无人机地面隔振系统动力学建模与优化设计

Dynamic modeling and optimization for UAV ground vibration isolation system

为减小路面随机激励对机载相机的成像危害,对无人机地面隔振系统进行了动力学建模与优化设计.首先根据无人机起落架缓冲要求以及空中隔振约束条件,计算了起落架以及隔振器参数的选取范围.然后建立了地面隔振系统的动力学模型,采用滤波白噪声模拟路面不平度的方法分析了路面随机激励对机载相机的影响.最后以机载相机加速度与角位移均方根最小为目标,利用多岛遗传算法与二次规划法组合优化对隔振系统参数进行了优化.结果表明:优化后相机的加速度均方根由0.63m/s2减小为0.25m/s2,减小了60.3%,角位移均方根由405″减小为147″,减小了63.7%.优化方法提高了起落架与隔振器设计的合理性,可以为无人机地面隔振性能的研究提供指导.

To reduce the vibration influence of airborne camera on quality and stability ,dynamic mod-eling and optimization for ground vibration isolation system has been accomplished .Firstly ,according to the landing gear buffer requirement and air isolation constraints ,the parameters range of landing gear and vibration isolator was calculated .Secondly ,the dynamic modeling of vibration isolation sys-tem was established ,and the influence of ground random excitation on the airborne camera was ana-lyzed by using the filter white nose to simulate the road roughness .Finally ,to minimize the RMS （root mean square） of camera acceleration and angle displacement ,a combinatorial optimization strat-egy based on multi-island genetic algorithm and sequential quadratic programming were proposed to optimize the parameters of vibration isolation system .The results indicate that the acceleration RMS has been decreased from 0 .63 m/s2 to 0 .25 m/s2 （namely reduced by 60 .3% ） and the angle displace-ment RMS has been decreased from 405″to 147″（namely reduced by 63 .7% ） . The optimal design method can improve the rationality of landing gear and vibration isolator design ,and will provide guid-ance for the study of UAV （unmanned aerial vehicle） ground vibration isolation performance .