CN110737949B - Method for analyzing launching stress of folding wing of barrel-type launching unmanned aerial vehicle - Google Patents
Method for analyzing launching stress of folding wing of barrel-type launching unmanned aerial vehicle Download PDFInfo
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- CN110737949B CN110737949B CN201911102192.6A CN201911102192A CN110737949B CN 110737949 B CN110737949 B CN 110737949B CN 201911102192 A CN201911102192 A CN 201911102192A CN 110737949 B CN110737949 B CN 110737949B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a method for analyzing the launching stress of a folding wing of a barrel-type launching unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicle launching and comprises the following steps: s1, establishing a wing coordinate system, and S2, determining a geometric relation of each position of the wing in the process of launching the wing in the barrel; s3, determining the force and moment born by the wing according to the geometrical position relation between the wing coordinate system and the wing; s4, determining deformation of the wing according to the stress condition of the wing, and determining the position of the maximum deformation of the wing; s5, determining critical load born by the wing; s6, determining the stress born by the wing; through the stress analysis of the wings in the barrel launching process, the deformation, the maximum deformation position and the borne critical load and stress of the wings in the barrel launching process can be determined, the safety and reliability of the unmanned aerial vehicle folding wings after being launched out of the barrel can be judged, and the reliable mechanical basis is provided for the optimal design and safety check of the barrel launching unmanned aerial vehicle folding wings.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle launching, in particular to a launching stress analysis method of a folding wing of a barrel-type launching unmanned aerial vehicle.
Background
At present, a barrel-type transmitting unmanned aerial vehicle is adopted to perform reconnaissance and striking on an enemy square matrix in low-intensity combat, so that the barrel-type transmitting unmanned aerial vehicle becomes an important combat means. The barrel type launching unmanned aerial vehicle is generally designed in an integrated manner of storage, transportation and launching, and is used for loading the folded wings into the launching barrel for integral transportation or carrying in the normal service; when the unmanned aerial vehicle is in war, the gas generator at the bottom of the transmitting cylinder generates high-pressure gas to drive the unmanned aerial vehicle to accelerate in the cylinder, and after the unmanned aerial vehicle is out of the cylinder, the unmanned aerial vehicle rapidly expands wings to fly, and a combat task is started to be executed. In order to facilitate filling and unfolding, the unmanned aerial vehicle wing is not constrained when being folded, and a certain installation gap is formed between the unmanned aerial vehicle wing and the launching tube. Therefore, the folding wing of the unmanned aerial vehicle is free to be unfolded under the action of the torsion spring at the wing root of the folding wing of the unmanned aerial vehicle in the loading state, and the wing tip and the cylinder wall are mutually extruded. Under the action of the gas thrust and the extrusion force of the cylinder wall in the launching process, the folding wing bears certain pressure and bending moment to influence the rigidity and strength of the folding wing, and certain hidden danger is caused to the safe and reliable unfolding of the unmanned aerial vehicle after the folding wing is out of the cylinder.
Disclosure of Invention
The invention aims to design a method for analyzing the launching stress of a folding wing of a barrel-type launching unmanned aerial vehicle in order to solve the problems.
The invention realizes the above purpose through the following technical scheme:
a method for analyzing the launching stress of a folding wing of a barrel-type launching unmanned aerial vehicle comprises the following steps:
s1, establishing a wing coordinate system, taking a wing rotation axis as an origin o of coordinates, taking an o-passing point as a cross section of a transmitting cylinder, taking an o-passing point as a cross section parallel to a longitudinal plane of the transmitting cylinder, wherein the cross section is vertical to the cross section of the transmitting cylinder, the intersection line of two planes is an oX axis, defining a right wall surface pointing to the transmitting cylinder as an oX axis positive direction, and taking a vertical line vertical to the oX in the cross section which passes the o-passing point and is parallel to the longitudinal plane of the transmitting cylinder to obtain a oY axis, and defining a pointing direction as oY positive direction;
s2, determining a geometric relation of each position of the wing in the process of launching the wing in the barrel;
s3, determining the force and moment born by the wing in the process of launching the wing in the barrel according to the geometrical position relation between the wing coordinate system and the wing;
s4, determining deformation of the wing in the process of launching in the barrel according to the stress condition of the wing, and determining the position of the maximum deformation of the wing;
s5, determining critical load born by the wing in the process of launching the wing in the barrel;
s6, determining the stress born by the wing in the process of launching in the barrel.
