Propeller Design for an Autonomous Underwater Vehicle by the Lifting-line Method based on OpenProp and CFD

A high-efficiency propeller can enable a long mission duration for autonomous underwater vehicles(AUVs).In this study,a new method with OpenProp coupled with computational fluid dynamics was developed to design a propeller for an Explorer100 AUV.The towed system simulation of the AUV was used to measure the nominal wake,and a self-propulsion simulation was used to measure the effective wake at the disc plane just in front of a propeller.Two propellers referring to the nominal wake(propeller 1)and effective wake(propeller 2)were designed with OpenProp and appended with the AUV for self-propulsion simulations,respectively.Through the numerical simulation of the AUV self-propulsion tests,the cruising velocity of AUV was obtained.The flow characteristics of the self-propulsion in pressure and velocity contours were also analyzed.The propeller designed with an effective wake improved the thrust,velocity,and efficiency by approximately 11.3%,6.7%,and 2.5%,respectively,as compared with those with a nominal wake.The cruising velocity of the final designed propeller for the Explorer100 AUV improved by 21.8%,as compared to that of the original propeller from the AUV free-running tests.

Maneuver strategy of lifting reentry vehicle

An optimal maneuver strategy is proposed for lifting reentry vehicle to reach the maximum lateral range after reentering the atmosphere. Aiming at problems that too many co-state variables and difficulty in estimating the initial values of co-state variables,the equilibrium glide condition (EGC) is utilized to reduce the reentry motion equations and then the optimal maneuver strategy satisfied above performance index is derived. This maneuvering strategy is applied to the lifting reentry weapon platform CAV which was designed by America recently to realize both longitudinal and lateral trajectory design by controlling the attack angle and the bank angle respectively. The simulation result indicates that the maneuver strategy proposed enables CAV to reach favorable longitudinal range and lateral range.

Optimal trajectory and heat load analysis of different shape lifting reentry vehicles for medium range application

The objective of the paper is to compute the optimal burn-out conditions and control requirements that would result in maximum down-range/cross-range performance of a waverider type hypersonic boost-glide(HBG) vehicle within the medium and intermediate ranges,and compare its performance with the performances of wing-body and lifting-body vehicles vis-a-vis the g-load and the integrated heat load experienced by vehicles for the medium-sized launch vehicle under study.Trajectory optimization studies were carried out by considering the heat rate and dynamic pressure constraints.The trajectory optimization problem is modeled as a nonlinear,multiphase,constraint optimal control problem and is solved using a hp-adaptive pseudospectral method.Detail modeling aspects of mass,aerodynamics and aerothermodynamics for the launch and glide vehicles have been discussed.It was found that the optimal burn-out angles for waverider and wing-body configurations are approximately 5° and 14.8°,respectively,for maximum down-range performance under the constraint heat rate environment.The down-range and cross-range performance of HBG waverider configuration is nearly 1.3 and 2 times that of wing-body configuration respectively.The integrated heat load experienced by the HBG waverider was found to be approximately an order of magnitude higher than that of a lifting-body configuration and 5 times that of a wing-body configuration.The footprints and corresponding heat loads and control requirements for the three types of glide vehicles are discussed for the medium range launch vehicle under consideration.

Blended skip entry guidance for low-lifting lunar return vehicles

A skip entry guidance algorithm blending numerical predictor-corrector and nominal trajectory tracking is presented for lunar return vehicles.The guidance is decoupled into longitudinal and lateral channels.A piecewise bank-vs-energy magnitude profile and a sign profile are adopted in the skip phase.A magnitude parameter is used to adjust the predicted downrange,and a pseudo-crossrange at the beginning of the final phase is selected as the lateral control variable.Prediction biases of both channels are nullified by a false position iteration algorithm.An on-line estimation and modeling method is introduced to compensate for aerodynamic and atmospheric uncertainties.A nominal trajectory for the final phase is generated based on actual reenter conditions,and the obtained nominal trajectory is tracked by a linear feedback law.A lateral corridor is used to manage the lateral state.The proposed guidance algorithm is assessed using three-degree-of-freedom Monte Carlo analyses,and the results show a satisfactory and robust performance under highly stressful dispersions.

Adaptive fault-tolerant control of heavy lift launch vehicle via differential algebraic observer

A novel adaptive fault-tolerant control scheme in the differential algebraic framework was proposed for attitude control of a heavy lift launch vehicle （HLLV）. By using purely mathematical transformations, the decoupled input-output representations of HLLV were derived, rendering three decoupled second-order systems, i.e., pitch, yaw and roll channels. Based on a new type of numerical differentiator, a differential algebraic observer （DAO） was proposed for estimating the system states and the generalized disturbances, including various disturbances and additive fault torques. Driven by DAOs, three improved proportional-integral- differential （PID） controllers with disturbance compensation were designed for pitch, yaw and roll control. All signals in the closed-loop system were guaranteed to be ultimately uniformly bounded by utilization of Lyapunov＇s indirect method. The convincing numerical simulations indicate that the proposed control scheme is successful in achieving high performance in the presence of parametric perturbations, external disturbances, noisy corruptions, and actuator faults.

