面向高机动飞行的旋翼气动模型构建方法

Rotor Aerodynamic Modeling Method for High-maneuvering Flight

旋翼气动机理复杂、变量耦合严重,如何在线准确估计旋翼气动力是实现旋翼飞行机器人高机动安全自主飞行的关键问题之一。为此,本文提出了一种基于叶素动量理论的集成参数模型构建方法,结合参数集成的思想,将叶素动量模型中的叶素积分式简化为代数式,以提升计算效率并降低参数辨识的复杂度,同时保留旋翼诱导速度为状态变量,避免了近似悬停飞行状态假设,使模型能够适应高速高机动的飞行状态。基于实机机动飞行数据的仿真实验结果表明,该方法构建的模型相较于常见的集成参数模型和仅基于叶素动量理论的模型,整体旋翼气动合力预测误差分别同比降低20%和50%,且与仅基于叶素动量理论的模型相比计算效率提升显著。

The aerodynamic mechanisms of rotors are complex,with significant coupling of variables.How to accurately estimate rotor aerodynamic force online becomes one of the key problems of achieving safe autonomousflight of rotor-wingflying robots in high-maneuvering.Therefore,a lumped-parameterized modeling method based on blade element momentum(BEM)theory is proposed.Drawing upon the concept of parameter lumping,the blade element integral formula of BEM model is simplified into algebraic form to improve model computational efficiency and reduce the difficulty of parameter identification.And by retaining the induced velocity of the rotor as a state variable,the resulting model avoids the assumption of quasi-staticflight condition,enabling it to adapt to high-speed and high-maneuveringflight states.Simulation results based on real-world maneuveringflight data indicate that the resulting model,compared to both the common lumped parameter model and the model based solely on blade element momentum theory,reduces prediction errors of overall rotor aerodynamic force by 20%and 50%,respectively,with significantly increased computational efficiency compared to the model based solely on blade element momentum theory.