无人机零长发射动态特性分析及控制律设计

Dynamic Characteristic Analysis and Flight Control Law Design of UAV Zero Length Launch

针对如何提高无人机零长发射安全性的问题,以某型无人机为研究对象,对火箭助推起飞阶段受力情况进行分析,并考虑火箭脱落前后质量和重心变化影响,建立其动力学模型。仿真研究了发射角、火箭冲程、火箭安装角和火箭推力线偏差等发射参数对发射动态过程的参数影响敏感性。设计了基于姿态控制增稳的起飞控制律和控制策略。仿真结果表明:选择合适的发射参数并严格控制火箭安装偏差范围,在此基础上,尽早启动舵面参与姿态控制可明显改善发射姿态,提高非标状态下零长发射安全性。研究结论可为无人机零长发射起飞提供技术支持和依据。

To solve the problem of how to improve the zero length launch safety of UAV,taking a certain UAV as the research object, the force on the airframe during the rocket boost takeoff phase is analyzed, and the dynamic model is established considering the changes of the mass and center of gravity before and after the rocket falls off.Secondly, the sensitivity of launch parameters such as launch angle, rocket stroke, rocket installation angle and rocket thrust line deviation to launch dynamic process parameters is analyzed by simulation.Finally, the takeoff control law and control strategy based on attitude control augmentation are designed.The simulation results show that the launch attitude can be significantly improved by selecting appropriate launch parameters, strictly controlling the range of rocket installation deviation, and starting the control surface in advance to participate in attitude control, and the safety of zero length launch under non-standard conditions can be enhanced as well.The research conclusion can provide technical support and basis for zero length launch and takeoff of UAV.