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CN113191099A - Unmanned aerial vehicle dynamics modeling method considering icing influence - Google Patents

Unmanned aerial vehicle dynamics modeling method considering icing influence Download PDF

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CN113191099A
CN113191099A CN202110469422.3A CN202110469422A CN113191099A CN 113191099 A CN113191099 A CN 113191099A CN 202110469422 A CN202110469422 A CN 202110469422A CN 113191099 A CN113191099 A CN 113191099A
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李道春
姚卓尔
阚梓
赵仕伟
申童
向锦武
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Beihang University
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Abstract

本发明一种考虑结冰影响的无人机动力学建模方法，通过以阻力系数的增量表征结冰严重程度，根据结冰严重程度建立结冰模型，计算结冰后气动参数，带入无人机的平衡方程，以常规无人机动力学为基础，考虑结冰造成的气动参数变化，建立结冰情况下无人机飞行动力学模型。本发明优点是：通过考虑结冰对于无人机气动参数的影响，能够有效得到情况下无人机飞行性能情况，从而为相关设计提供指导思想，提高无人机的全天候飞行能力。

Figure 202110469422

The present invention is a UAV dynamics modeling method considering the effect of icing. The icing severity is represented by the increment of the drag coefficient, the icing model is established according to the icing severity, the aerodynamic parameters after icing are calculated, and the The balance equation of man-machine is based on conventional UAV dynamics, considering the changes of aerodynamic parameters caused by icing, and establishing the UAV flight dynamics model under icing conditions. The advantages of the invention are: by considering the influence of icing on the aerodynamic parameters of the UAV, the flight performance of the UAV under the circumstances can be effectively obtained, thereby providing guiding ideology for the relevant design and improving the all-weather flight capability of the UAV.

