CN110895616A - Method for measuring and calculating wind resistance of unmanned helicopter in hovering state - Google Patents
Method for measuring and calculating wind resistance of unmanned helicopter in hovering state Download PDFInfo
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Abstract
The invention discloses a method for measuring and calculating wind resistance of an unmanned helicopter when the unmanned helicopter is hovering, wherein the unmanned helicopter is a single-rotor helicopter with a tail rotor, and the rotor is a right-hand rotor; the measuring and calculating method is characterized by comprising the following steps: acquiring the height of the unmanned helicopter and the air density rho of the unmanned helicopter at the atmospheric temperature corresponding to the height; calculating the wind power on the right side: calculating the tail pitch theta according to the air density rho0TRThe wind speed corresponding to the maximum value of (d); calculating the left side wind resistance by calculating the tail pitch theta according to the air density rho0.75The wind speed corresponding to the minimum value of (1); calculating the capacity of resisting the back wind, namely calculating the longitudinal control B according to the air density rho1CIs measured. The capability of resisting right side wind, left side wind and backward wind of the unmanned helicopter in a hovering state is obtained through calculation, so that the flight performance of the unmanned helicopter can be fully exerted, and flight accidents can be effectively avoided.
Description
Technical Field
The invention relates to the field of unmanned helicopters, in particular to a method for measuring and calculating wind resistance of an unmanned helicopter when the unmanned helicopter hovers.
Background
With the rapid development of the unmanned helicopter industry, the flight safety of the unmanned helicopter is particularly important. The wind resistance is an important index of the performance of the unmanned helicopter.
Unmanned helicopters are flying in the air and can encounter various winds, and if the wind speed is too high, the aircrafts can be crashed, so that civil and military standards have clear regulations on the maximum wind speed, such as 30 feet/second (9.14m/s) for civil aviation, 50 feet/second (15.24m/s) for military, and 23m/s for wind resistance required by some armed helicopters.
The unmanned helicopter, especially the light and ultra-light unmanned helicopter, has poor wind resistance and different wind resistance in hovering and forward flying states. If the flight characteristics of the developed unmanned helicopter cannot be accurately mastered and the wind resistance of the unmanned helicopter cannot be known, a flight accident occurs or the unmanned helicopter dares to fly at a slightly higher wind speed to influence the performance of the unmanned helicopter.
Disclosure of Invention
The invention aims to provide a method for measuring and calculating wind resistance of an unmanned helicopter in hovering state, so as to obtain the wind resistance of the unmanned helicopter to left wind, right wind and later phoenix in hovering state.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention provides a method for measuring and calculating wind resistance of an unmanned helicopter in hovering, wherein the unmanned helicopter is a single-rotor helicopter with a tail rotor, and the rotor is a right-hand rotor; the measuring and calculating method comprises the following steps:
acquiring the height of the unmanned helicopter and the air density rho of the unmanned helicopter at the atmospheric temperature corresponding to the height;
calculating the wind power on the right side:
calculating the tail pitch theta according to the air density rho0TRThe wind speed corresponding to the maximum value of (d);
calculating the wind power resisting the left side:
calculating the tail pitch theta according to the air density rho0.75The wind speed corresponding to the minimum value of (1);
calculating the wind power resistance later:
calculating longitudinal manipulation B according to the air density rho1CThe maximum value of (d) corresponds to the wind speed.
Further, the air density is calculated as follows:
setting the flight height of the unmanned helicopter to hpAtmospheric temperature corresponding to altitude is th；
Relative air density
Air density ρ ═ Δ ρ0；
wherein ：t0Is the atmospheric temperature at sea level, ρ0Standard atmospheric density at sea level.
