四轴滚翼飞行器总体布局及前飞特性研究

Overall layout and characteristics in forward flight of quadrotor cyclocopter

为了研究四轴滚翼飞行器的飞行动力学特性,对几种总体布局形式进行了比较分析。实现了一种各种运动相互解耦、操纵性好的总体布局形式,完成了飞行动力学建模,并计算分析了一种样机的前飞特性。结果表明,对于不同的总距角和操纵角,前飞速度均随摆线桨转速呈线性规律增加;随着总距角的增加,飞行器俯仰角逐渐减小,前飞速度基本能在操纵3 s后达到稳定状态;随着操纵角的增加,飞行器的俯仰角先减小后缓慢增大,前飞速度对操纵的响应时间越来越长。

In order to study the flight dynamics characteristic of the quadrotor cyclocopter,some kinds of overall layout forms are compared and analyzed.An overall layout with various movements decoupled from each other and good maneuverability is realized.Then the flight dynamics model of quadrotor cyclocopter is carried out,and the characteristics in forward flight are calculated and analyzed.The results show that flight velocity increases linearly with rotating speed for different collective pitch and operating angles.The pitch angle decreases with the increase of collective pitch,and the flight velocity can basically reach steady state after three seconds.With the increase of operating angle,the pitch angle decreases first and then increases slowly,and the response time of forward flight velocity to the control becomes longer and longer.