CN108595755A - A kind of fast modeling method of new mars exploration aircraft Control-oriented - Google Patents
A kind of fast modeling method of new mars exploration aircraft Control-oriented Download PDFInfo
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Abstract
The invention discloses a kind of fast modeling methods of new mars exploration aircraft Control-oriented, first, according to the geometry shape and parameters of propulsion system of mars exploration aircraft, in conjunction with relevant subjects theories such as aerodynamics, pneumatic calorifics, propulsion system analyses, the stressing conditions of aircraft are analyzed.There are mainly two types of the methods used in project analysis：The method of method and engineering characteristic estimation based on Fluid Mechanics Computation (CFD) analysis.Two kinds of approach cut both ways in computational accuracy in efficiency.It needs to carry out tradeoff in actually quoting or integrates two methods.On the basis of obtaining aircraft stressing conditions, according to basic newton second theorem, the dynamics and kinematical equation of mars exploration aircraft are derived.Above procedure is combined, parameterized treatment is carried out to the design variable of mars exploration aircraft, the stressing conditions of aircraft is analyzed, is quickly obtained the model parameter of mars exploration aircraft.
Description
Technical field
The invention belongs to science and technology of aviation Mars probes technical fields, and in particular to a kind of new mars exploration aircraft face
Specifically it is exactly adoption status type of functions and Bezier structure mars exploration aircraft to the fast modeling method of control
Geometric shape estimates the model parameter of aircraft using panel method, is quickly obtained the kinetic model of aircraft, for towards control
The analysis and optimization of system designs.
Background technology
Mars exploration flying robot is small, light weight, for the scientific exploration for realizing to Mars, needs to send out from the earth
It penetrates, undergo Orbit Transformation and reenters process, under the complicated martian atmosphere environment of low-density low reynolds number, the expansion of completion wing,
It glides, even up, the processes such as autonomous flight, entire movement process combines several high-tech sectors of aerospace field, and flies
Capable airworthiness Study on Problems is to ensure that the guarantee that mars exploration flying robot's task is completed, and is carried out to its key scientific problems
Study it is very necessary, it is forward-looking and pioneering, while the characteristics of embody multidisciplinary synthesis, being rich in challenge.
In order to understand fully the difference of Mars Intelligent flight robot and orthodox flight robot, need analysis Mars special
Atmospheric environment, inquire into the low atmospheric density of martian surface, influence of the factors such as weak gravitational field to flying robot's motion process.If
The geometric configuration of Mars Intelligent flight robot is counted, the flight force and moment of estimation Intelligent flight robot table body builds Mars
It is special to analyze the typical dynamics of Intelligent flight robot under Mars rarefied atmosphere environment for the mathematical model of Intelligent flight robot
Property, realize the stabilized flight in martian atmosphere environment.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of new mars exploration flight
The fast modeling method of device Control-oriented.In view of mars exploration aircraft shape design by martian atmosphere environment shadow
It rings, using quick modeling method, builds dummy vehicle, analyze its kinetic characteristics, contribute to the low speed gas for promoting wing
Dynamic characteristic reduces its induced drag, increases lift resistance ratio.Mars exploration aerocraft system is extremely complex, one of notable feature
It is that there are close coupling relationships between each subsystem (pneumatic, propulsion, structure, track, control etc.).Safe and reliable, the property in order to obtain
The remarkable design scheme of energy, needs to consider the integrated relationship between each component and subsystem.In order to meet mars exploration flight
The foundation of device complex model, the design requirement of high fidelity analysis and Multidisciplinary Optimization etc., using quick modeling
Method is very necessary.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：
A kind of fast modeling method of new mars exploration aircraft Control-oriented, includes the following steps：
1) geometric shape generates：The geometric shape that mars exploration aircraft is described using the parameter of individual features, according to
Completely solely whether sShape features and modeling requirement determine to describe the geometric parameter of its resemblance, and determine these parameters
Vertical, existing constraint between parameter obtains the geometric parameters manifold for completely describing aircraft；Then taking for the geometric parameters manifold is specified
Can value generates the aircraft shape under relevant parameter, to examine the geometric parameters manifold being previously obtained be used for describing outside aircraft
Shape；
2) aircraft is by force evaluating：For the outside the pale of civilization shape of mars exploration aircraft parameters that step 1) generates, it is divided into
Several quadrangle face elements, on each face element using engineering estimation vortex lattice method obtain current shape aerodynamic coefficient and
Torque coefficient derives thrust coefficient using engineering estimating method；
3) aircraft mathematical model structure and analysis：Aerodynamic coefficient, torque coefficient, the thrust coefficient that foundation estimates,
The model parameter of mars exploration aircraft is established, the mathematical modeling of mars exploration aircraft is built, derives that mars exploration flies
The kinetic model of device posture and track, and then static and dynamic performance analysis is carried out to model, obtain the model of aircraft.
