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近年来多旋翼无人飞行器(UAV)成为了小型无人飞行器发展的热门领域,而学界对于多旋翼飞行器飞行力学建模与飞行力学特性分析的研究还相对较少。针对相关研究需求,基于传统旋翼模型,建立了适用于多旋翼无人飞行器的飞行力学模型,并利用此模型对多旋翼无人飞行器悬停模态特性进行了初步分析,结果显示多旋翼飞行器模态稳定性明显弱于传统直升机,且横向Phugoid模态取代了荷兰滚模态。随后利用弱耦合系统理论与纵向模态简化模型,对多旋翼建模过程中的旋翼旋转自由度(DOF)动态特性、入流模型和旋翼气动力矩的建模必要性进行了研究。分析表明,旋翼旋转自由度的动态特性在飞控增稳条件下对全机特性有着重要影响,入流分布对刚性旋翼的俯仰、滚转气动力矩有着决定性作用,而旋翼气动力矩是决定多旋翼悬停模态的重要因素,这三者在多旋翼建模分析中不能忽略。
In recent years, the multi-rotor UAV has become a hot area for the development of small UAVs. However, there are relatively few studies on the multi-rotor aircraft flight dynamics modeling and flight mechanics analysis. According to the related research needs, based on the traditional rotor model, a flight dynamics model suitable for a multi-rotor UAV was established. Based on this model, the hover mode characteristics of the UAV were analyzed. The results show that the multi- The state stability is obviously weaker than the traditional helicopter, and the transverse Phugoid mode replaces the Dutch roll mode. Then, by using the theory of weak coupling system and longitudinal mode simplification model, the rotor rotational DOF (DOF) dynamic characteristics, inflow model and modeling necessity of rotor aerodynamic torque during multi-rotor modeling are studied. The analysis shows that the dynamic characteristics of rotor rotation degree of freedom have an important influence on the whole machine’s performance under the condition of flight-controlled stabilization. The inflow distribution plays a decisive role in the pitch and roll moment of rigid rotor. Stop modal important factors, these three can not be ignored in the multi-rotor modeling analysis.