Further, when the unmanned helicopter is in a hovering state, the method for calculating the wind power resisting to the right side comprises the following steps:
s1.1 calculating the coefficient of drag of the tail rotor CTTR：
S1.2 calculating the tail rotor inflow ratio lambdaTR；
S1.3 calculating the tail pitch theta0TR：
wherein ,CTTRIs the coefficient of drag of the tail rotor, BTRIs the loss coefficient of the tail rotor blade end, aTRIs the slope of the lift line of the tail rotor, σTRThe degree of solidity of the tail rotor is,
is the tail rotor twist angle, λTRTail rotor pitch theta for tail rotor inflow ratio0TRThe wind speed corresponding to the maximum value of (2) is the maximum wind speed.
Further, the tension coefficient C of the tail rotorTTRThe calculation method of (2) is as follows:
[T,F]TR＝ρπR2 TR(RTRΩTR)2；
wherein ,TTRAs tail rotor thrust, RTRRadius of tail rotor, omegaTRIs the tail rotor rotation angular velocity.
Further, the tail rotor inflow ratio
wherein ,
relative induced speed of tail rotor, RTRRadius of tail rotor, omegaTRIs the tail rotor rotation angular velocity, and v is the wind speed;
relative induced speed of tail rotor
Further, the tail pitch θ0.75The method of calculating the minimum value of (1) includes:
obtaining the advancing ratio of different wind speeds
For the tail rotor blade without torsion, calculating a certain advancing ratio
Corresponding to when
Curve of unmanned helicopter
Numerical substitution
Determining tail pitch theta from the curve0.75；
Substituting different wind speeds v into the calculation to obtain the tail rotorDistance theta0.75Wind speed corresponding to the minimum value;
wherein ,RTRRadius of tail rotor, omegaTRIs the angular velocity of rotation of the tail rotor, σTRThe solidity of the tail rotor.
Further, in the above-mentioned case,
for-12 degree twisted tail rotor blade, the unmanned helicopter
Numerical substitution
Determining the tail rotor pitch theta of a blade having a twist of-12 DEG in the curve0.75。
Further, said longitudinal manipulation B1CThe calculating method comprises the following steps:
wherein ,TsFor rotor wing tension, /)zrIs the vertical distance from the hub center to the center of gravity,/xrHorizontal distance of hub centre to centre of gravity, MYFLongitudinal moment produced for the fuselage, MYTLongitudinal moment produced by the horizontal tail, MYWILongitudinal moments generated for the wing; mKTRIs the reaction torque of the tail rotor.
Further, the rotor tension TsThe calculating method comprises the following steps:
TS＝KVG；
wherein ：KVAnd G is the weight gain coefficient, and G is the weight of the unmanned helicopter.
By adopting the technical scheme, the method for measuring and calculating the wind resistance of the unmanned helicopter when the unmanned helicopter is hovering can obtain the right wind resistance, the left wind resistance and the backward wind resistance of the unmanned helicopter when the unmanned helicopter is hovering, further effectively avoid flight accidents, and can fully exert the flight performance of the unmanned helicopter.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 shows the tail pitch θ of a non-twisted tail blade0.75In a different way
Lower following advancing ratio
A variation graph of (2);
FIG. 2 shows the tail rotor pitch θ of a tail blade with a twist of-12 °0.75In a different way
Lower following advancing ratio
A variation diagram of (2).
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that "connected" is to be understood broadly, for example, it may be fixed, detachable, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
The wind resistance of the unmanned helicopter refers to the capability of the helicopter to keep normal flight under the action of high wind speed. The wind resistance is stronger when flying ahead than when hovering, and if the maximum wind resistance is 15m/s when flying ahead, the wind resistance is about 8m/s when hovering. Helicopters are generally sensitive to side and rear winds, so maximum wind resistance refers to the ability to resist side and rear winds. For single rotor tailrotors helicopters, the side wind is limited primarily by the amount of tail rotor handling, and the rear wind is limited primarily by the amount of rear tie rods.
