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针对鸭式旋翼/机翼无人机兼有直升机和固定翼机飞行特性的特点,对其飞行动力学模型进行了理论建模与分析研究。应用动量理论建立了旋翼/机翼尾迹模型,分析了旋翼/机翼尾迹对鸭翼、平尾等气动部件的干扰特性,建立了直升机和转换飞行模式受旋翼/机翼尾迹干扰影响的动力学模型以及固定翼飞行模式的动力学模型。提出了各飞行模式的配平策略,使用Matlab工具箱函数简化了平衡特性计算和模型线性化过程,并进行了不同飞行模式、典型飞行状态的纵向运动稳定性分析。结果表明所建立的模型能够反映该类鸭式旋翼/机翼无人机各飞行模式的典型特性,并可用于飞行控制系统设计。
Aiming at the characteristics of the helicopter and the fixed-wing flight characteristics of the duck-type rotor / wing UAV, the flight dynamics model is modeled and analyzed. The rotor / wing wake model is established based on the momentum theory. The disturbance characteristics of rotor / wing wake to the aerodynamic components such as canard wing and tail end are analyzed. The dynamics model of helicopter and converted flight mode affected by rotor / wing wake interference is established As well as the dynamic model of the fixed-wing flight mode. The balancing strategy of each flight mode is proposed. The Matlab toolbox function is used to simplify the calculation of balance characteristic and model linearization, and the longitudinal stability analysis of different flight modes and typical flight states is carried out. The results show that the model can reflect the typical characteristics of each flight mode of this type of Duck Rotor / Wing UAV and can be used in the design of flight control system.