无人机六自由度简化模型和风扰动处理

Simplified Model of Six Degrees of Freedom for Remote Pilotless Aircraft and Process of Gust

在不具备数模混合仿真实验的条件下,本文提出了在模拟计算机上,无人驾驶飞机六自由度非线性全量方程的飞行控制系统动态物理模拟仿真和对阵风扰动处理的方法。飞行控制系统动态物理模拟仿真是在几种特定的状态下进行的,考虑到模拟机上实现的可能,在每个状态计算飞机气动力和气动力矩系数时,冻结高度、速度、质量,使这些系数简化为常数或单变量函数,预先在数字计算机上算好,或者计算好一部分使模拟机上实施简单,少用非线性部件,减少了误差。但在计算阻力时,不冻结速度,考虑速度负反馈。从而实现了对大机动无人机KJ-9C和超低空无人机KJ-9E飞行控制系统的动态物理模拟仿真。

Under the circumstance of no digital-analogic simulation system in simulative laboratory this paper presents a dynamic physical simulative method of flight control system for a remote pilotless aircraft on an anologue computer,in which the nonlinear equation of six degrees-of-freedom is adopted and the disturbance of gust is processed. The simulation is executed under several specific states. For the consideration of the possibility to be realized on the analogue computer,the aerodynamic coefficients of each state are simplified to be constants or single variable functions by fixing the height, velocity and weight. Pre-calculating all or part of the aerodynamic coefficients makes it easier to be realized on the analogue computer. Errors are also reduced by using few nonlinear components. During drag calculution,the velocity is not fixed by considering the feedback. Therefore,dynamic simulation of flight control system may be carried out for the high maneuvering remote pilotless aircraft KJ-9C and the super low alt:'ude one KJ-9E.