考虑舰船激励和系留点偏移的系留无人机运动响应研究

Motion response of tethered UAV considering ship excitation and tethering point deflection

为了研究舰船运动和系留点位置偏移对系留无人机系统运动响应的影响,采用集中质量法建立了系留无人机系统的数学模型,采用四阶龙格库塔法对方程进行数值求解。讨论了舰船运动幅值、频率以及系留点偏移量对系统运动响应以及系缆对无人机拉力的影响。构建了系留无人机系统的实验模型,分析了舰船运动对无人机系统的动力学影响。结果表明:端点激励幅值越大无人机和系缆的运动幅度越大,系缆对无人机的拉力幅值也变大;不同激励频率会激起系缆不同的运动形式;系留点垂向偏移距离越大无人机的滚转角运动范围也越大;通过与实验结果进行对照,定性验证了理论计算的正确性。

In order to study the influence of ship movement and the position offset of the mooring point on the motion response of the moored UAV system,this paper establishes a mathematical model of tethered drone system based on the lumped-mass method and use the fourth-order Runge-Kutta method to solve the equation.The effects of ship motion amplitude,frequency and mooring point offset on system motion response and mooring cable on UAV pull are studied respectively.An experimental model of the tethered UAV system is constructed,and the impact of ship motion on the dynamics of the UAV system is analyzed.The results show that the greater the amplitude of the endpoint excitation,the greater the range of motion of the UAV and the tethering cable,and the greater the amplitude of the pulling force of the cable on the UAV;different excitation frequencies will tigger different modes of the cable;the greater the vertical offset distance of the mooring point,the greater the range of motion of the drone s roll angle.By comparing with the experimental results,the correctness of the theoretical calculation is qualitatively verified.