Further, in step 1), the parameter includes：
1. fuselage and engine each section length parameter：The ratio of each section length and fuselage length；
2. fuselage and engine each section width parameter：Each section width and fuselage width ratio；
3. fuselage and engine each section height parameter：Each section height and fuselage height ratio；
Constraint between parameters includes each section of size constraint of fuselage, horizontal tail/vertical fin shape and position constraint.
Further, in step 1), the geometric shape of the mars exploration aircraft includes 3 classes：Fuselage class, wing class with
Engine carries out Geometric Modeling and is integrated into entire mars exploration aircraft respectively；Wherein, for fuselage class shape, using cuing open
The variation of surface curve characteristic parameter and section curve characteristic parameter describes；Stabilization, horizontal tail, vertical fin have similar wing
Shape, described using wing characteristic parameter, including length, chord length, thickness；Engine be divided into including air inlet section, combustion chamber,
Several parts including jet pipe.；The characteristic parameter of the geometric shape of mars exploration aircraft constitutes the geometric parameters for describing its shape
Manifold.
Further, step 1) geometric shape is quickly generated tears a group mode open using component：By to mars exploration aircraft
Resemblance is analyzed, and the complex geometry shape of aircraft is indicated by a series of simple components；Three-dimensional is used again
The geometric shape feature of simple components is described in curved surface modeling technology；Finally obtaining simple components geometric shape feature
On the basis of, all parts are recombinated, to obtain the complex appearance of aircraft.
Further, for step 1) generate the outside the pale of civilization shape of mars exploration aircraft parameters, be divided into several four
Side shape face element, for single face element, it is known that its outer normal unit vector is nT=[nx,ny,nz], the velocity vector of incoming is
Air-flow angle of impingement δ, value range [- 90 °, 90 °]：
Object plane inclination angle theta, value range [- 90 °, 90 °]：
Radial angleValue range [- 180 °, 180 °]：
Taper angle theta of equal valueTC, value range [- 90 °, 90 °]：
In formula, β is Angle of Shock Waves.
Further, in step 2), on each face element using engineering estimation vortex lattice method to the Aerodynamic Coefficient into
Row estimation, the specific method is as follows：
Body is simplified to first one substantially planar, extended to being divided into several row for being parallel to body axis, then along etc. hundred
Divide and be divided into several rows than string, then entire plane has just divided several small patches；
Secondly, it is divided into several regions, each region to be simplified to one according to its key node in mars exploration aircraft
A simple tapered wing plane, obtains an overall simplification model after combination, carries out gridding to it, obtains its grid
Change model；
Finally, the aerodynamic force on small curved surface is replaced with the flight force and moment on facet, it will be pneumatic on these face elements
Power and torque add up, and obtain total model data.
Further, for the model data of acquisition, approximate mould at different conditions is obtained using fitting of a polynomial mode
The coefficient of the parameter of type, that is, each expression formula, builds the simplified model of Control-oriented, wherein：Lift is the angle of attack and inclined primary more of rudder
Item formula；Resistance is the angle of attack and the inclined quadratic polynomial of rudder, is free of cross term；The torque first order inclined with thrust and the angle of attack and rudder has
It closes.