Figure 202110469422

Description

Unmanned aerial vehicle dynamics modeling method considering icing influence
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle dynamics modeling method considering icing influence.
Background
The icing of the unmanned aerial vehicle is an icing phenomenon caused on the unmanned aerial vehicle due to the influence of environmental conditions, wherein obvious moisture and proper environmental temperature or environment below zero are main key factors causing the icing phenomenon. When the ice accretion phenomenon occurs, the overall mass of the unmanned aerial vehicle is increased, the aerodynamic shape of the unmanned aerial vehicle, particularly the wing surface, is changed, the aerodynamic characteristics are further changed, the changes caused by the ice accretion are often unfavorable for the unmanned aerial vehicle, and the performance of the unmanned aerial vehicle system for performing all-weather flight tasks during long-term navigation is seriously affected. When the ice accretion happens, if the ice accretion happens, the flight performance of the unmanned aerial vehicle is deteriorated slightly to reduce the flight quality, and the crash accident of the unmanned aerial vehicle can happen seriously to cause serious loss.
The long-endurance unmanned aerial vehicle flies in all weather, the ice accumulation phenomenon is easy to occur, and the all weather flight performance of the unmanned aerial vehicle is seriously deteriorated due to the weather condition which must be overcome. The influence on the all-weather flight capability of the unmanned aerial vehicle after ice accretion is researched, and the improvement of the flight performance of the unmanned aerial vehicle in long voyage under the ice accretion condition have important and profound significance for the development of the unmanned aerial vehicle.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a flight dynamics modeling method considering icing influence, which characterizes icing severity by increment of a resistance coefficient, establishes an icing model according to the icing severity, calculates pneumatic parameters after icing, brings the parameters into a balance equation of an unmanned aerial vehicle, considers the pneumatic parameter change caused by icing on the basis of conventional unmanned aerial vehicle dynamics, and establishes a flight dynamics model of the unmanned aerial vehicle under the icing condition.
In order to realize the purpose, the technical scheme adopted by the invention is as follows:
an unmanned aerial vehicle dynamics modeling method considering icing conditions comprises the following steps:
step 1, describing icing severity by increment of an icing resistance coefficient, and calculating to obtain a parameter representing the icing severity;
step 2, calculating influence parameters of icing on pneumatic parameters of the unmanned aerial vehicle by a computational fluid mechanics method;
step 3, calculating pneumatic parameters of the unmanned aerial vehicle after icing by combining parameters of icing severity and pneumatic parameters before icing;
and 4, substituting the aerodynamic parameters after icing into an initial balance equation of the unmanned aerial vehicle to obtain an unmanned aerial vehicle flight dynamics model influenced by icing.
Further, step 1 specifically comprises: describing the icing severity degree by the increment of the frozen resistance coefficient, and calculating to obtain a parameter eta representing the icing severity degree;
the increase in drag coefficient may be calculated by the following equation:
ΔCD＝Z1Acβg(f)
in the formula, Z1Is a constant; a. thecIs the airfoil water droplet accumulation factor; beta is the water drop collection rate; f is the freezing coefficient.
Airfoil water droplet accumulation factor AcThe calculation formula of (2) is as follows:
Figure BDA0003044788470000021
wherein LWC represents the liquid water content of air; v is the flight speed of the unmanned aerial vehicle; t is the ice accumulation time; rhoiDensity of ice accretion; c is the chord length.
The icing severity parameter η is expressed as:
Figure BDA0003044788470000022
ΔCD(ac)the increment of the resistance coefficient calculated under the actual flight condition; delta CD(ref)Is the drag coefficient increment calculated by the NACA0012 airfoil.
Further, step 2 specifically comprises: calculating influence parameters of icing on pneumatic parameters of the unmanned aerial vehicle by a computational fluid mechanics method;
kCAfor the unmanned aerial vehicle icing factor constant, k is the aerodynamic derivative for different valuesCAThe difference is calculated by a computational fluid dynamics method.
Further, step 3 specifically comprises: according to the icing severity parameter and the icing influence parameter on the pneumatic parameters of the unmanned aerial vehicle, an icing model is established, and the pneumatic parameters of the unmanned aerial vehicle after icing are calculated:
the post-icing aerodynamic derivative can be calculated by the following formula:
C(A)iced＝(1.0+ηkCA)C(A)
C(A)icedthe pneumatic parameters after icing; c(A)Is a pneumatic parameter before icing; k is a radical ofCAFor the unmanned aerial vehicle icing factor constant, k is the aerodynamic derivative for different valuesCADifferent.
Further, step 4 specifically includes: and (4) bringing the aerodynamic parameters after icing into an initial balance equation of the unmanned aerial vehicle to obtain an unmanned aerial vehicle flight dynamics model influenced by icing.
Figure BDA0003044788470000031
Figure BDA0003044788470000032
Figure BDA0003044788470000033
Figure BDA0003044788470000034
Figure BDA0003044788470000035
Figure BDA0003044788470000036
Figure BDA0003044788470000037
V and alpha, theta and q are respectively the incoming flow speed, the angle of attack, the pitch angle and the pitch angle rate of the unmanned aerial vehicle. Fx、Fz、MYRepresenting the resultant moment of aerodynamic force, thrust force, and gravity.
Figure BDA0003044788470000038
The dynamic pressure of the unmanned aerial vehicle is S represents the reference area of the wing;
Figure BDA0003044788470000041
is a pneumatic chord length; t isx、Tz、TmThe components of the thrust in the x axis, the z axis and the pitching moment of the body coordinate system; cx(A)iced、Cz(A)iced、Cm(A)icedRespectively, are the pneumatic parameters of the frozen unmanned aerial vehicle.
Compared with the prior art, the invention has the advantages that:
the influence of icing on the pneumatic parameters of the unmanned aerial vehicle is considered, the flight performance condition of the unmanned aerial vehicle can be effectively obtained, and therefore a guiding idea is provided for relevant design, and all-weather flight capacity of the unmanned aerial vehicle is improved.
Drawings
FIG. 1 is a flow chart of a method for modeling dynamics of an unmanned aerial vehicle according to an embodiment of the invention;
FIG. 2 is a pitch angle response curve diagram after elevator step input under different icing degrees according to the embodiment of the invention;
FIG. 3 is a graph of the speed response of the coordinate system axis of the body after the step input of the elevator for different icing levels according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings by way of examples.
As shown in fig. 1, a method for modeling dynamics of an unmanned aerial vehicle considering icing conditions includes the following steps:
step 1, describing icing severity by increment of an icing resistance coefficient, and calculating to obtain a parameter representing the icing severity;
step 2, calculating influence parameters of icing on pneumatic parameters of the unmanned aerial vehicle by a computational fluid mechanics method;
step 3, calculating pneumatic parameters of the unmanned aerial vehicle after icing by combining parameters of icing severity and pneumatic parameters before icing;
and 4, substituting the aerodynamic parameters after icing into an initial balance equation of the unmanned aerial vehicle to obtain an unmanned aerial vehicle flight dynamics model influenced by icing.
The step 1 specifically comprises the following steps: describing the icing severity degree by the increment of the frozen resistance coefficient, and calculating to obtain a parameter eta representing the icing severity degree;
the increase in drag coefficient may be calculated by the following equation:
ΔCD＝Z1Acβg(f)
in the formula, Z1Is a constant; a. thecIs the airfoil water droplet accumulation factor; beta is the water drop collection rate; f is the freezing coefficient.
Airfoil water droplet accumulation factor AcThe calculation formula of (2) is as follows:
Figure BDA0003044788470000051
wherein LWC represents the liquid water content of air; v is the flight speed of the unmanned aerial vehicle; t is the ice accumulation time; rhoiDensity of ice accretion; c is the chord length.
The icing severity parameter η is expressed as:
Figure BDA0003044788470000052
ΔCD(ac)for drag coefficients calculated under actual flight conditionsIncrement; delta CD(ref)Is the drag coefficient increment calculated by the NACA0012 airfoil.
The step 2 specifically comprises the following steps: calculating influence parameters of icing on pneumatic parameters of the unmanned aerial vehicle by a computational fluid mechanics method;
kCAfor the unmanned aerial vehicle icing factor constant, k is the aerodynamic derivative for different valuesCAThe difference is calculated by a computational fluid dynamics method.
The step 3 specifically comprises the following steps: according to the icing severity parameter and the icing influence parameter on the pneumatic parameters of the unmanned aerial vehicle, an icing model is established, and the pneumatic parameters of the unmanned aerial vehicle after icing are calculated:
the post-icing aerodynamic derivative can be calculated by the following formula:
C(A)iced＝(1.0+ηkCA)C(A)
C(A)icedthe pneumatic parameters after icing; c(A)Is a pneumatic parameter before icing; k is a radical ofCAFor the unmanned aerial vehicle icing factor constant, k is the aerodynamic derivative for different valuesCADifferent.
The step 4 specifically comprises the following steps: and (4) bringing the aerodynamic parameters after icing into an initial balance equation of the unmanned aerial vehicle to obtain an unmanned aerial vehicle flight dynamics model influenced by icing.
Figure BDA0003044788470000061
Figure BDA0003044788470000062
Figure BDA0003044788470000063
Figure BDA0003044788470000064
Figure BDA0003044788470000065
Figure BDA0003044788470000066
Figure BDA0003044788470000067
V and alpha, theta and q are respectively the incoming flow speed, the angle of attack, the pitch angle and the pitch angle rate of the unmanned aerial vehicle. Fx、Fz、MYRepresenting the resultant moment of aerodynamic force, thrust force, and gravity.
Figure BDA0003044788470000068
The dynamic pressure of the unmanned aerial vehicle is S represents the reference area of the wing;
Figure BDA0003044788470000069
is a pneumatic chord length; t isx、Tz、TmThe components of the thrust in the x axis, the z axis and the pitching moment of the body coordinate system; cx(A)iced、Cz(A)iced、Cm(A)icedRespectively, are the pneumatic parameters of the frozen unmanned aerial vehicle.
In the embodiment, the dynamic modeling is performed on the unmanned aerial vehicle under the condition that the influence of icing is considered for a certain unmanned aerial vehicle. Three icing severity conditions with icing severity parameter η of 0.214, η of 0.568 and η of 0.8 are adopted. And under a small disturbance linear model, considering unit step response of an elevator, and analyzing the influence of icing on the longitudinal flight performance of the airplane. Trim status under ice conditions, as shown in table 1. The ice accumulation of the airplane can obviously reduce the lift coefficient of the wings, so that the airplane can not realize normal horizontal flight movement, and if the airplane needs to realize equal-height flight, the incidence angle of the airplane needs to be increased by controlling the drift angle of the control surface of the elevator, and the lift is improved. The more severe the icing, the greater the impact on the aircraft. Fig. 2 and 3 show the response curves of pitch angle and speed along the axis of the body coordinate system after a step input of the elevator for different icing severity, respectively. The icing has a large influence on the control surface of the elevator, so that the control response is slowed down, the wing profile of the control surface is changed after the icing, the thickness is increased, and the adverse effect phenomenon can occur in severe cases.
TABLE 1 Balancing parameters
Figure BDA0003044788470000071
It will be appreciated by those of ordinary skill in the art that the examples described herein are intended to assist the reader in understanding the manner in which the invention is practiced, and it is to be understood that the scope of the invention is not limited to such specifically recited statements and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.

