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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2014, Vol. 35 ›› Issue (4): 911-920.doi: 10.7527/S1000-6893.2013.0448

• Fluid Mechanics and Flight Mechanics • Previous Articles     Next Articles

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)

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

CLC Number: