CN-121980991-A - Method for modeling and controlling water surface take-off and landing dynamics of coaxial double-rotor-wing water craft

CN121980991ACN 121980991 ACN121980991 ACN 121980991ACN-121980991-A

Abstract

The invention provides a method for modeling and controlling the water surface take-off and landing dynamics of a coaxial double-rotor-wing water craft. The method comprises the steps of S1, defining a coordinate system required by dynamic modeling of the coaxial double-rotor-wing water craft, obtaining dynamic modeling parameters of the coaxial double-rotor-wing water craft as basic input data of a dynamic model, S2, establishing a coaxial double-rotor-wing inflow model, S3, establishing a rotor aerodynamic model, S4, carrying out hydrodynamic modeling and calculation of the coaxial double-rotor-wing water craft, S5, integrating forces and moments formed by dynamic equations of all parts into a six-freedom-degree motion equation of a machine body, and forming a coaxial double-rotor-wing water craft take-off and landing dynamic/kinematic model. According to the invention, the influence of multiple factors on the take-off and landing states of the unmanned aerial vehicle is considered, and the anti-interference capability of the unmanned aerial vehicle in a complex water area environment is improved.

Inventors

LIU SIYANG
CHEN YUQING
Zhang Chuzhe
ZHOU TIAN
LIU CONG
PENG MIAO
ZENG FANYANG

Assignees

中国特种飞行器研究所

Dates

Publication Date: 20260505
Application Date: 20251227

Claims (8)

1. The method for modeling the water surface take-off and landing dynamics of the coaxial double-rotor-wing water craft is characterized by comprising the following steps of: s1, defining a coordinate system required by dynamic modeling of a coaxial double-rotor-wing water craft, and acquiring dynamic modeling parameters of the coaxial double-rotor-wing water craft as basic input data of a dynamic model; s2, establishing a coaxial double-rotor inflow model; S3, establishing a rotor wing aerodynamic model; S4, carrying out hydrodynamic modeling and calculation on the coaxial double-rotor-wing water craft; S5, integrating the force and the moment formed by the dynamic equations of all the components into the six-degree-of-freedom motion equation of the engine body to form the coaxial double-rotor-wing water craft on-water take-off and landing dynamics/kinematics model.
2. The method of modeling water surface take-off and landing dynamics of a coaxial dual rotor water craft according to claim 1, wherein in S1, the coordinate system comprises a ground coordinate system, a body coordinate system, a speed coordinate system, a hub coordinate system.
3. The method for modeling the water surface take-off and landing dynamics of a coaxial dual rotor water craft according to claim 1, wherein in S1, the dynamics modeling parameters include the body weight center of gravity, the rotor blade chord length, the rotation speed, the flapping response coefficient, the maximum lift coefficient and the moment of inertia.
4. The method of modeling water surface take-off and landing dynamics of a coaxial dual rotor water craft according to claim 1, wherein in S2, when the coaxial dual rotor inflow model is built, the induced speed in the rotor disk plane is calculated as follows: In the formula, The mean value of the induced speeds of the upper rotor wing and the lower rotor wing is represented, K x ,K y represents the induced speed parameter when flying forwards, and the calculation formula of the parameters of the upper rotor wing and the lower rotor wing is as follows: wherein, delta ur ,δ dr represents the interference coefficient of the lower rotor wing to the upper rotor wing and the interference coefficient of the upper rotor wing to the lower rotor wing respectively; Respectively representing the wake tilt angles of the upper and lower rotor disks; the average values of the induced speeds of the upper rotor disk and the lower rotor disk are respectively represented, so that the rotor trail inclination angle and the aerodynamic disturbance force can be calculated: In the formula, Indicating the forward ratio of the upper rotor wing and the lower rotor wing, The front-to-near ratio and inflow ratio of the upper rotor wing and the lower rotor wing in flat flight are calculated as follows: 。
5. The method for modeling the surface take-off and landing dynamics of a coaxial dual-rotor water craft according to claim 1, wherein in S3, the rotor aerodynamic model is established as follows: dividing the rotor blade into a plurality of phyllin micro-segments, wherein the speed of the section of the rotor blade is expressed as: and integrating aerodynamic forces of all the micro sections through a phyllin theory to obtain aerodynamic forces and aerodynamic moments of the whole rotor, and converting a coordinate system to obtain corresponding quantities under a machine body coordinate system.
6. The method for modeling the surface take-off and landing dynamics of a coaxial double-rotor water craft according to claim 1, wherein S4 is specifically as follows: The additional mass is calculated by adopting a profile method, and the calculation formula is as follows: Wherein, the The unmanned aerial vehicle appearance calculation formula is established according to parameters of the established physical model; calculating the buoyancy experienced by an aircraft Floating core Inertial resistance The following formula: 。
7. A method for controlling a model of the water lift dynamics/kinematics of a coaxial double rotor water craft constructed by the modeling method according to any one of claims 1-6, comprising the following steps: a. In the attitude control loop, a mode of combining a PID control algorithm and a self-adaptive control law is adopted to establish a coaxial double-rotor-wing water craft water take-off and landing control structure and a control algorithm; b. Setting up a stability augmentation control structure of each channel, adopting feedback of an attitude angle and an attitude angle rate to form closed loop control to carry out attitude notification on the coaxial double-rotor-wing water craft, wherein the attitude control is divided into attitude maintenance and attitude tracking, namely the attitude maintenance control is carried out if an expected attitude maintenance input value is unchanged, and otherwise the attitude tracking control is carried out.
8. The control method according to claim 7, wherein in the step b, the control law of three channels of attitude control roll, pitch and heading is designed; The rolling channel and the pitching channel adopt the same control structure, and the control law is as follows: wherein: Wherein, the ( ) And ( ) Pitch/roll angle errors and pitch rate/roll angle rate errors respectively, ( )、 ( )、 ( ) The coefficients are respectively an attitude angular displacement amplification coefficient, an attitude angular rate amplification coefficient and an attitude angular rate error integration coefficient; The course channel control law is: In the middle of 。