Lift and Thrust Characteristics of Flapping Wing Aerial Vehicle with Pitching and Flapping Motion

Development of flapping wing aerial vehicle (FWAV) has been of interest in the aerospace community with ongoing research into unsteady and low Reynolds number aerodynamics based on the vortex lattice method. Most of the previous research has been about pitching and plunging motion of the FWAV. With pitching and flapping motion of FMAV, people usually study it by experiment, and little work has been done by numerical calculation. In this paper, three-dimension unsteady vortex lattice method is applied to study the lift and thrust of FWAV with pitching and flapping motion. The results show that: 1) Lift is mainly produced during down stroke, however, thrust is produced during both down stroke and upstroke. The lift and thrust produced during down stroke are much more than that produced during upstroke. 2) Lift and thrust increase with the increase of flapping frequency;3) Thrust increases with the increase of flapping amplitude, but the lift decreases with the increase of flapping amplitude;4) Lift and thrust increase with the increase of mean pitching angle, but the effect on lift is much more than on thrust. This research is helpful to understand the flight mechanism of birds, thus improving the design of FWAV simulating birds.

The Full Flowpath Analysis of a Hypersonic Vehicle

A numerical study has been carried out to investigate the full flow path and aerodynamic characteristics of a hypersonic vehicle at a 7.0 free stream Mach number. Results indicate that the inlet started and unstarted operations have remarkable effects on the flow pattern of the full flow path. When the inlet operates in a started mode, the transverse pressure gradient generated by the forebody alters the air captured characteristics and the entering flow quality of the inlet. Furthermore, the expansion process of the nozzle jet flow is obviously affected by the external flow field around the afterbody with the cross section shape transiting from a near rectangle at the exit of the nozzle to a near triangle at the tail of the vehicle. When the inlet operates in an unstarted mode, the aerodynamic instability can be observed in the full flow path of the vehicle. Due to the oscillation of the external compressed shock wave and nozzle jet flow, the aerodynamic characteristics of the vehicle vary periodically with the lift-drag ratio changing from 0.25 to 2.09. Finally, by comparing to the experimental data, the reliability of the CFD is verified.

逆向射流对高超声速升力体构型的减阻特性研究

在高超声速飞行过程中,飞行器往往会面临巨大的阻力,严重限制了其飞行性能,并增加了飞行器表面的热负荷和材料应力。针对这一问题,通过数值模拟系统地分析了射流孔数量、位置和攻角对升力体减阻性能的影响。研究结果表明,随着射流孔数量的增加,整体减阻率显著提高,有效降低了升力体头部的高压区域,但也导致四周流场的不稳定性增强。射流孔位置对激波脱体距离和“气膜”厚度具有重要影响。此外,增大攻角会导致整体减阻率下降,但对局部减阻率影响较小,同时会增加上下壁面之间的压差。进一步比较研究发现,在20 km和55 km高空条件下,这3种因素对减阻性能的影响规律保持一致。研究结果为设计高效减阻方案提供了重要参考。

气体引射对临近空间升力体飞行器气动力热影响

针对临近空间高速飞行器的降热减阻需求,采用三维数值模拟手段研究了临近空间典型升力体飞行器气动力/热特性,分析了壁面气体质量引射对气动力/热特性的影响规律和作用机理。结果表明:壁面质量引射会略微增大激波脱体距离,对激波层和速度边界层有增厚作用,降低了边界层内的速度梯度,使得表面剪切力减小,从而具有较好的减阻效果。对于典型的升力体构型,在高度为60~70 km时,壁面质量引射减阻效率均不低于47.5%;在高度为80 km时,壁面质量引射减阻效率不低于10.2%;且壁面质量引射减阻效果随攻角增大而增强,随飞行高度升高而减弱。同时,壁面引射排出的低温气体对飞行器具有隔热保护作用,因此壁面质量引射能显著降低迎风面的热流,具有较好的降热效果。

发射场地面发射支持系统数字孪生架构及应用

针对航天发射场地面支持系统远程监测诊断、智能维护保养和自主决策控制等应用需求,提出了面向地面发射支持系统的数字孪生参考架构,提炼了实现数字孪生的关键技术。结合我国首型固液捆绑运载火箭塔式吊装对接工作,开发了基于参考架构的运载火箭塔式吊装对接仿真平台。经实际运行考核,该平台基于虚实空间交互映射和实时动力学仿真,通过丰富吊装场景监控信息,能够提高吊装对接工作的安全性和效率;同时,验证了数字孪生参考架构设计的合理性及技术路线的可行性。

海洋盐度对水下航行器热尾流行为的影响

针对海洋中的盐度环境对于水下航行器热尾流浮升扩散的影响,本文基于重叠网格技术,建立了水下航行器热尾流三维模型,分别对热尾流在均匀盐度与分层盐度环境下的浮升扩散过程进行了数值模拟,采用浮频率数表征盐度环境特征,研究了海洋盐度对于热尾流的影响。结果表明:盐度分层环境对潜艇冷却水浮升具有明显抑制作用,该环境下海面温度特征随盐度梯度的增大而减弱。

宽速域乘波飞行器气动设计研究综述

乘波构型作为一种能突破升阻比屏障的高超声速气动构型,是宽域可重复使用飞行器的一种重要候选气动布局形式。改善乘波飞行器低速性能不佳问题并实现宽速域飞行,已成为当前研究的热点。由于乘波飞行器采用了先设计流场后构造外形的思路,基准流场会影响其性能。本文对基准流场求解方法进行分析对比,并介绍了组合式、变马赫数和涡升力类宽速域乘波飞行器的设计方法,比较了各类方法的优势和不足,最后从基准流场和设计方法两个角度对宽速域乘波飞行器的未来发展提出了一些建议。

升力翼对列车气动特性及运行安全性的影响研究

为探究升力翼高速列车的可行性,结合列车空气动力学和车辆多体系统动力学理论,建立了有/无升力翼高速列车空气动力学模型和车辆系统动力学模型,对有/无升力翼高速列车在明线无风及横风运行环境下的气动特性及运行安全性进行了仿真研究。研究结果表明:安装升力翼可提升高速列车的气动升力及升阻比,但气动阻力也大幅度增大;有/无翼高速列车周围流场特性差异较大,安装升力翼后列车表面压力分布及流线流向改变,列车滑流速度峰值增大,两侧及尾流区域速度分布改变。横风下列车表面压力分布及背风测涡脱结构改变,头车受到的气动阻力、升力、侧力及点头力矩相比于无翼时有明显的增大,升力与侧滚力矩差异明显,侧滚力矩方向改变且数值增大,摇头力矩变化很小。明线无风下,安装升力翼能够减小6%~13%的轮轨垂向力,其中尾车由于气动升力最大,轮轨垂向力减幅最显著;运行速度在450 km/h及以下时升力翼高速列车能够安全平稳运行,运行速度在500 km/h时升力翼高速列车轮轨垂向力和轮重减载率超限;影响安全性的主要原因是升力翼扩大了各节车之间气动载荷的差异,升力翼的气动布局有待进一步改善,建议减小头车和尾车的升力;横风环境下,升力翼高速列车头车受到升力、侧力及侧滚力矩数值明显增大,运行安全性恶化,横风安全域缩小。

面向多阶段的无尾飞行器力矩控制分配方法研究

为满足不同飞行阶段对无尾飞行器气动性能的不同要求,提出一种多目标控制分配方法。首先,建立无尾飞行器非仿射舵效模型,对无尾飞行器控制分配问题进行数学描述。然后,提出增量式非线性控制分配方法。其次,对增量形式的次级性能指标与加权形式的综合性能指标进行构建。最后,基于有效集二次规划方法对多目标非线性控制分配问题进行求解,并进行仿真验证。在仿真场景中,与最小舵偏算例相比,最小阻力算例平均阻力系数降低了36.96%,最大升力算例平均升力系数增大了7.76%。实验结果证明了控制分配方法能在满足力矩分配误差最小的条件下,有效实现最小舵偏、最小阻力与最大升力等不同次级目标。

辅助搬运车辆电动化智能装备模型的设计

提供了一种辅助搬运汽车的设备,两个主体分别托举汽车的前轮和后轮,当汽车同根车轴上的两个车轮之间的距离窄时,通过伸缩机构收缩第一基座和第二基座之间的距离,令主体驶入底部,避免碰撞汽车车轮,通过伸缩机构延伸第一基座和第二基座之间的距离,使其更靠近汽车同根车轴上的两个车轮,令两个车轮施加给两个托举机构的受力点更加靠近第一基座和第二基座,提升托举机构的托举强度,避免汽车损坏托举机构。托举机构调节机构滑动设计使得要搬运的汽车车轮尺寸较大或较小时均能调整两个相邻托举机构之间的距离,更稳定地托举轮胎。