The invention has the beneficial effects that: through the stress analysis of the wings in the barrel launching process, the deformation, the maximum deformation position and the borne critical load and stress of the wings in the barrel launching process can be determined, the safety and reliability of the unmanned aerial vehicle folding wings after being launched out of the barrel can be judged, and the reliable mechanical basis is provided for the optimal design and safety check of the barrel launching unmanned aerial vehicle folding wings.
Drawings
FIG. 1 is a schematic diagram of wing stress of a method for analyzing the firing stress of a folding wing of a barrel type firing unmanned aerial vehicle;
FIG. 2 is a schematic view of torsion spring related deformation angles in the wing opening process in the method for analyzing the emission stress of the folding wing of the barrel-type emission unmanned aerial vehicle;
fig. 3 is a schematic stress diagram of a simplified wing to a simply supported beam in a method for analyzing the stress of a folded wing of a barrel-type launching unmanned aerial vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the inventive product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, terms such as "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The following describes specific embodiments of the present invention in detail with reference to the drawings.
The invention is further described below with reference to the accompanying drawings:
a method for analyzing the launching stress of a folding wing of a barrel-type launching unmanned aerial vehicle comprises the following steps:
s1, establishing a wing coordinate system, wherein the rotation axis of the wing is taken as an origin o of coordinates, an o-passing point is taken as a cross section of the transmitting cylinder, the o-passing point is taken as a cross section parallel to the longitudinal plane of the transmitting cylinder, the cross section is vertical to the cross section of the transmitting cylinder, the intersection line of the two planes is taken as an oX axis, the right wall surface pointing to the transmitting cylinder is defined as the positive direction of the oX axis, a vertical line vertical to the oX is taken in the cross section which passes the o-passing point and is parallel to the longitudinal plane of the transmitting cylinder, a oY axis is obtained, and the pointing direction is defined as the oY positive direction;
s2, as shown in fig. 1 and 2, determining a geometric relational expression of each position of the wing in the process of launching the wing in the barrel, wherein the geometric relational expression of each position of the wing comprises: phi (phi) 2 ＝φ 1 +φ、
φ e ＝φ s -φ 1 +φ 0 Wherein phi is 1 Is the wing deflection angle, rad; phi (phi) 2 Rad is the included angle between the connecting line of the wingtip from the contact point of the cylinder wall to the center of the wing rotating shaft and the oY shaft; phi is the included angle between the connecting line from the contact point of the wing tip on the wall of the cylinder to the center of the wing rotating shaft and the center line of the right rear wing, and rad; theta is the included angle between the connecting line of the contact point of the wing tip on the inner wall of the cylinder and the center of the rotating shaft of the missile wing and the X axis, and rad; r is R f The radius of the inner cavity of the transmitting cylinder is m; l (L) W Is the wing length, m; b W The chord length of the right rear wing, m; phi (phi) s To spread the included angle phi between the length direction and the Y axis after the wing is spread in place 1 To spread the angle phi 0 Is the torsion deformation angle phi of the torsion spring in the state that the wing piece is opened in place e Is the torsion deformation angle of the torsion spring;
s3, determining the force and moment born by the wing in the process of launching the wing in the barrel according to the geometrical position relation between the wing coordinate system and the wing;
calculating the air resistance and the air resistance moment of the wings in the process of launching in the cylinder, wherein the air resistance after the wings are obliquely arranged is as follows according to the aerodynamic principle
Assuming that the aerodynamic force point of action is at the geometric midpoint of the airfoil, X W Moment to o point is +.>
Wherein X is W Air resistance, N; ρ is the air density, kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the V is the speed of the patrol aircraft at the moment of maximum emission overload, m/s; c (C) xw The air resistance coefficient is the air resistance coefficient taking a pair of straight wings as a reference area; s'. W The spring wing area of a piece of wing panel, m; m is M Xw Is the air resistance moment, N.m;
the torsion spring pressure and torque applied to the wing in the process of launching in the cylinder are calculated, and the included angle between the expanding length direction and the Y axis after the wing span is unfolded in place is assumed to be phi s The expansion angle is phi 1 The torsion spring has a certain torsion deformation angle phi when the wing piece is unfolded to be in place 0 Torsion deformation angle phi of torsion spring e Is phi e ＝φ s -φ 1 +φ 0 The torsion of the torsion spring is
Assuming that the torsion of the torsion spring acts perpendicularly on the wing side surface, the torsion spring pressure is +.>
Wherein M is e The torque of the torsion spring is N.m; e (E) s The elastic modulus of the spring material is Pa; d, d 2 The diameter of the spring wire is m; n is the effective work turns of the torsion spring; d (D) 2 Is the middle diameter of the torsion spring, m; b is the distance from the action point of the torsion spring to the center of the rotating shaft, m;
calculating the inertia force and the inertia moment of the wings in the process of in-cylinder launching, wherein the inertia force of the wings in the process of in-cylinder launching is F a ＝m 1 a, assuming that the acting point of inertia force is at the center of mass of the wing, the moment of the inertia force to the o point is
Wherein the mass of the wing is m 1 The maximum emission acceleration in the cylinder is a;
s4, determining deformation of the wing in the process of launching in the barrel according to the stress condition of the wing, and determining the position of the maximum deformation of the wing;
s41, assuming that the wall surface of the transmitting cylinder is smooth and parallel to the Y axis, neglecting friction force and tangential force between the wing tip and the cylinder wall, and obtaining the balance relation of force and moment according to the statics principle:
s42, as shown in FIG. 3, the wing is simplified into a simply supported beam without considering the wing profile, only transverse stress is considered, and the displacement equation of the wing at different positions from the center of the rotating shaft is obtained by using a linear elastic beam general equation
The subscripts on the right side of the equation are I, II and III which represent different stress partitions of the wing;
s43, Z is opposite in different stress partitions 1 Obtaining the maximum deformation position of the wing by seeking;
1) When analyzing the deformation of zone I, the right side of the equation is only marked with the subscript I (not marked with the subscripts II and III), and then the deformation is marked with the subscript Z 1 Seeking a derivative;
2) When analyzing the deformation of zone II, the right side of the equation is simply the formulas (not required) with subscripts I and II (not required with subscript III), and then the equation is repeated for Z 1 Seeking a derivative;
3) When analyzing the deformation of zone III, all right side of the equation is needed, then Z is needed again 1 Seeking a derivative;
s5, determining critical load born by the wing in the process of launching the wing in the barrel, wherein the stability of the wing under pressure is represented by the critical load
Wherein P is L E is the elastic modulus of the wing material and Pa; j (J) x1 Minimum moment of inertia of the wing section;
s6, determining the stress born by the wing in the process of launching in the barrel, only considering the longitudinal stress,the stress experienced by the wing during firing in the barrel is expressed as axial stress
Wherein sigma is axial stress and Pa; s is the cross section of the wing along the chord length direction, m 2 。
The method is suitable for the emission stress analysis of the folding wing of the barrel-type emission unmanned aerial vehicle, and provides a calculation method of rigidity and strength in the process of the emission in the barrel of the folding wing of the unmanned aerial vehicle; through the stress analysis of the wings in the barrel launching process, the deformation, the maximum deformation position and the borne critical load and stress of the wings in the barrel launching process can be determined, the safety and reliability of the unmanned aerial vehicle folding wings after being launched out of the barrel can be judged, and the reliable mechanical basis is provided for the optimal design and safety check of the barrel launching unmanned aerial vehicle folding wings.
The technical scheme of the invention is not limited to the specific embodiment, and all technical modifications made according to the technical scheme of the invention fall within the protection scope of the invention.
Claims (1)
1. The method for analyzing the emission stress of the folding wing of the barrel-type emission unmanned aerial vehicle is characterized by comprising the following steps of:
s1, establishing a wing coordinate system, taking a wing rotation axis as an origin o of coordinates, taking an o-passing point as a cross section of a transmitting cylinder, taking an o-passing point as a cross section parallel to a longitudinal plane of the transmitting cylinder, wherein the cross section is vertical to the cross section of the transmitting cylinder, the intersection line of two planes is an oX axis, defining a right wall surface pointing to the transmitting cylinder as an oX axis positive direction, and taking a vertical line vertical to the oX in the cross section which passes the o-passing point and is parallel to the longitudinal plane of the transmitting cylinder to obtain a oY axis, and defining a pointing direction as oY positive direction;
s2, determining a geometric relation of each position of the wing in the process of launching the wing in the barrel; the geometric relation of each position of the wing comprises: phi (phi) 2 ＝φ 1 +φ、
φ e ＝φ s -φ 1 +φ 0 Wherein phi is 1 Is the wing deflection angle, rad; phi (phi) 2 Rad is the included angle between the connecting line of the wingtip from the contact point of the cylinder wall to the center of the wing rotating shaft and the oY shaft; phi is the included angle between the connecting line from the contact point of the wing tip on the wall of the cylinder to the center of the wing rotating shaft and the center line of the right rear wing, and rad; theta is the included angle between the connecting line of the contact point of the wing tip on the inner wall of the cylinder and the center of the rotating shaft of the missile wing and the X axis, and rad; r is R f The radius of the inner cavity of the transmitting cylinder is m; l (L) W Is the wing length, m; b W The chord length of the right rear wing, m; phi (phi) s To spread the included angle phi between the length direction and the Y axis after the wing is spread in place 1 To spread the angle phi 0 Is the torsion deformation angle phi of the torsion spring in the state that the wing piece is opened in place e Is the torsion deformation angle of the torsion spring;
s3, determining the force and moment born by the wing in the process of launching the wing in the barrel according to the geometrical position relation between the wing coordinate system and the wing; the forces to which the wing is subjected during its firing in the barrel include the air resistance X W Torsion spring pressure T and inertial force F a The moment exerted on the wing during the firing of the wing in the barrel comprises the air resistance moment M Xw Torsion of torsion spring M e And moment of inertia M a According to the principle of aerodynamics,
F a ＝m 1 a，/>
wherein ρ is the air density, kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the V is the speed of the patrol aircraft at the moment of maximum emission overload, m/s; c (C) xw The air resistance coefficient is the air resistance coefficient taking a pair of straight wings as a reference area; s'. W The spring wing area of a piece of wing panel, m; e (E) s The elastic modulus of the spring material is Pa; d, d 2 The diameter of the spring wire is m; n is the effective work turns of the torsion spring; d (D) 2 Is the middle diameter of the torsion spring, m; b is the distance from the action point of the torsion spring to the center of the rotating shaftSeparating, m;
s4, determining deformation of the wing in the process of launching in the barrel according to the stress condition of the wing, and determining the position of the maximum deformation of the wing; the method specifically comprises the following steps:
s41, according to a statics principle, obtaining a balance relation between force and moment:
s42, determining displacement equations of different positions of the wing from the center of the rotating shaft as follows through a linear elastic beam general equation
S43, Z is opposite in different stress partitions 1 Obtaining the maximum deformation position of the wing by seeking;
s5, determining critical load born by the wing in the process of launching the wing in the barrel, wherein the critical load is expressed as
Wherein P is L E is the elastic modulus of the wing material and Pa; j (J) x1 Minimum moment of inertia of the wing section;
s6, determining the stress born by the wing in the process of launching in the barrel, wherein the stress born by the wing in the process of launching in the barrel is axial stress only by considering longitudinal stress
Sigma is axial stress, pa; s is the cross section of the wing along the chord length direction, m 2 。/>
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