The invention provides a method for measuring and calculating wind resistance of an unmanned helicopter in hovering; the unmanned helicopter is a single-rotor helicopter with a tail rotor, the rotor is a right-handed rotor, and the measuring and calculating method comprises the following steps:
acquiring the height of the unmanned helicopter and the air density rho of the unmanned helicopter at the atmospheric temperature corresponding to the height; that is, when the wind resistance is obtained, the air density ρ at different heights and at different atmospheric temperatures is obtained.
When the unmanned helicopter flies, the unmanned helicopter flies in a nonstandard atmosphere in most cases, and if the flying height is hpWhen the corresponding atmospheric temperature is th；
Relative air density
Air density ρ ═ Δ ρ0；
wherein ：t0Is the atmospheric temperature at sea level, ρ0Is the standard atmospheric density at sea level, if t015 ℃, then the standard atmospheric temperature.
Calculation of right-side wind resistance during suspension of unmanned helicopter
The right side wind, i.e. the wind coming from the right side, can also be regarded as the flying of the airplane to the right side according to the relative motion principle, and the side flying speed is equal to the wind speed of the right coming wind. And (3) the wind comes from the right, in order to keep the course, the tail pitch is increased, and the wind speed corresponding to the maximum tail pitch is the maximum right wind resistance.
When the unmanned helicopter is in a hovering state, the method for calculating the wind power resisting to the right side comprises the following steps:
s1.1 calculating the coefficient of drag of the tail rotor CTTR：
S1.2 calculating the tail rotor inflow ratio lambdaTR；
S1.3 calculating the tail pitch theta0TR：
The specific calculation method is as follows:
calculating the required power p of the rotor when hoveringrTorque M thereofK＝Pr/Ω；
Wherein Ω is the rotor rotational angular velocity.
Thrust of tail rotor is TTR：
The thrust of the tail rotor required for balancing the rotor counter-torque is TTR0；
wherein ：LXTRThe distance from the center of the tail rotor to the center of the rotor.
Wherein F/T is the interference coefficient between the tail rotor/vertical tail and the tail beam.
Coefficient of drag of tail rotor CTTRThe calculation method of (2) is as follows:
[T,F]TR＝ρπR2 TR(RTRΩTR)2；
wherein ,TTRAs tail rotor thrust, RTRRadius of tail rotor, omegaTRIs the tail rotor rotation angular velocity.
Relative induction speed of tail rotor is
in the formula ：BTRThe loss coefficient of the tail rotor blade end is approximately 0.96;
inflow ratio of tail rotor is lambdaTR：
wherein ,
relative induced speed of tail rotor, RTRRadius of tail rotor, omegaTRIs the tail rotor rotation angular velocity, and ν is the wind speed.
Finding the tail pitch theta0TR:
wherein ,CTTRIs the coefficient of drag of the tail rotor, BTRIs the loss coefficient of the tail rotor blade end, aTRIs the slope of the lift line of the tail rotor, σTRThe degree of solidity of the tail rotor is,
is the tail rotor twist angle, λTRTail rotor pitch theta for tail rotor inflow ratio0TRThe wind speed corresponding to the maximum value of (2) is the maximum wind speed.
Calculation of wind power resisting left side during suspension
In general, for a right-handed rotor, the tail rotor has a lower resistance to left wind than to right wind, because the induced velocity of the tail rotor is encountered by the incoming left wind,the airflow on the left side of the tail rotor is quite disordered, the theoretical calculation is difficult, and the wind tunnel test result is often adopted to calculate the tail rotor distance theta0.75。
The calculation method is as follows:
giving advance ratios at different wind speeds
For the tail rotor blade without torsion, calculating a certain advancing ratio
Corresponding to when
Curve (curve shown in fig. 1) of unmanned helicopter
Numerical substitution
Determining tail pitch theta from the curve0.75；
Substituting different wind speeds v into the calculation to obtain the tail propeller pitch theta0.75The wind speed corresponding to the minimum value of (d);
wherein ,RTRRadius of tail rotor, omegaTRIs the angular velocity of rotation of the tail rotor, σTRThe solidity of the tail rotor.
