CN111220345A - Formation flight aerodynamic interference and attitude control experiment system and experiment method - Google Patents
Formation flight aerodynamic interference and attitude control experiment system and experiment method Download PDFInfo
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Abstract
The invention provides an experimental system and an experimental method for formation flight aerodynamic interference and attitude control. The experimental system comprises a freedom degree release mechanism, a box type balance, a flight control module, an airplane model and a ground station, wherein the airplane model is arranged on the freedom degree release mechanism and can realize locking and releasing of a plurality of freedom degrees; the box type balance is fixedly connected with the freedom degree releasing mechanism and used for collecting aerodynamic force borne by the airplane model and transmitting data to the ground station through a serial port data line; data transmission is carried out between the flight control module and the ground station and between different flight control modules through the wifi module, the ground station sends control instructions to the flight control module, and the flight control module transmits the acquired aircraft attitude data back to the ground station for modification and optimization of the flight control law. The system can complete pneumatic interference measurement, formation form optimization and design optimization of attitude control law in a formation flight state, and has high system integration level, high experiment precision and high reliability.
Description
Technical Field
The invention relates to a wind tunnel test technology, in particular to a formation flight aerodynamic disturbance and attitude control experimental system and method based on wind tunnel free flight.
Background
Formation flying is a common mode of large birds in the nature in long-distance migration, human beings notice the phenomenon and indicate that formation flying has aerodynamic advantages, and the formation flying can effectively reduce oil consumption and increase voyage when being applied to airplane flying. The current research on formation flight is mainly focused on numerical calculation and flight dynamics simulation.
On the one hand, in the wind tunnel experiment, because the integration degree of the experiment system is not enough, only the research of 'long plane + single wing plane' or 'long plane + double wing plane' is generally carried out, the experiment supporting device has larger interference to the flow field, and the experiment device can only carry out the pneumatic interference research alone or the attitude control law research alone, and the integration and systematization of the experiment device are not enough, so that the formation flying wind tunnel experiment has the defects of high cost, long experiment period, low precision, low simulation degree of the actual formation condition, difficulty in realizing the multi-machine intensive formation experiment and the like.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems, the invention provides a wind tunnel free flight-based formation flight aerodynamic disturbance and attitude control experimental system and an experimental method. The experimental system can simulate various actual formation flight conditions in the wind tunnel as much as possible, pneumatic interference measurement, formation form optimization and design optimization of attitude control law under the formation flight state can be completed only by the system, and the experimental system is high in integration level, experimental precision and reliability.
The technical scheme is as follows: a formation flight aerodynamic disturbance and attitude control experiment system comprises a freedom degree release mechanism, a box type balance, a flight control module, an airplane model and a ground station, wherein the airplane model is arranged on the freedom degree release mechanism, and the freedom degree release mechanism can realize the locking and releasing of a plurality of freedom degrees; the box type balance is fixedly connected with the freedom degree releasing mechanism and used for collecting aerodynamic force borne by the airplane model and transmitting data to the ground station through a serial port data line; data transmission is carried out between the flight control module and the ground station and between the flight control modules of different airplane models through wifi modules, the ground station) sends control instructions to the flight control module, and meanwhile the flight control module transmits acquired airplane attitude data back to the ground station for modification and optimization of a flight control law.
Furthermore, the freedom degree releasing mechanism comprises an outer supporting rod, an inner supporting rod, a moving joint, a height set screw, a rolling set screw, a yawing set screw and a pitching set screw, wherein one end of the inner supporting rod is inserted into the hollow outer supporting rod and is fixed through the height set screw; the moving joint is arranged at the other end of the inner support rod and used for bearing the airplane model, and the rolling set screw, the yawing set screw and the pitching set screw are arranged on the moving joint and used for realizing the degrees of freedom of three postures, namely rolling, yawing and pitching, of the airplane experimental model.