Claims (5)

1.一种考虑结冰情况的无人机动力学建模方法，其特征在于，包括以下步骤：1. a kind of unmanned aerial vehicle dynamics modeling method considering icing situation, is characterized in that, comprises the following steps: 步骤1、以结冰后阻力系数的增量描述结冰严重程度，计算得到表征结冰严重程度的参数；Step 1. The icing severity is described by the increment of the drag coefficient after icing, and the parameters characterizing the icing severity are obtained by calculation; 步骤2、通过计算流体力学方法，计算结冰对无人机气动参数的影响参数；Step 2. Calculate the influence parameters of icing on the aerodynamic parameters of the UAV through the computational fluid dynamics method; 步骤3、结合结冰严重程度的参数以及结冰前的气动参数，计算无人机结冰后的气动参数；Step 3. Calculate the aerodynamic parameters of the UAV after icing by combining the parameters of the icing severity and the aerodynamic parameters before icing; 步骤4、将结冰后的气动力参数带入无人机初始的平衡方程中，得到结冰影响的无人机飞行动力学模型。Step 4. Bring the aerodynamic parameters after icing into the initial balance equation of the UAV to obtain the UAV flight dynamics model affected by the icing. 2.根据权利要求1所述的无人机动力学建模方法，其特征在于：步骤1具体为：以结冰后阻力系数的增量描述结冰严重程度，计算得到表征结冰严重程度的参数η；2. The unmanned aerial vehicle dynamics modeling method according to claim 1, characterized in that: step 1 is specifically: describe the severity of icing with the increment of the drag coefficient after icing, and calculate the parameters representing the severity of icing n; 阻力系数的增量可通过以下公式计算：The increment of drag coefficient can be calculated by the following formula: ΔCD＝Z1Acβg(f)ΔC D =Z 1 A c βg(f) 式中，Z1为常数；Ac为翼面水滴累积因子；β为水滴收集率；f为冻结系数；In the formula, Z 1 is a constant; A c is the accumulation factor of water droplets on the airfoil; β is the collection rate of water droplets; f is the freezing coefficient; 翼面水滴累积因子Ac的计算公式为：The calculation formula of the airfoil water droplet accumulation factor A c is:
Figure FDA0003044788460000011
Figure FDA0003044788460000011
 式中，LWC表示空气中的液态水含量；V为无人机的飞行速度；t为积冰时间；ρi为积冰的密度；c为弦长；where LWC is the liquid water content in the air; V is the flight speed of the UAV; t is the ice accumulation time; ρ i is the density of the ice accumulation; c is the chord length; 结冰严重程度参量η表达式为：The icing severity parameter η is expressed as:
Figure FDA0003044788460000021
Figure FDA0003044788460000021
 ΔCD(ac)为实际飞行条件下计算得到的阻力系数的增量；ΔCD(ref)为通过NACA0012翼型计算得到的阻力系数增量。ΔC D(ac) is the increment of drag coefficient calculated under actual flight conditions; ΔC D(ref) is the increment of drag coefficient calculated by NACA0012 airfoil. 3.根据权利要求2所述的无人机动力学建模方法，其特征在于：步骤2具体为：通过计算流体力学方法，计算结冰对无人机气动参数的影响参数；3. The unmanned aerial vehicle dynamics modeling method according to claim 2, is characterized in that: step 2 is specifically: by computational fluid dynamics method, calculate the influence parameter of icing on the aerodynamic parameter of unmanned aerial vehicle; kCA为无人机结冰因子常数，对于不同的气动导数，kCA有所不同，通过计算流体力学方法计算得出。k CA is the icing factor constant of the UAV. For different aerodynamic derivatives, k CA is different, which is calculated by computational fluid dynamics method. 4.