Further, according to model data total in mars exploration aircraft flight envelope curve, using fitting of a polynomial mode
Obtain the analytical expression of Aerodynamic Coefficient and propulsive coefficient：
CL=β0L+β1Lα+β2Lδe
CD=β0D+β1Dα+β2Dδe+β3Dαδe+β4Dα2+β5Dδe 2
CT=β0T+β1Tφ
Wherein α, δeIt is respectively the aircraft angle of attack, control surface deflection angle and fuel equivalence ratio with φ；β0L,β1L,β2LIt is lift system
Number CLFitting parameter, β0D,β1D,β2D,β3D,β4D,β5D, β2LIt is resistance coefficient CDFitting parameter, β0M,β1M,β2M,β3M,β4M,
β5MIt is pitching moment coefficient CMFitting parameter, β0T,β1TIt is resistance coefficient CTFitting parameter, α is the angle of attack, and δ is that air-flow is hit
Angle, h are flying heights, and Ma is flight Mach number, and φ is fuel oil equivalent proportion.
The pneumatic and propulsive coefficient is updated in aircraft longitudinal dynamics equation, is constructed related suitable for control
The simplified model of analysis and design, assessment：
In formula, g is acceleration of gravity, and m is the quality of aircraft, IyyAircraft is indicated along the rotary inertia of y-axis, v is winged
Scanning frequency degree, γ are flight-path angles, and h is flying height, and q is rate of pitch, lift L, resistance D, thrust T, pitching moment MyAccording to
Following formula is estimated：
C in formulaL、CD、CmAnd CTThe respectively coefficient of the lift of mars exploration aircraft, resistance, pitching moment and thrust,
Q,S is respectively dynamic pressure, mean aerodynamic chord and area of reference.
Advantageous effect：A kind of fast modeling method of new mars exploration aircraft Control-oriented provided by the invention, with
The prior art is compared, and is had the advantage that：
1. it is outer with parametrization that the fast modeling method of Control-oriented can establish description mars exploration aerodynamic characteristics of vehicle
The geometrical relationship of shape is the basis of dynamic analysis, Control System Design and multidisciplinary optimization.The rapid modeling of Control-oriented
Method describes aircraft shape with series of parameters, these parameters can be adjusted as variable, mars exploration aircraft
The power and torque that are subject to are the functions of these parameters；Find a kind of engineering estimation side for capableing of quick calculating aircraft stressing conditions
Method, speed obtain the aerodynamic coefficient and torque coefficient of current shape, and derive the equation of motion of aircraft, obtain aircraft
Model.
2. the fast modeling method of Control-oriented can be quickly generated controller design model and controller assessment models, permit
Perhaps rapidly change the aircraft configurations (such as size and location of control surface) of generalities and power credit is performed quickly
Analysis and controller design, this method so that early stage introduces the analysis of control relevant issues and provides valuable
Feedback is used for improving mars exploration Flight Vehicle Design performance.
Description of the drawings
Fig. 1 is mars exploration aircraft rapid modeling flow chart.
Fig. 2 is mars exploration aircraft fuselage upper surface diagram of block.
Fig. 3 is the flow chart that mars exploration aircraft geometric shape quickly generates.
Fig. 4 is the acquisition flow chart of mars exploration dummy vehicle data.
Fig. 5 is that mars exploration dummy vehicle simplifies and dynamic analysis flow chart.
Fig. 6 is the aircraft geometric shape exemplary plot that the fast geometric modeling method of the present invention obtains.
Fig. 7 is the perspective view in mars exploration aircraft plane.
Fig. 8 is mars exploration aircraft forward sight, vertical view, the whirlpool lattice segmentation figure of side view.
Fig. 9 is mars exploration aircraft three-dimensional whirlpool lattice segmentation figure.
Figure 10 is the mars exploration dummy vehicle figure that Control-oriented is built in MATLAB.
Figure 11 is mars exploration dummy vehicle performance chart.
Specific implementation mode
The present invention is further described with reference to the accompanying drawings and examples.
A kind of fast modeling method of new mars exploration aircraft Control-oriented, first, according to mars exploration aircraft
Geometry shape and parameters of propulsion system, in conjunction with aerodynamics, pneumatic calorifics, propulsion system analysis etc. relevant subject
Theory analyzes the stressing conditions of aircraft.There are mainly two types of the methods used in project analysis：Based on Fluid Mechanics Computation
(CFD) method of the method analyzed and engineering characteristic estimation.Two kinds of approach cut both ways in computational accuracy in efficiency.It needs
In practical reference weigh or integrate two methods.On the basis of obtaining aircraft stressing conditions, according to base
This newton second theorem, derives dynamics and kinematical equation, including structural elasticity characteristic of mars exploration aircraft etc..
