折叠翼垂直起降飞行器多体动力学建模和控制

Multibody Dynamics Modeling and Control of Folding Wing Vertical Takeoff and Landing Aircraft

针对旋翼飞行器续航能力有限及固定翼飞行器飞行场地受限的问题,提出一种可垂直起降的多单元翼串联式总体布局方案.首先,根据多体串联运动学和升力线理论,分析集中式变形的气动特性,并确定变形过程中的飞行攻角限制.然后,采用拟拉格朗日方程建立完整描述各单元翼间相对运动特性的非线性多体动力学模型,并对比固定翼与折叠翼在爬升过程中的飞行效率,验证了折叠翼的长续航能力以及良好的操纵性.最后,对定直平飞状态下折叠翼姿态与结构耦合特性进行模态分析,据此设计折展和飞行协同控制律,实现倾转折叠过程中的稳定控制.

To address the limited endurance of rotorcraft and the restricted flight areas of fixed-wing aircraft,a vertically take-off and landing multi-unit wings tandem configuration is proposed.First,using multi-body kinematics and the lifting-line theory,the aerodynamic characteristics of the centralized deformation are analyzed,and limits of the flight angle of attack during the deformation process are determined.Then,a nonlinear multi-body dynamics model is established using the quasi-Lagrangian equation to comprehensively describe the relative motion characteristics between the unit wings.The flight efficiency of fixed wings and folding wings during the climb process is compared,which verifies the long endurance and good maneuverability of the folding wings.Finally,a modal analysis of the attitude and structural coupling characteristics of the folding wings in steady-level flight is conducted,based on which the cooperative control law of folding and flight is designed to achieve stable control in the process of tilting and folding.