基于Kane方法的直升机-柔性绳索-吊挂系统动力学建模

万绍峰; 曹义华; 黄磊

doi:10.13224/j.cnki.jasp.2016.04.021

基于Kane方法的直升机-柔性绳索-吊挂系统动力学建模

doi: 10.13224/j.cnki.jasp.2016.04.021

1. 北京航空航天大学航空科学与工程学院, 北京 100191;
2. 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;
3. 中国船舶重工集团公司第710研究所研发部, 湖北宜昌 443003

详细信息

作者简介:
万绍峰(1991-),男,江西南昌人,硕士生,主要从事飞行力学方面的研究.

中图分类号: V212.4
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出版历程
- 收稿日期: 2014-07-31
- 刊出日期: 2016-04-28

Dynamic modeling of helicopter-flexible rope-slung load system based on Kane's method

1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. The General Office, China Helicopter Research and Development Institute, Aviation Industry Corporation of China, Jingdezhen Jiangxi 333001, China;
3. Research and Development Department, 710 Institute, China Shipbuilding Industry Corporation, Yichang Hubei 443003, China

摘要

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.
- 直升机 /
- 吊挂 /
- 柔性绳索 /
- Kane方法 /
- 动力学模型
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.
- helicopter /
- slung load /
- flexible rope /
- Kane's method /
- dynamic model

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