摘要
对多直升机协调吊挂系统中每一架直升机与外吊挂载荷分别建立他们的飞行动力学模型,将弹性吊索视为弹簧阻尼系统,建立弹性吊索数学模型;然后通过弹性吊索动力学将多直升机与吊挂载荷的运动耦合到一起,建立了通用的多直升机协调吊挂系统仿真模型;最后,针对单、四直升机协调吊挂系统建立了仿真验证模型,对直升机协调吊挂系统的稳定性、配平特性进行了分析.仿真结果表明外挂载荷对直升机的稳定性和配平特性产生了较大影响,通过分析证明了仿真结果的合理性,同时证明本文提出的多直升机协调吊挂系统飞行动力学建模方法的可行性.
A generic simulation model of multi-helicopter cooperated system with slung load by using elastic cable has been developed for research on control and avionic instrumentation.Flight dynamic models of each helicopter and payload were developed respectively.Elastic cables were treated as spring/damping systems,and the dynamics of each helicopter and slung loads was tightly coupled by elastic cables＇ dynamics.Simulation model of helicopter system with slung load was built,and analysis of stability and trim were conducted.The results indicate that slung load obviously affects each helicopter＇s dynamics properties based on qualitative analysis,and the modeling method is validated and feasible for multi-helicopter system with slung load.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2013年第10期1279-1285,共7页
Journal of Beijing University of Aeronautics and Astronautics
基金
江苏高校优势学科建设工程资助项目
关键词
直升机
飞行力学
稳定性
仿真
吊挂载荷
helicopters
flight dynamics
stability
simulation
slung load