Above procedure is combined, parameterized treatment is carried out to the design variable of mars exploration aircraft, analyzes the stress of aircraft
Situation is quickly obtained the model parameter of mars exploration aircraft.
Embodiment
As shown in Figure 1, mars exploration aircraft fast modeling method is as follows：
First, according to the geometry shape and parameters of propulsion system of aircraft, in conjunction with aerodynamics, pneumatic calorifics,
The relevant subjects theories such as propulsion system analysis, analyze the stressing conditions of aircraft.On the basis for obtaining aircraft stressing conditions
On, derive dynamics and kinematical equation, including structural elasticity characteristic of aircraft etc..Above procedure is combined, it is right
The design variable of mars exploration aircraft carries out sensitivity analysis, and the mathematical modeling of aircraft is derived according to design objective.Specifically
Embodiment include：
The tool for quickly establishing relationship between description mars exploration aircraft geometric shape and aircraft performance, is aircraft
The basis of dynamic analysis, trajectory analysis and optimization, Multidisciplinary Optimization and Control System Design.Fast modeling method uses
A series of design parameters describe the aspect of model of aircraft, and basic design cycle is as shown in Figure 1.First, determine that empty day flies
The geometry design parameter collection of row device carries out the structure of aircraft solid 3D models according to design set with parametric modeling method
It builds.The geometry entity of aircraft includes mainly 3 classes：Fuselage class, wing class and engine.Geometric Modeling is carried out respectively and is integrated into
Entire aircraft.
Mars exploration aircraft fast modeling method is segmented into following components：Geometric shape rapid generation,
Aircraft stress evaluation method and aircraft mathematical model structure and analysis method.
Geometric shape rapid generation describes aircraft shape using some characteristic parameters, and aircraft is by force evaluating side
Method is used for calculating aerodynamic force and thrust under the shape, and aircraft mathematical model structure obtains attitude of flight vehicle and rail with analysis method
The mathematical model of mark movement, analyzes its flying quality.
The basic geometric type of aircraft can be divided into 3 classes：Fuselage class, wing class and engine, carry out Geometric Modeling respectively
And it is integrated into entire mars exploration aircraft；Wherein, for fuselage class shape, using section curve characteristic parameter and section
The variation of curvilinear characteristic parameter describes；Stabilization, horizontal tail, vertical fin have the shape of similar wing, special using common wing
Levy parameter, such as length, chord length, thickness description.Engine is divided into several parts such as air inlet section, combustion chamber, jet pipe.
Geometric shape rapid generation is the basis of fast modeling method, only when outside the description of geometrical characteristic parameter collection
Shape and the exact shape of aircraft are close enough, practical flight device shape could be replaced pneumatically to be estimated with the side's of quickly generating shape
It calculates and dynamic characteristic is analyzed.
To mars exploration aircraft, determined according to sShape features and modeling requirement to describe the geometric parameters of its resemblance
Number, and determine whether these parameters are completely independent, existing constraint between parameter obtains the geometric parameters that can completely describe aircraft
Manifold (such as fuselage section shape, wing class shape and position, engine shape and position) then specifies the value of parameter set,
The mars exploration aircraft shape under the parameter is quickly generated, to examine the geometric parameters manifold being previously obtained that can be used for describing to fly
Row device shape.
Mars exploration aircraft geometric shape, which quickly generates, should have validity, versatility, terseness.Validity refers to agency
The input-output characteristic basic law of model and archetype will be consistent；Versatility refers to that agent model becomes in design parameter
It can be expressed in the form of unified in the range of change, ensure not depending on the basis of validity to change with design parameter
Become；Terseness refers on the basis of ensureing validity with versatility, and concrete form is simple enough, for use in subsequent control
System design and performance analysis processed.
Geometric shape is quickly generated tears a group mode open using component：
First, component dismantling is carried out according to the benchmark shape of aircraft, division is independent modular member, is convenient for
Three-dimension curved surface generates.The same aircraft configurations are directed to, the method for component dismantling is not unique.Using different component dismantling sides
Method has certain influence to the complexity of aircraft geometry reconstruction, and can directly determine that next three-dimension curved surface generates
Realizability.Component dismantling purpose it is main there are two：When by complicated geometric shape by the set of simple components and
Contact (including segmentation, connection etc.) between it is described, to simplify challenge；Due to the integrated level of simple components
Higher, parameter description is also more complete and ripe, therefore second purpose is just easy for aircraft geometric shape parametrization
Extraction.