For a tail rotor blade with-12 degrees of torsion, the method is the same as that of the tail rotor blade, and the unmanned helicopter is used
Numerical substitution
The tail rotor pitch θ of the blade with-12 ° twist is determined from the curve (the curve shown in FIG. 2)0.75。
For any other angle of twist of the tail rotor, θ can be determined from 0 ° and-12 ° twist of the tail rotor0.75And linear interpolation is carried out.
Different wind speeds V are substituted into the calculation, and different tail pitch theta can be obtained0.75Corresponding to minimum tail pitch θ0.75The wind speed of (1) is the maximum wind speed that can be resisted.
Calculation of ability to resist rear-coming wind during hover
The resistance to rear wind during suspension is primarily dependent on the maximum amount of rear strap bar that is manipulated longitudinally, and sometimes longitudinal stability is a consideration. Generally, the takeoff of the unmanned helicopter is windward, but sometimes the unmanned helicopter needs to fly backwards, and the maximum backward flying speed, namely the maximum backward wind speed, is allowed.
When hovering, the rotor wing pulls TsThe calculating method comprises the following steps:
TS＝KVG；
wherein ：KVThe weight gain coefficient is usually 1.02-1.03, and G is the weight of the unmanned helicopter.
Finding longitudinal steering B1C(Positive anteversion) maximum B1CCorresponding to the maximum rear incoming wind.
wherein ,TsFor rotor wing tension, /)zrIs the vertical distance from the hub center to the center of gravity,/xrHorizontal distance of hub centre to centre of gravity, MYFLongitudinal moment produced for the fuselage, MYTLongitudinal moment produced by the horizontal tail, MYWILongitudinal moments generated for the wing; mKTRAs reaction torque of the tail rotor, MYF，MYT，MYWIObtained by wind tunnel test.
The method for measuring and calculating the wind resistance of the unmanned helicopter when hovering can obtain the right wind resistance, the left wind resistance and the backward wind resistance of the unmanned helicopter in a hovering state, further effectively avoid flight accidents, and can fully exert the flight performance of the unmanned helicopter.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for measuring and calculating wind resistance of an unmanned helicopter when the unmanned helicopter is hovering is disclosed, wherein the unmanned helicopter is a single-rotor helicopter with a tail rotor, and the rotor is a right-rotor; the measuring and calculating method is characterized by comprising the following steps:
acquiring the height of the unmanned helicopter and the air density rho of the unmanned helicopter at the atmospheric temperature corresponding to the height;
calculating the wind power on the right side:
calculating the tail pitch theta according to the air density rho0TRThe wind speed corresponding to the maximum value of (d);
calculating the wind power resisting the left side:
calculating the tail pitch theta according to the air density rho0.75The wind speed corresponding to the minimum value of (1);
calculating the wind power resistance later:
calculating longitudinal steering B from the air density ρ1CThe maximum value of (d) corresponds to the wind speed.
2. The method for measuring and calculating the wind resistance of the unmanned helicopter when hovering as claimed in claim 1, wherein the calculation method of the air density is as follows:
setting the flight height of the unmanned helicopter to hpAtmospheric temperature corresponding to altitude is th；
Relative air density
Air density ρ ═ Δ ρ0；
wherein ：t0Is the atmospheric temperature at sea level, ρ0Standard atmospheric density at sea level.
3. The method for measuring wind resistance of the unmanned helicopter when hovering as claimed in claim 2, wherein the method for calculating the right wind resistance of the unmanned helicopter when hovering comprises the steps of:
s1.1 calculating the coefficient of drag of the tail rotor CTTR：
S1.2 calculating the tail rotor inflow ratio lambdaTR；
S1.3 calculating the tail pitch theta0TR：
wherein ,CTTRIs the coefficient of drag of the tail rotor, BTRIs the loss coefficient of the tail rotor blade end, aTRIs the slope of the lift line of the tail rotor, σTRThe degree of solidity of the tail rotor is,
is the tail rotor twist angle, λTRTail rotor pitch theta for tail rotor inflow ratio0TRThe wind speed corresponding to the maximum value of (2) is maximum.
4. The method for measuring and calculating wind resistance of the unmanned helicopter in hovering of claim 3, wherein the coefficient of tension of the tail rotor CTTRThe calculation method of (2) is as follows:
[T,F]TR＝ρπR2 TR(RTRΩTR)2；
wherein ,TTRAs tail rotor thrust, RTRRadius of tail rotor, omegaTRIs the tail rotor rotation angular velocity.
5. The method for measuring wind resistance of an unmanned helicopter when hovering as claimed in claim 3,
the tail rotor inflow ratio
wherein ,
relative induced speed of tail rotor, RTRRadius of tail rotor, omegaTRIs the tail rotor rotation angular velocity, and v is the wind speed;
relative induced speed of tail rotor
6. The method for measuring wind resistance of an unmanned helicopter when hovering as claimed in claim 3,
the tail pitch theta0.75The method of calculating the minimum value of (1) includes:
obtaining the advancing ratio of different wind speeds
For the tail rotor blade without torsion, calculating a certain advancing ratio
Corresponding to when
Curve of unmanned helicopter
Numerical substitution
Determining tail pitch theta from the curve0.75；
Substituting different wind speeds v into the calculation to obtain the tail propeller pitch theta0.75Wind speed corresponding to the minimum value;
wherein ,RTRRadius of tail rotor, omegaTRIs the angular velocity of rotation of the tail rotor, σTRThe solidity of the tail rotor.
7. The method for measuring wind resistance of the unmanned helicopter when hovering as claimed in claim 6, wherein:
for-12 degree twisted tail rotor blade, the unmanned helicopter
Numerical substitution
Determining the tail rotor pitch theta of a blade having a twist of-12 DEG in the curve0.75。
8. The method for measuring wind resistance of an unmanned helicopter when hovering as claimed in claim 1, wherein said longitudinal steering B1CThe calculating method comprises the following steps:
wherein ,TsFor rotor wing tension, /)zrIs the vertical distance from the hub center to the center of gravity,/xrHorizontal distance of hub centre to centre of gravity, MYFLongitudinal moment produced for the fuselage, MYTLongitudinal moment produced by the horizontal tail, MYWILongitudinal moments generated for the wing; mKTRIs the reaction torque of the tail rotor.
9. The unmanned helicopter of claim 8 when hoveringThe wind resistance measuring and calculating method is characterized in that the tension T of the rotor wing is measuredsThe calculating method comprises the following steps:
TS＝KVG；
wherein ：KVAnd G is the weight gain coefficient, and G is the weight of the unmanned helicopter.
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| CN106054921A (en) * | 2016-06-22 | 2016-10-26 | 上海拓攻机器人有限公司 | Crosswind control method and system for unmanned helicopter |
| CN109533377A (en) * | 2018-10-20 | 2019-03-29 | 东北大学 | A kind of wind resistance disturbance index of multi-rotor unmanned aerial vehicle |
| CN110244753A (en) * | 2019-06-24 | 2019-09-17 | 深圳市道通智能航空技术有限公司 | Wind speed measuring method and unmanned plane |
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- 2019-12-16 CN CN201911294134.8A patent/CN110895616B/en active Active
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| JPH1016894A (en) * | 1996-07-02 | 1998-01-20 | Mitsubishi Heavy Ind Ltd | Detecting device and detecting method for weight and excess horse power index of helicopter |
| CN105667786A (en) * | 2016-01-12 | 2016-06-15 | 清华大学深圳研究生院 | Tail rotor driving system of helicopter, control method thereof and helicopter |
| CN106054921A (en) * | 2016-06-22 | 2016-10-26 | 上海拓攻机器人有限公司 | Crosswind control method and system for unmanned helicopter |
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