某型无人机降落伞回收系统动力学分析

Dynamic Analysis for Parachute Recovery System of Unmanned Aerial Vehicle

针对我国某型无人机降落伞回收系统,建立了无人机降落伞回收过程中各阶段的动力学模型,分析降落伞-无人机组合体在整个回收过程中的运动特性。并将将计算结果与试验结果中无人机俯仰角的变化进行比较,以验证数值仿真的可靠性。研究结果表明:(1)减速伞开伞动载第一峰值约为1G,第二峰值约为1.3G。主伞开伞动载第一个峰值约为2G;第二个峰值约为2.3G。减速伞和主伞的两个动载峰值相差均不大,说明降落伞设计比较成功;(2)在回收开始后第4秒至第5秒之间,无人机出现了较为强烈的抬头。为了使无人机姿态进一步稳定在期望值,需要在控制律设计中着重解决无人机在回收各个阶段受伞系统影响而产生抬头的问题;(3)当回收高度在2000-10000m之间时,从回收系统在有控和无控状态下的工作包线可知,有控状态时回收系统的正常工作范围比无控状态要广。

A study was proposed into a certain type of UAV parachute recovery system.The dynamic models of every stage in the UAV parachute recovery process were established.This study also gave an analysis of the motion characteristics of the parachute-UAV combination in the whole recycling process and a comparison of the calculated results to the experimental results to verify the reliability of the numerical simulation.The results show that：（1） the first peak of the opening load of the drogue parachute is about 1G,the second peak is about 1.3G.The first peak of the opening load of the main chute is about 2G and the second peak is about 2.3G.Both the difference between the two opening load peaks of drogue and main parachute are very limited,indicating the success of the parachute design.（2） In the first 4th second to the 5th second after the start of the recovery,there is a more strongly head-up emerged on the UAV.In order to further stabilize the attitude of the UAV to expectations,the design of the control laws need to focus on solving the head-up problems which affected by parachute system and appeared in every stage of the recovery.（3） When the recovery altitude is between 2000m to 10000m,according to the operating envelopes,there is a widely normal operating range of the state-controlled recovery system compared to the non-control state.