After determining the strategy that aircraft component tears group open, the committed step of geometric parameter is exactly that three-dimension curved surface generates skill
Art.
Three-dimension curved surface generation technique refers to the method by parsing, arbitrary surface in drawing three-dimensional space, and can be obtained
Take designated position node coordinate on curved surface.Three-dimension curved surface generation technique is the basis of aircraft geometric shape parametric modeling.It should
The core concept of technology is to describe drop shadow curve of the space curved surface in normal view by the means of parsing, is projected by establishing
Curve is with axial geometrical relationship, reconstruction attractor Arbitrary 3 D curved surface.
The selection that drop shadow curve describes method should consider that accuracy that is general, also considering description, as possible selection have
Physical significance and intuitive parameter, number of parameters will be lacked as far as possible while ensureing precision.Provide the outer parameter of one group of aircraft
Number, the modeling method according to parametrization can generate parametrization shape.
By analyzing mars exploration aircraft resemblance, the complex geometry shape of aircraft is subjected to component and is torn open
Solution, is indicated by a series of simple components.The geometric shape of simple components is retouched using three-dimension curved surface modeling technique
It states, forms three-dimension curved surface race.On the basis of obtaining simple components geometric properties, all parts are recombinated
By taking the three-dimension curved surface of fuselage upper surface as an example, the coordinate system of use is as shown in Figure 2.Wherein, x-axis is body axis direction,
It is directed toward fuselage afterbody, z-axis is normal orientation, is directed toward back, and y-axis meets right-hand rule.X-z-plane indicates fuselage pair
Title face.The three-dimension curved surface is projected in three normal views, two-dimentional appearance curve is obtained.It is symmetrically three-dimensional for x-z-plane
For curved surface (usual fuselage class shape all has this property)：
1. defining the width W of three-dimension curved surface by vertical viewt(x)=- Wb(x) along the changing rule of axis x；
2. defining changing rules of the hatching z (y, x) along axis x of three-dimension curved surface by side view；
3. defining three-dimension curved surface brim height H by front viewb(x) with curved surface height Ht(x) along the changing rule of axis x.
Function Wb(x),Wt(x),Hb(x),Ht(x), z (y, x) is referred to as the position function of three-dimension curved surface, is about axis
Spatial function.In general, according to this 5 position functions, so that it may to define any one curved surface in three dimensions.If three-dimensional
Curved surface is symmetrical about x-z-plane, then in a top view it can be found that passing through a position function Wb(x) curved surface can be carried out
Constraint.
It is the basic ideas of three-dimension curved surface generation technique above.By four about axis x, (five, face for non-
Claim curved surface, such as wing curved surface) space coordinate function, you can generate arbitrary three-dimension curved surface to realize.Obtaining simple components
On the basis of geometric properties, all parts are recombinated
To obtain the complex appearance of aircraft, basic procedure is as shown in Figure 3.In reconstruction process, flown with mars exploration
Row thinks highly of the heart as coordinate origin, and the components such as wing, engine, fuselage are placed on desired coordinate position respectively, will be different
Component effectively splice and combine.Complete parameterized procedure further includes the constraint between determining parameters.For easily
The constraint between parameter is expressed, is write parameters as normalized form：
1. fuselage and engine each section length parameter：The ratio of each section length and fuselage length.
2. fuselage and engine each section width parameter：Each section width and fuselage width ratio.
3. fuselage and engine each section height parameter：Each section height and fuselage height ratio.
In this way, other than angular metric, the value range of each parameter is all between (0,1).Mars exploration aircraft is each
Constraint between parameter includes mainly each section of size constraint of fuselage and horizontal tail/vertical fin shape and position constraint.It is extracted Mars spy
After surveying aircraft parameters and the constraint between these parameters being determined, one group of parameter is given, so that it may to generate a mars exploration
The geometric shape of aircraft.
