太阳能无人机伞降着陆多体动力学仿真与试验

doi:10.7527/S1000-6893.2021.25721

Abstract

Abstract: The low wing load of solar-powered UAVs leads to a large impact of the parachute pull on the UAV attitude in the parachute landing process. The steady descent speed is comparable to its cruise speed, while the aerodynamic force of the UAV cannot be ignored. The solar-powered UAV needs a more stable parachute attitude to reduce damage to the solar panels on the wing, therefore requiring higher attitude control of parachute landing than other aircraft. For accurate analysis of this phenomenon at the minimum cost, a nine degrees of freedom multi-body dynamic model of the parachute landing system is firstly derived with the UAV and the parachute regarded as two rigid bodies. According to the relative position relationship of the UAV-rope-parachute, the algebraic equations of the attitude angles of the parachute rope and the parachute are obtained using the quaternion method, thus reducing the number of dynamic equations and the dependence on parachute parameters. Based on the flexible characteristics of the parachute rope, the moment relationship between the attachment point and the node of the parachute rope to the UAV is then derived using the spatial geometry method. Furthermore, the flight simulation of the multi-body dynamic model of the parachute landing system as an example UAV is carried out, and the results are compared with the flight test data. It is found that the data consistency of position, speed and attitude is high, the details are well preserved, and the effectiveness of the proposed parachute landing simulation analysis method is verified. Finally, the sensitivity of the attachment point of the rope to the pitch angle and flight trajectory is analyzed using the established multi-body dynamics flight simulation system. It is concluded that the forward movement of the front attachment has a considerable influence on the pitch angle of the UAV, while the forward and backward movements of the rear attachment has relatively little influence on the pitch angle.

Key words: UAVs, parachute landing, multi-body dynamics, point of action of parachute rope tension, attitude control, sensitivity analysis

CLC Number:

V212

WANG Rui, ZHOU Zhou, GUO Ronghua, HUANG Yuechen. Multi-body dynamics simulation and experiment of solar-powered UAV parachute landing[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(8): 225721-225721.

