、控制与仿真, 多操纵面控制分配理论, 飞行指引控制理论。 Tel: 029-84787400-801 E-mail: dongxinmin@139.com E-mail:dongxinmin@139.com
作者简介:王海涛男, 博士研究生。主要研究方向: 软式空中加油动力学建模、自主飞行控制与导航, 非线性控制及其在飞行器控制中的应用。 Tel: 029-84787400-803 E-mail: wanghaitao198638@163.com
基金资助:
国家自然科学基金 (61473307); 空军工程大学优秀博士学位论文扶持基金 (KGD 081114006)

Dynamics modeling and analysis of hose whipping phenomenon of aerial refueling hose-drogue assembly

WANG Haitao¹, DONG Xinmin¹, GUO Jun², LIU Jiaolong¹, WANG Jian¹

1. Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi'an 710038, China;
2. Beijing Aeronautic Technology Research Center, Beijing 100076, China

Received:2014-09-09 Revised:2014-12-11 Online:2015-09-15 Published:2014-12-18
Supported by:
National Natural Science Foundation of China (61473307); Excellent Doctoral Dissertation Foundation of the AFEU (KGD 081114006)

摘要/Abstract

摘要：

软管锥套组合体特殊的刚-柔-液耦合结构使其甩鞭现象动力学特性极为复杂,尚无法准确建模分析,严重制约了现有抑制措施的有效性,大大限制了空中加油对接的成功率和安全性。为分析甩鞭现象的动力学特性,基于集中参数的多刚体动力学,提出一种包含软管弹性且长度可变的软管锥套组合体运动模型。软管被抽象为由无摩擦铰链相互串联的若干变长度刚性连杆,各连杆质量和受力假设集中于铰链处。同时考虑软管弯曲恢复力、软管收放、加油机牵连运动、重力、定常流、大气扰动以及加油机尾流等内外部因素,推导出迭代形式的软管锥套组合体运动方程。通过数值仿真,对不同对接速度、不同软管长度和恒力弹簧控制方式等因素对甩鞭现象动力学特性的影响进行分析。结果表明,在对接速度柔和、软管长度较长时,对接诱发的甩鞭现象程度较轻。恒力弹簧控制方式诱发类似简谐振动形式的甩鞭现象,根源在于软管收放控制范围有限,回卷滞后性明显无法匹配受油机对接速度。

关键词: 空中加油, 甩鞭现象, 软管锥套组合体, 多刚体动力学, 建模

Abstract:

Hose whipping phenomenon has been a serious constraint to the success rate and security of aerial refueling. Dynamics of the hose whipping phenomenon is extremely complex due to the rigid-flexibility-liquid-coupled structure, and there is no accurate modeling and analysis methods which restricts the effectiveness of the existing suppression methods. To analyze the dynamic characteristics of the hose whipping phenomenon, based on lumped parameter rigid multi-body dynamics, a dynamic model of the elastic and variable-length hose-drogue assembly is built. The hose is modeled by a sequence of variable-length links connected with frictionless joints, and the masses and loads of each link are concentrated at the joints. A set of governing equations of motion is recursively derived subject to internal and external factors, such as hose restoring force due to bending, reeling in/out of hose, tanker transport motion, gravity, steady wind, atmospheric turbulence and tanker wake. The effects of factors of different closure speed profiles, different hose lengths and the tensator control on dynamics of the hose whipping phenomenon are analyzed by simulation. The results show that the degree of the hose whipping phenomenon induced by coupling is lower when the closure speed profile is gentler and the hose length is shorter. The dominating reasons why the tensator arouses the simple harmonic vibration-typed hose whipping phenomenon lie in the limited control range of the hose length, the time-lag effect of control and mismatch the closure speed of the receiver.

Key words: aerial refueling, hose whipping phenomenon, hose-drogue assembly, rigid multi-body dynamics, modeling

中图分类号:

V212.1

王海涛, 董新民, 郭军, 刘娇龙, 王健. 空中加油软管锥套组合体甩鞭现象动力学建模与分析[J]. 航空学报, 2015, 36(9): 3116-3127.

WANG Haitao, DONG Xinmin, GUO Jun, LIU Jiaolong, WANG Jian. Dynamics modeling and analysis of hose whipping phenomenon of aerial refueling hose-drogue assembly[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(9): 3116-3127.

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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

空中加油软管锥套组合体甩鞭现象动力学建模与分析

Dynamics modeling and analysis of hose whipping phenomenon of aerial refueling hose-drogue assembly

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