For the outside the pale of civilization shape of mars exploration aircraft parameters that geometric shape rapid generation generates, it is divided into several
A quadrangle face element, for single face element, it is known that its outer normal unit vector is nT=[nx,ny,nz], the velocity vector of incoming
For
Air-flow angle of impingement δ, value range [- 90 °, 90 °]：
Object plane inclination angle theta, value range [- 90 °, 90 °]：
Radial angleValue range [- 180 °, 180 °]：
Taper angle theta of equal valueTC, value range [- 90 °, 90 °]：
Mars exploration aircraft formal parameter is provided, can be generated outside aircraft according to geometric shape rapid generation
Shape needs to calculate the aerodynamic force that the shape aircraft is subject under various flight conditions.Traditional CFD approach takes big, early period
The main purpose of design is that whether can meet the needs of basic for the aerodynamic characteristic of qualitative analysis certain shape, and form shape
The Iterative Design flow of type selecting can suitably reduce the requirement to aerodynamics evaluation precision, pay close attention to aerodynamic characteristics rule emphatically, adopt
The aerodynamic coefficient and torque coefficient of the current shape of quick obtaining are estimated with engineering, as shown in figure 4, with certain precision is being ensured
Substantially shorten the advantage for calculating the time under level, contributes to design work early periods such as aircraft profile optimization, design of control law
Carry out.And then quickly estimate the aerodynamic database in flight envelope, the methods of non-linear curve fitting is used in combination, obtains Aerodynamic Coefficient
Analytical expression.
When mars exploration rudders pneumatic power parameter is calculated, it is tired with realistic model calculate obviously of high cost and measuring and calculating
Difficulty so generally to simplify to mars exploration dummy vehicle, and is estimated aerodynamic parameter using numerical method.It adopts
Evaluation method is vortex lattice method, and vortex lattice method is the numerical computation method based on lifting surface theory.It is combined firstly the need of by wing body
Body is simplified to a plane, or is replaced with the projection of multi-wall interference, and the plane of gained is referred to as substantially planar.By gained plane
It extends to being divided into several row for being parallel to body axis, then be divided into several rows along equal percentage string, then entire plane just divides
Many small patches.It is divided into several regions, each region that can simplify according to its key node in mars exploration aircraft
At a simple tapered wing plane, an overall simplification model is obtained after combination, gridding is carried out to it, obtains it
Gridding methods replace the aerodynamic force on small curved surface with the flight force and moment on facet, by the aerodynamic force on these face elements
It is added up with torque, has just obtained total model data, as shown in Figure 4.
For the model data of acquisition, approximate model at different conditions is quickly obtained using fitting of a polynomial mode
Parameter (coefficient of each expression formula), builds the simplified model of Control-oriented,
CL=β0L+β1Lα+β2Lδe
CD=β0D+β1Dα+β2Dδe+β3Dαδe+β4Dα2+β5Dδe 2
CT=β0T+β1Tφ
Wherein α, δeIt is respectively the aircraft angle of attack, control surface deflection angle and fuel equivalence ratio with φ；β0L,β1L,β2LIt is lift system
Number CLFitting parameter, β0D,β1D,β2D,β3D,β4D,β52DLIt is resistance coefficient CDFitting parameter, β0M,β1M,β2M,β3M,β4M, it is
Pitching moment coefficient CMFitting parameter, β0T,β1TIt is resistance coefficient CTFitting parameter, α is the angle of attack, and δ is air-flow angle of impingement, h
It is flying height, Ma is flight Mach number, CMIt is pitching moment coefficient, φ is fuel oil equivalent proportion.
These pneumatic and propulsive coefficients are updated in aircraft longitudinal dynamics equation, can be constructed suitable for control
The simplified model of correlation analysis and design, assessment：
In formula, g is acceleration of gravity, and m is the quality of aircraft, IyyAircraft is indicated along the rotary inertia of y-axis, v is winged
Scanning frequency degree, γ are flight-path angles, and h is flying height, and q is rate of pitch, lift L, resistance D, thrust T, pitching moment MyAccording to
Following formula is estimated：
C in formulaL、CD、CmAnd CTThe respectively coefficient of the lift of mars exploration aircraft, resistance, pitching moment and thrust,
Q,S is respectively dynamic pressure, mean aerodynamic chord and area of reference.