References

[1] YAKIMENKO O A. Precision aerial delivery systems: Modeling, dynamics, and control[M]. Reston: AIAA, Inc., 2015.
[2] 荣海春, 张军红. 某型无人机伞降回收系统设计[J]. 西安航空学院学报, 2016, 34(3): 25-28. RONG H C, ZHANG J H. Design of parachute recovery system for UAV[J]. Journal of Xi'an Aeronautical University, 2016, 34(3): 25-28 (in Chinese).
[3] 刘靖. 无人机伞降回收系统设计与实现[J]. 指挥控制与仿真, 2016, 38(6): 109-112. LIU J. Design and implementation of parachute recovery system for unmanned aerial vehicle[J]. Command Control & Simulation, 2016, 38(6): 109-112 (in Chinese).
[4] 赵翔. 某型无人机伞降回收过程动力学及运动仿真[D]. 南京: 南京航空航天大学, 2010. ZHAO X. Numerical prediction of the motion of an unmanned aerial vehicle and parachute system during recovery[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2010 (in Chinese).
[5] 宁雷鸣, 张红英, 秦福德, 等. 无人机伞降回收过程动力学建模与仿真[J]. 航天返回与遥感, 2012, 33(5): 24-32. NING L M, ZHANG H Y, QIN F D, et al. Modeling and simulation of UAV parachute recovery process[J]. Spacecraft Recovery & Remote Sensing, 2012, 33(5): 24-32 (in Chinese).
[6] 李光超, 马晓平. 无人机伞降回收运动分析[J]. 飞行力学, 2007, 25(4): 25-28. LI G C, MA X P. Parachute landing recovery motion analysis for unmanned aerial vehicle[J]. Flight Dynamics, 2007, 25(4): 25-28 (in Chinese).
[7] 张青斌, 彭勇, 程文科, 等. 降落伞拉直过程的质量阻尼弹簧模型[J]. 弹道学报, 2003, 15(1): 31-36. ZHANG Q B, PENG Y, CHENG W K, et al. A mass spring damper model of parachute deployment[J]. Journal of Ballistics, 2003, 15(1): 31-36 (in Chinese).
[8] 张青斌, 唐乾刚, 彭勇, 等. 飞船返回舱降落伞系统动力学[M]. 北京: 国防工业出版社, 2013. ZHANG Q B, TANG Q G, PENG Y, et al. Dynamics of parachute-capsule recovery system[M]. Beijing: National Defense Industry Press, 2013 (in Chinese).
[9] 张青斌, 高峰, 郭锐, 等. 动力翼伞系统拟坐标形式的多体动力学建模[J]. 兵工学报, 2019, 40(9): 1935-1942. ZHANG Q B, GAO F, GUO R, et al. Multibody dynamics modeling of powered parafoil system using equations with quasi-coordinates[J]. Acta Armamentarii, 2019, 40(9): 1935-1942 (in Chinese).
[10] 王海涛. 大型降落伞抽打现象及运动稳定性研究[D]. 长沙: 国防科技大学, 2011. WANG H T. Research on bull whipping and dynamic stability of large parachute system[D]. Changsha: National University of Defense Technology, 2011 (in Chinese).
[11] 郭鹏. 大型降落伞开伞过程研究[D]. 长沙: 国防科技大学, 2012. GUO P. Research on the opening process of large parachute system[D]. Changsha: National University of Defense Technology, 2012 (in Chinese).
[12] ACCORSI M, LEONARD J, BENNEY R, et al. Structural modeling of parachute dynamics[J]. AIAA Journal, 2000, 38: 139-146.
[13] OPAZO T, LANGELAAN J W. Longitudinal control of transition to powered flight for a parachute-dropped multirotor[C]//AIAA Scitech 2020 Forum. Reston: AIAA, 2020: 2072.
[14] WISE K. Dynamics of a UAV with parafoil under powered flight[C]//AIAA Guidance, Navigation, and Control Conference and Exhibit. Reston: AIAA, 2006: 6795.
[15] 刘志强. 小型无人机伞降回收运动分析[J]. 宇航计测技术, 2013, 33(6): 54-57. LIU Z Q. Parachute landing recovery motion analysis for a small unmanned aerial vehicle[J]. Journal of Astronautic Metrology and Measurement, 2013, 33(6): 54-57 (in Chinese).
[16] 丛书全, 姜杨. 中小型无人机伞降精确回收方法研究[J]. 宇航计测技术, 2013, 33(4): 71-74. CONG S Q, JIANG Y. The method analysis of traditional precision recovery of UAV[J]. Journal of Astronautic Metrology and Measurement, 2013, 33(4): 71-74 (in Chinese).
[17] 吴翰, 王正平, 周洲, 等. 基于凯恩方程的无人机伞降回收动力学建模与仿真[J]. 北京航空航天大学学报, 2019, 45(6): 1256-1265. WU H, WANG Z P, ZHOU Z, et al. Dynamics modeling and simulation of UAV parachute recovery based on Kane equation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(6): 1256-1265 (in Chinese).
[18] 席庆彪, 张波, 田小雄, 等. 基于风场估测的无人机伞降定点回收研究[J]. 西北工业大学学报, 2004, 22(4): 452-456. XI Q B, ZHANG B, TIAN X X, et al. On navigation control of UAV in recovery stage to ensure reliable parachute landing on assigned spot with wind disturbance estimation considered[J]. Journal of Northwestern Polytechnical University, 2004, 22(4): 452-456 (in Chinese).
[19] 郑浩奕. 无人机伞降系统关键技术研究[D]. 广州: 华南理工大学, 2015. ZHENG H Y. Research of key technology of unmanned aircraft parachute system[D]. Guangzhou: South China University of Technology, 2015 (in Chinese).
[20] 丁娣, 钱炜祺, 和争春, 等. 基于动力学仿真的无人机伞降回收系统设计[J]. 飞行力学, 2012, 30(6): 511-514. DING D, QIAN W Q, HE Z C, et al. UAV parachute recovery systems design based on dynamic simulation[J]. Flight Dynamics, 2012, 30(6): 511-514 (in Chinese).
[21] 陈自力, 张昊, 邱金刚. 动力翼伞多体非线性动力学建模与相对运动分析[J]. 飞行力学, 2015, 33(6): 505-509. CHEN Z L, ZHANG H, QIU J G. Modeling and relative motion analysis of multi-body nonlinear dynamic of powered parafoil[J]. Flight Dynamics, 2015, 33(6): 505-509 (in Chinese).
[22] 方振平, 陈万春, 张曙光. 航空飞行器飞行动力学[M]. 北京: 北京航空航天大学出版社, 2005. FANG Z P, CHEN W C, ZHANG S G. Aviation aircraft flight dynamics [M]. Beijing: Beijing University of Aeronautics & Astronautics Press, 2005 (in Chinese).
[23] 朱宝鎏. 无人飞机空气动力学[M]. 北京: 航空工业出版社, 2006. ZHU B L. UAV aerodynamics[M]. Beijing:Aviation Industry Press, 2006:130 (in Chinese).