Description

Method for modeling and controlling water surface take-off and landing dynamics of coaxial double-rotor-wing water craft Technical Field The invention belongs to the technical field of aircraft design and control, and particularly relates to a method for modeling and controlling the water surface take-off and landing dynamics of a coaxial double-rotor-wing water aircraft. Background The existing water unmanned aerial vehicle mainly comprises a pontoon type fixed-wing unmanned aerial vehicle, a traditional multi-rotor unmanned aerial vehicle additionally provided with pontoons, and an unmanned ship/unmanned aerial vehicle combination. The floating pontoon type fixed-wing unmanned aerial vehicle depends on sliding take-off and landing, has high requirements on the area of a water area, has poor wave resistance and is easy to turn on one's side, the traditional multi-rotor unmanned aerial vehicle can take off and land vertically, but has the problems of insufficient stability, weak wave resistance, serious splash and splash damage equipment caused by rotor downward washing, shortened endurance caused by the additional mass of a floating pontoon and the like, and the unmanned ship/unmanned aerial vehicle combination is difficult to realize efficient autonomous operation due to complex system, high cost and low intelligent degree. The coaxial double-rotor wing configuration has a plurality of advantages when applied to a water surface lifting scene. The coaxial double-rotor wing structure has compact structure and concentrated gravity center, and the layout can generate larger self-stabilizing and righting moment, so that the unmanned aerial vehicle has the natural capability of resisting overturning and is obviously superior to the traditional layout with pontoons. And meanwhile, compared with the traditional multi-rotor scattered downwash airflow, the coaxial double-rotor downwash airflow is more centralized and controllable, and the gesture stability and the water contact impact inhibition in the take-off and landing process are easier to realize. Meanwhile, in order to increase buoyancy and realize water surface floating so as to further reduce water surface impact load during descending, an inflatable airbag design is adopted as a floating assisting system to meet the requirement of self-stability. At present, the lifting simulation aiming at the coaxial double-rotor-wing configuration unmanned aerial vehicle is mostly based on a simplified rigid body dynamics model (neglecting fluid-structure coupling effect) or a static water surface hypothesis, and cannot truly reflect the influence of dynamic waves on rotor wing aerodynamic performance and unmanned aerial vehicle-water surface interaction. Disclosure of Invention The invention aims to provide a method for modeling and controlling the water surface take-off and landing dynamics of a coaxial double-rotor-wing water craft. According to the invention, the influence of multiple factors on the take-off and landing states of the unmanned aerial vehicle is considered, and the anti-interference capability of the unmanned aerial vehicle in a complex water area environment is improved. The technical proposal is that. A method for modeling the water surface take-off and landing dynamics of a coaxial double-rotor-wing water craft comprises the following steps: s1, defining a coordinate system required by dynamic modeling of a coaxial double-rotor-wing water craft, and acquiring dynamic modeling parameters of the coaxial double-rotor-wing water craft as basic input data of a dynamic model; s2, establishing a coaxial double-rotor inflow model; S3, establishing a rotor wing aerodynamic model; S4, carrying out hydrodynamic modeling and calculation on the coaxial double-rotor-wing water craft; S5, integrating the force and the moment formed by the dynamic equations of all the components into the six-degree-of-freedom motion equation of the engine body to form the coaxial double-rotor-wing water craft on-water take-off and landing dynamics/kinematics model. In the modeling method of the water surface take-off and landing dynamics of the coaxial double-rotor-wing water craft, in the step S1, the coordinate system comprises a ground coordinate system, a machine body coordinate system, a speed coordinate system and a hub coordinate system. In the aforementioned method for modeling the dynamics of the water surface take-off and landing of the coaxial dual-rotor water craft, in S1, the dynamics modeling parameters include the center of gravity of the body weight, the chord length of the rotor blade, the rotation speed, the flapping response coefficient, the maximum lift coefficient and the moment of inertia. In the aforementioned modeling method for the water surface take-off and landing dynamics of the coaxial dual-rotor water craft, in S2, when the inflow model of the coaxial dual-rotor is built, the induced speed in the rotor disk plane is calculated according to the follow