Wherein lift is an angle of attack order polynomial inclined with rudder；Resistance is the angle of attack and the inclined quadratic polynomial of rudder, is free of
Cross term.Torque is related with the first order that thrust and the angle of attack and rudder are inclined.In turn, aircraft agent model is derived, based on fitting
Goodness simplifies agent model, obtains the dummy vehicle of Control-oriented, and analyze its kinetic characteristics, verification
The validity of fast modeling method, mars exploration dummy vehicle simplify as shown in Figure 5 with dynamic analysis flow.
With reference to the mars exploration aircraft shape of U.S.'s ARES projects, fast geometric modeling method using the present invention can be with
Obtained aircraft geometric shape is as shown in Figure 6.The simplification and drafting that model has been carried out to mars exploration aircraft are obtained such as figure
The specific whirlpool lattice segmentation figure of 7- Fig. 9, wherein Fig. 7 indicate the perspective view of mars exploration aircraft shape planar, and Fig. 8 is Mars
Explorer vehicle forward sight, vertical view, the whirlpool lattice segmentation figure of side view, Fig. 9 are mars exploration aircraft forward sight, vertical view, side view synthesis
Three-dimensional whirlpool lattice segmentation figure.Once the partitioning scheme and whirlpool lattice distribution of mars exploration aircraft are determined using vortex lattice method, just estimate
The model data for going out mars exploration aircraft constructs simulation model such as Figure 10 institutes of model data Control-oriented in MATLAB
Show, mars exploration dummy vehicle performance curve such as Figure 11 institutes can be analyzed according to simulation model and given flying condition
Show, and then determines the suitable flight range of mars exploration aircraft.Generally speaking, it is modeled according to fast geometric proposed by the present invention
Method can complete the model construction and analytic process of arbitrary fast geometric modeling method, and modeling process is fast, efficient, and be
The research object that subsequent design of control law provides.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of fast modeling method of new mars exploration aircraft Control-oriented, it is characterised in that：Include the following steps：
1) geometric shape generates：The geometric shape that mars exploration aircraft is described using the parameter of individual features, according to shape
Feature and modeling requirement determine to describe the geometric parameter of its resemblance, and determine whether these parameters are completely independent, and join
Existing constraint between number obtains the geometric parameters manifold for completely describing aircraft；Then the value of the geometric parameters manifold is specified, it is raw
At the aircraft shape under relevant parameter, to examine the geometric parameters manifold being previously obtained that can be used for describing aircraft shape；
2) aircraft is by force evaluating：For the outside the pale of civilization shape of mars exploration aircraft parameters that step 1) generates, it is divided into several
A quadrangle face element obtains the aerodynamic coefficient and torque of current shape on each face element using the vortex lattice method of engineering estimation
Coefficient derives thrust coefficient using engineering estimating method；
3) aircraft mathematical model structure and analysis：According to aerodynamic coefficient, torque coefficient, the thrust coefficient estimated, establish
The model parameter of mars exploration aircraft builds the mathematical modeling of mars exploration aircraft, derives mars exploration aircraft appearance
The kinetic model of state and track, and then static and dynamic performance analysis is carried out to model, obtain the model of aircraft.
2. the fast modeling method of new mars exploration aircraft Control-oriented according to claim 1, it is characterised in that：
In step 1), the parameter includes：
1. fuselage and engine each section length parameter：The ratio of each section length and fuselage length；
2. fuselage and engine each section width parameter：Each section width and fuselage width ratio；
3. fuselage and engine each section height parameter：Each section height and fuselage height ratio；
Constraint between parameters includes each section of size constraint of fuselage, horizontal tail/vertical fin shape and position constraint.
3. the fast modeling method of new mars exploration aircraft Control-oriented according to claim 1, it is characterised in that：
In step 1), the geometric shape of the mars exploration aircraft includes 3 classes：Fuselage class, wing class and engine carry out several respectively
What models and is integrated into entire mars exploration aircraft；Wherein, for fuselage class shape, using section curve characteristic parameter, with
And the variation of section curve characteristic parameter describes；Stabilization, horizontal tail, vertical fin have the shape of similar wing, using wing spy
Parameter is levied to describe, including length, chord length, thickness；Engine is divided into several portions including air inlet section, combustion chamber, jet pipe
Point；The characteristic parameter of the geometric shape of mars exploration aircraft constitutes the geometric parameters manifold for describing its shape.
