小型无人机气动肌腱式弹射系统动态仿真与优化

Dynamic Simulation and Optimization of Pneumatic Tendon Ejection Systems for Small UAVs

针对冲击气缸式无人机弹射系统耗气量高、质量大、动态特性差等弊端,提出了一种仿生气动肌腱式无人机弹射系统,利用气动肌腱的弱非线性,通过配置楔角以改善无人机加速阶段的受力情况,减缓加速度波动。对该弹射系统进行数学建模和动力学分析,并搭建Simulink模型对该系统进行仿真求解;通过MATLAB与Simulink对现有加速轨道通过多目标遗传算法实现进一步优化。优化后的加速轨道能提升加速度均值、气动肌腱能量利用率和起飞速度,且降低了加速度峰值,加速度波动在原有基础上降低了76.79%。仿真和优化结果表明,提出的气动肌腱式无人机弹射系统不仅避免了冲击气缸式弹射系统的缺点,还能进一步平缓加速度,减小整体系统的最大过载。

Aiming at the disadvantages of high impact,large mass and poor dynamic characteristics of impact cylinder UAV ejection system,a bionic pneumatic muscle driven UAV ejection system was proposed.By the method of utilizing the small nonlinearity of pneumatic tendons and configuring the wedge angles,the project may ameliorate the stress conditions of the UAVs and slow down the acceleration fluctuation.The mathematical modeling and dynamic analysis of the ejection system were carried out,and the Simulink model was built to emulate the system.Combing the MATLAB and Simulink,the existing acceleration trajectories were further optimized by multi-objective genetic algorithm.The optimized acceleration track may improve the acceleration mean,the energy utilization rate of the pneumatic muscle and the take-off speed.At the same time,the acceleration peak values are reduced,and the acceleration fluctuations are reduced by 76.79%on the original basis.Simulation and optimization results show that the system may avoid the disadvantages of impact cylinder ejection system,and make the acceleration changes smoothly and reduce the maximum overload of the whole systems.