根据权利要求3所述的无人机动力学建模方法，其特征在于：步骤3具体为：根据结冰严重程度参量和结冰对无人机气动参数的影响参数，建立结冰模型，计算无人机结冰后的气动参数：4. The unmanned aerial vehicle dynamics modeling method according to claim 3, is characterized in that: step 3 is specifically: according to icing severity parameter and icing influence parameter on unmanned aerial vehicle aerodynamic parameter, establish icing model, Calculate the aerodynamic parameters of the drone after icing: 结冰后的气动导数可由以下公式计算得到：The aerodynamic derivative after icing can be calculated by the following formula: C(A)iced＝(1.0+ηkCA)C(A) C (A) iced = (1.0+ηk CA )C (A) C(A)iced为结冰后的气动参数；C(A)为结冰前的气动参数；kCA为无人机结冰因子常数，对于不同的气动导数，kCA有所不同。C (A) iced is the aerodynamic parameter after icing; C (A) is the aerodynamic parameter before icing; k CA is the icing factor constant of the drone, and k CA is different for different aerodynamic derivatives. 5.根据权利要求4所述的无人机动力学建模方法，其特征在于：步骤4具体为：将结冰后的气动力参数带入无人机初始的平衡方程中，得到结冰影响的无人机飞行动力学模型；5. The unmanned aerial vehicle dynamics modeling method according to claim 4 is characterized in that: step 4 is specifically as follows: bringing the aerodynamic parameters after icing into the initial balance equation of the unmanned aerial vehicle, and obtaining the effect of icing. UAV flight dynamics model;
Figure FDA0003044788460000022
Figure FDA0003044788460000022
Figure FDA0003044788460000023
Figure FDA0003044788460000023
Figure FDA0003044788460000024
Figure FDA0003044788460000024
Figure FDA0003044788460000025
Figure FDA0003044788460000025
Figure FDA0003044788460000031
Figure FDA0003044788460000031
Figure FDA0003044788460000032
Figure FDA0003044788460000032
Figure FDA0003044788460000033
Figure FDA0003044788460000033
 其中，V和α、θ、q分别为无人机来流速度、迎角、俯仰角、俯仰角速率；Fx、Fz、MY代表气动力、推力、重力的合力矩；
Figure FDA0003044788460000034
为无人机动压，S表示机翼参考面积；
Figure FDA0003044788460000035
为气动弦长；Tx、Tz、Tm是推力在机体坐标系x轴、z轴和俯仰力矩的分量；Cx(A)iced、Cz(A)iced、Cm(A)iced分别是结冰后无人机气动参数。Among them, V and α, θ, and q are the incoming velocity, attack angle, pitch angle, and pitch angle rate of the UAV, respectively; F x , F z , and M Y represent the resultant moment of aerodynamic force, thrust, and gravity;
Figure FDA0003044788460000034
is the dynamic pressure of the drone, and S represents the reference area of the wing;
Figure FDA0003044788460000035
is the aerodynamic chord length; T x , T z , T m are the components of the thrust in the x-axis, z-axis and pitching moment of the body coordinate system; C x(A)iced , C z(A)iced , C m(A)iced They are the aerodynamic parameters of the UAV after icing.
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CN113962028B (en) * 2021-11-12 2024-04-30 北京航空航天大学 Unmanned aerial vehicle pneumatic derivative identification method considering icing influence
CN113919081A (en) * 2021-11-15 2022-01-11 北京航空航天大学 A Flexible Flight Dynamics Modeling and Analysis Method Considering Inertial Coupling
CN113919081B (en) * 2021-11-15 2023-09-19 北京航空航天大学 Flexible flight dynamics modeling and analysis method considering inertial coupling
CN113867413A (en) * 2021-11-23 2021-12-31 北京航空航天大学 Unmanned aerial vehicle stable flight control method considering icing influence
CN113867413B (en) * 2021-11-23 2024-08-27 北京航空航天大学 Unmanned aerial vehicle stable flight control method considering icing influence

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