多体组合式无人机飞行力学稳定性分析及增稳控制研究  

FLIGHT DYNAMICS AND STABLE CONTROL ANALYSES OF MULTI-BODY AIRCRAFT

作　　者：安朝 谢长川[1] 孟杨[1] 刘东旭[1] 杨超[1] AN Chao;XIE Chang-chuan;MENG Yang;LIU Dong-xu;YANG Chao(School of Aeronautic Science and Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学航空科学与工程学院,北京100191

出　　处：《工程力学》2021年第11期248-256,共9页Engineering Mechanics

摘　　要：多体组合式无人机是一种新概念飞行器,由多个小型无人机以翼尖铰接连接组成,该概念飞行器能够融合小型无人机与高空长航时无人机两类飞行平台的性能和任务优势,发展潜力巨大。基于Newton-Euler方程及升力线方法建立多体组合式无人机飞行力学模型,针对允许相对滚转运动自由度的双机组合式无人机系统进行配平及稳定性分析。结果表明,不同于传统构型飞行器,多体组合式无人机系统具有不稳定复合运动飞行模态,该复合模态由相对滚转运动主导,在无控状态下该构型飞行器无法稳定飞行。在完成动力学建模的基础上,基于PID控制方法,为每个单体飞行器单独设计增稳控制回路以达到增稳控制目的,仿真结果表明该控制思路有效,可以快速镇定发散的飞行力学系统。Multi-body aircraft is a new concept aircraft consisting of multiple small unmanned aerial vehicles hinged-connected by wing tips.This concept aircraft can integrate the performance and advantages of two types of flying platforms:small unmanned aerial vehicles and high-altitude long endurance unmanned aerial vehicles.It has great development potential.Based on the Newton-Euler equation and on the lifting line method,it establishes a multi-body aircraft flight dynamics model,and analyzes the trim and stability characteristics of the multi-body aircraft system that allowing the relative degree of freedom of rolling motion with the dual-aircraft combination.The results show that,different from the traditional configuration aircraft,the multi-body aircraft system has an unstable relative motion flight mode,which is dominated by relative rolling motion.This configuration aircraft cannot fly stably in an uncontrolled situation.Based on the completion of the dynamics modeling,the Proportion-Integration-Differentiation control method is used for stable control.The stable control loop is designed separately for each single aircraft to achieve the purpose of stable flight.The simulation results show that the control method is effective and can quickly stabilize the divergent flight dynamics system.

关 键 词：飞行力学 多体组合式无人机 新概念飞行器 稳定性分析 增稳控制 

分 类 号：V212.1[航空宇航科学与技术—航空宇航推进理论与工程]