4. the fast modeling method of new mars exploration aircraft Control-oriented according to claim 1, it is characterised in that：
Step 1) geometric shape is quickly generated tears a group mode open using component：By analyzing mars exploration aircraft resemblance,
The complex geometry shape of aircraft is indicated by a series of simple components；Use three-dimension curved surface modeling technique to simple again
The geometric shape feature of component is described；Finally on the basis of obtaining simple components geometric shape feature, to all parts
It is recombinated, to obtain the complex appearance of aircraft.
5. the fast modeling method of new mars exploration aircraft Control-oriented according to claim 1, it is characterised in that：
For the outside the pale of civilization shape of mars exploration aircraft parameters that step 1) generates, several quadrangle face elements are divided into, for single
Face element, it is known that its outer normal unit vector is nT=[nx,ny,nz], the velocity vector of incoming is
Air-flow angle of impingement δ, value range [- 90 °, 90 °]：
Object plane inclination angle theta, value range [- 90 °, 90 °]：
Radial angleValue range [- 180 °, 180 °]：
Taper angle theta of equal valueTC, value range [- 90 °, 90 °]：
In formula, β is Angle of Shock Waves.
6. the fast modeling method of new mars exploration aircraft Control-oriented, feature exist according to claim 1 or 5
In：In step 2), the Aerodynamic Coefficient is estimated using the vortex lattice method of engineering estimation on each face element, specific method
It is as follows：
Body is simplified to first one substantially planar, extended to being divided into several row for being parallel to body axis, then along equal percentage
String is divided into several rows, then entire plane has just divided several small patches；
Secondly, it is divided into several regions, each region to be simplified to a letter according to its key node in mars exploration aircraft
Single tapered wing plane, an overall simplification model is obtained after combination, gridding is carried out to it, obtains its gridding mould
Type；
Finally, replace the aerodynamic force on small curved surface with the flight force and moment on facet, by these face elements aerodynamic force and
Torque adds up, and obtains total model data.
7. the fast modeling method of new mars exploration aircraft Control-oriented according to claim 1, it is characterised in that：
For the model data of acquisition, i.e. each expression formula of parameter of approximate model at different conditions is obtained using fitting of a polynomial mode
Coefficient, build the simplified model of Control-oriented, wherein：Lift is an angle of attack order polynomial inclined with rudder；Resistance be the angle of attack with
The inclined quadratic polynomial of rudder is free of cross term；Torque is related with the first order that thrust and the angle of attack and rudder are inclined.
8. the fast modeling method of new mars exploration aircraft Control-oriented according to claim 1 or claim 7, feature exist
In：According to model data total in mars exploration aircraft flight envelope curve, using fitting of a polynomial mode obtain Aerodynamic Coefficient and
The analytical expression of propulsive coefficient：
CL=β0L+β1Lα+β2Lδe
CD=β0D+β1Dα+β2Dδe+β3Dαδe+β4Dα2+β5Dδe 2
CT=β0T+β1Tφ
Wherein α, δeIt is respectively the aircraft angle of attack, control surface deflection angle and fuel equivalence ratio with φ；β0L,β1L,β2LIt is lift coefficient CL
Fitting parameter, β0D,β1D,β2D,β3D,β4D,β5D, β2LIt is resistance coefficient CDFitting parameter, β0M,β1M,β2M,β3M,β4M,β5MIt is
Pitching moment coefficient CMFitting parameter, β0T,β1TIt is resistance coefficient CTFitting parameter, α is the angle of attack, and δ is air-flow angle of impingement, h
It is flying height, Ma is flight Mach number, and φ is fuel oil equivalent proportion；
The pneumatic and propulsive coefficient is updated in aircraft longitudinal dynamics equation, is constructed suitable for control correlation analysis
With the simplified model of design, assessment：
In formula, g is acceleration of gravity, and m is the quality of aircraft, IyyIndicate that rotary inertia of the aircraft along y-axis, v are flight speed
Degree, γ is flight-path angle, and h is flying height, and q is rate of pitch, lift L, resistance D, thrust T, pitching moment MyAccording to the following formula
It is estimated：
C in formulaL、CD、CMAnd CTThe respectively coefficient of the lift of mars exploration aircraft, resistance, pitching moment and thrust, Q,s
Respectively dynamic pressure, mean aerodynamic chord and area of reference.
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