基于Kane方法的直升机-柔性绳索-吊挂系统动力学建模
Dynamic modeling of helicopter-flexible rope-slung load system based on Kane's method
万绍峰 1曹义华 2黄磊3
作者信息
- 1. 北京航空航天大学航空科学与工程学院,北京100191;中国船舶重工集团公司第710研究所研发部,湖北宜昌443003
- 2. 北京航空航天大学航空科学与工程学院,北京100191
- 3. 中国航空工业集团公司中国直升机设计研究所总体室,江西景德镇333001
- 折叠
摘要
完成了基于Kane方法的直升机-柔性绳索-吊挂系统的动力学建模.通过运动学描述,将系统分为直升机本体、吊挂绳索和吊挂载荷三部分.直升机本体为六自由度刚体;吊挂绳索模拟为集中质点模型,质点间用弹簧连接;吊挂载荷模拟为三自由度质点.考虑重力、气动力和弹性力的影响,建立直升机-吊挂系统的Kane动力学方程.针对直升机本体和考虑吊挂绳索柔性的直升机-柔性绳索-吊挂系统这两种模型,计算了它们在不同前飞速度下的配平状态,分析了其运动模态并进行对比.仿真结果表明:外吊挂引入后,直升机需要额外的总距操纵;考虑吊挂绳索柔性后,直升机长周期运动的收敛/发散速度变慢;Kane方法适用于直升机-柔性绳索-吊挂系统的动力学建模,方程整齐简洁,编程求解方便.
Abstract
A dynamic model of a helicopter-flexible rope-slung load system based on Kane's method was completed.Through kinematical description of the system,the system was divided into three parts,i.e.,helicopter ontology,slung rope and slung load.The helicopter ontology is a six-degree-of-freedom rigid body.The slung rope was simulated by a spring-connected lumped mass model;the slung load was simulated by a three-degree-of-freedom mass.Kane's dynamical equations of the helicopter-flexible rope-slung load system were established in the consideration of gravitational forces,aerodynamic forces and elastic forces.For the helicopter ontology and the helicopter-flexible rope-slung load system in consideration of flexible rope,the trim states at different forward velocities were computed first,then the motion modes were analyzed and compared.Simulation results show:the helicopter needs extra collective pitch with introduction of slung load;convergent/divergence rate of helicopter phugoid motion slows down in consideration of flexible rope;Kane's method is suited for building up the dynamic model of helicopter-flexible rope-slung load system,the equations are simple,shipshape and suited for programmable calculation.
关键词
直升机/吊挂/柔性绳索/Kane方法/动力学模型Key words
helicopter/slung load/flexible rope/Kane's method/dynamic model引用本文复制引用
出版年
2016
NETL
NSTL
维普
万方数据