弓网系统动态升弓问题关键影响因素研究

以铁路车辆系统中弓网系统为研究对象,针对列车运行过程中不同供电制式(AC/DC)切换时产生的动态升降弓问题,建立弓网系统升降弓接触动力学模型,并结合升降弓地面试验验证该模型的准确性。基于弓网系统升降弓接触动力学模型,利用正交实验方法研究影响升弓动力学的关键因素以及考虑接触线拉出值条件下动力学性能变化规律,得到了弓网系统合理的升弓参数范围。结果表明:升弓条件下,影响弓网动力学关键因素为弓头质量、升弓速度和接触线拉出值位置。

几何形状对气垫升力的影响研究

One of the crucial and challenging issues for researchers is presenting an appropriate approach to evaluate the aerodynamic characteristics of air cushion vehicles(ACVs)in terms of system design parameters.One of these issues includes introducing a suitable approach to analyze the effect of geometric shapes on the aerodynamic characteristics of ACVs.The main novelty of this paper lies in presenting an innovative method to study the geometric shape effect on air cushion lift force,which has not been investigated thus far.Moreover,this paper introduces a new approximate mathematical formula for calculating the air cushion lift force in terms of parameters,including the air gap,lateral gaps,air inlet velocity,and scaling factor for the first time.Thus,we calculate the aerodynamic lift force applied to nine different shapes of the air cushions used in the ACVs in the present paper through the ANSYS Fluent software.The geometrical shapes studied in this paper are rectangular,square,equilateral triangle,circular,elliptic shapes,and four other combined shapes,including circle-rectangle,circle-square,hexagonal,and fillet square.Results showed that the cushion with a circular pattern produces the highest lift force among other geometric shapes with the same conditions.The increase in the cushion lift force can be attributed to the fillet with a square shape and its increasing radius compared with the square shape.

新型动力电池举升车液压系统的可靠性分析

新型动力电池举升车作为一种灵活的升举设备,主要应用于新能源汽车的动力电池更换工作。举升车工作的核心部分便是其液压驱动系统,液压系统的可靠性直接影响着升举系统的正常工作。通过对电池升举车的液压驱动系统工作原理进行分析,建立液压驱动系统的可靠性模型,通过数学计算得到液压系统的平均无故障工作时间MTBF,液压系统的平均无故障工作时间为6504.2 h;使用Matlab软件对液压系统可靠度仿真模拟,得到液压驱动系统的可靠性动态曲线。

共轴双旋翼无人机升力测试实验与分析

根据共轴双旋翼无人机结构特点及动力性能分析结果,设计了可调整力臂的杠杆平台,通过杠杆原理将不同大小的力施加到力传感器上,并用数据采集卡采集对应电压,使用MATLAB曲线拟合工具箱拟合出升力与电压间的曲线关系,对力传感器进行标定,从而可以测出共轴双旋翼无人机升力。测试结果表明:电压与升力之间拟合效果良好,可以测量出无人机的升力;该方法对于研究共轴双旋翼无人机升力测试具有一定参考价值。

极小昆虫翅膀拍动模式的气动特性实验研究

不同于较大的昆虫(如熊蜂、果蝇和鹰蛾等,飞行雷诺数Re>100),极小昆虫(如丽蚜小蜂、西花蓟马和瘿蚊等,Re<100)的翅膀采用更复杂的三自由度拍动形式,对应特殊的非定常高升力机制——“划桨”机制;同时,微小型飞行器(MAV)的飞行雷诺数较高(Re=10~3~10~5),其任务环境复杂多变,当MAV面对超载荷或高机动任务时,利用极小昆虫翅膀拍动模式飞行或许可以作为一种新的解决方案.为了深入理解MAV雷诺数下极小昆虫翅膀拍动模式的气动特性,基于三自由度拍动翅膀模型实验(包括直接测力和染色液流动显示,Re=3.9×10^(3)~1.0×10^(4))对3种典型极小昆虫(丽蚜小蜂、西花蓟马和瘿蚊)悬停飞行状态下翅膀拍动模式的气动力特性进行研究.发现在上挥(upstroke)阶段初期,即“划桨(rowing)”阶段,翅膀受到的铅垂升力急剧增大;在所考虑的雷诺数范围内,翅膀在整个上挥阶段的平均铅垂升力系数(大于3.1,丽蚜小蜂)明显大于较大昆虫翅膀拍动模式下获得的铅垂升力系数(1.5~2.0).同时,观察到在“划桨”阶段初期,翅膀的前缘和后缘产生一对旋转方向相反的旋涡;进入“划桨”阶段中末期,后缘旋涡脱落,但是前缘旋涡始终附着.这表明在MAV雷诺数下,翅膀上挥过程中的高升力产生机制为“延迟失速机制”,而不是极低雷诺数下的“划桨机制”.此外,发现在翅膀上挥下拍冲程交替即“打开(fling)”阶段,其高升力机制仍然是“打开机制”;然而,也注意到雷诺数效应和双翅效应对“打开”阶段的气动力影响很大.