Multi-body dynamics simulation and experiment of solar-powered UAV parachute landing

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Yuqing QIU, Yan LI, Jinxi LANG, Yuxian LIU, Zhong WANG. Robust adaptive attitude control of high-speed helicopters in transition mode [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529927-529927.
[2]	Hongmiao ZHOU, Jianqiao YU, Yong YU. Dynamic modeling and bifurcation analysis of agile turn of parafoil⁃missile system [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 229012-229012.
[3]	Le JIANG, Yibiao CHEN, Yanjun LI, Guilin LI, Tao LIU. Flow and separation characteristics of pressurized centrifugal separator for aero⁃engine [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(2): 128675-128675.
[4]	Guangquan DUAN, Guoping LIU. Adaptive prescribed control of position and attitude of combined spacecraft based on fully actuated system approach [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628837-628837.
[5]	Bing XIAO, Haichao ZHANG. Reinforcement learning robust optimal control for spacecraft attitude stabilization [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628890-628890.
[6]	Chao DUAN, Xiaodong SHAO, Qinglei HU, Huaining WU. Attitude tracking of underactuated spacecraft based on transverse function [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628910-628910.
[7]	Wenkang HAO, Suyan BAO, Qifeng CHEN. Distributed control of UAVs formation based on port⁃Hamiltonian system [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729868-729868.
[8]	Kailing ZHANG, Siyi LI, Yi DUAN, Chao YAN. Uncertainty quantification of parameters in SST turbulence model for inlet simulation [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729429-729429.
[9]	Xiaozhe SUN, Dong HOU, Jianzhong YANG. Mechanism and sensitivity of force fight in dual redundant electromechanical actuators [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727661-727661.
[10]	Chenyang LIU, Dawei WU, Yize GUO, Xinsai LV, Jiani ZHOU, Shuyi SHAO. Robust adaptive attitude control of quadrotor with uncertain strong coupling [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727645-727645.
[11]	Yajie MA, Juan WANG, Bin JIANG, Jianye GONG. A fault⁃tolerant control scheme for UAVs-UGVs formation systems [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(8): 327216-327216.
[12]	Xiaowei FU, Zhe XU, Jindong ZHU, Nan WANG. Maneuvering decision-making of multi-UAV attack-defence confrontation based on PER-MATD3 [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(7): 327083-327083.
[13]	Zhichuang CHEN, Shenghong GE, Zhuolei ZHANG, Yuchuan ZHU. Internal leakage distribution model and parameter sensitivity analysis of spool valve couple at zero position [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(6): 427004-427004.
[14]	Zhikai WANG, Sheng CHEN, Wei FAN. Effect of neural network width on combustor emission prediction [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(5): 126816-126816.
[15]	Yong XU, Hongtao YAN, Tao JIA, Yue MA, Zehua DENG, Duoneng LIU. Aerial simulation docking technology of fixed-wing clustering UAVs [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(5): 326539-326539.