The method for carrying out formation flight aerodynamic disturbance and attitude control experiments by using the experimental system comprises the following steps:
s1, arranging the freedom release mechanisms (1) according to a formation mode to form a freedom release mechanism array;
s2, mounting the airplane model (4) on a moving joint (9) of the freedom degree release mechanism (1) to ensure that the rotation center of the moving joint (9) is basically coincided with the gravity center of the airplane model (4);
s3, adjusting the locking and the loosening of the set screw, and carrying out a plurality of experimental contents, including: static pneumatic interference experiments of locking all degrees of freedom, dynamic pneumatic interference experiments of locking part of degrees of freedom and flight control law design experiments of releasing attitude degrees of freedom.
Has the advantages that:
1. the support structure has small pneumatic interference: the whole experimental model is supported only by the support rods of the array freedom degree releasing mechanism, and the rectifying plates are arranged on the support rods, so that the interference of the support mechanism to a flow field is effectively reduced, and the experimental precision is improved. And the simple and compact supporting mechanism can complete the wind tunnel experimental research of intensive formation under higher precision.
2. The experimental system has high integration level, and can realize multiple formation flight experimental projects: pneumatic interference measurement, formation form optimization and attitude control law optimization under formation flight state can be completed only by the experimental system, and systematic research of formation flight can be conveniently realized. And only the locking and releasing of the freedom mechanism are simply carried out between the experimental projects, so that the experimental period can be effectively shortened, and the experimental efficiency is improved.
3. The experimental freedom degree is high, multi-machine formation can be conveniently added, the number of formation aircrafts can reach dozens, and the research on more complex formation forms is facilitated. And the height, position and attitude of the aircraft can be freely adjusted in the experimental process.
Drawings
FIG. 1 is a schematic structural diagram of a formation flight aerodynamic disturbance and attitude control experimental system of the present invention;
FIG. 2 is a schematic diagram of a degree of freedom mechanism;
fig. 3 is a general flowchart of the experimental process of the experimental system.
The system comprises a 1-degree-of-freedom mechanism array, a 2-six-component box type balance, a 3-flight control module, a 4-airplane scaling model, a 5-fairing, a 6-ground station, a 7-outer supporting rod, an 8-inner supporting rod, a 9-kinematic joint, a 10-height set screw, a 11-roll set screw, a 12-yaw set screw and a 13-pitch set screw.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1, the formation flying aerodynamic disturbance and attitude control experimental system based on wind tunnel free flight provided by the invention comprises a wind tunnel, a freedom degree release mechanism 1, a six-component box type balance 2, a flight control module 3, an airplane scaling model 4 for testing, a fairing 5 and a ground station 6; the box type balance 2 is fixedly connected with the freedom degree mechanism and used for collecting aerodynamic force borne by the airplane scaling model 4 and transmitting data to the ground station 6 through a serial port data line; data transmission is carried out between the flight control module 3 and the ground station 6 and between the flight control modules of different airplanes through the wifi module, the ground station 6 can send a control instruction to the flight control module 3, and meanwhile the flight control module 3 transmits the acquired airplane attitude data back to the ground station 6 for modification and optimization of a flight control law.
As shown in fig. 2, the degree of freedom release mechanism 1 can realize locking and releasing of a plurality of degrees of freedom, including an outer support rod 7, an inner support rod 8, a kinematic joint 9, a height set screw 10, a roll set screw 11, a yaw set screw 12, and a pitch set screw 13. The fairing 5 is installed in the outer side of the inner supporting rod 8, the section shape of the fairing is NACA0008 airfoil, the fairing function is achieved, and interference caused by wake flow of the supporting rod can be effectively reduced. The kinematic joint 9 is connected to the aircraft at the centre of gravity of the aircraft by means of a bolt. The height set screw 10 is positioned on the outer supporting rod 7 and can lock/release the movement of the inner supporting rod 8; the roll set screw 11 is positioned near the roll axis of the kinematic joint 9 and can lock/release the roll axis; a yaw set screw 12 is positioned near the yaw axis at the top end of the kinematic joint 9, and can lock/release the yaw axis; the pitch set screw 13 is located near the pitch axis of the kinematic joint 9, and can lock/release the pitch axis; the locking or releasing of the aircraft degrees of freedom can be controlled manually by locking or releasing the set screws, namely the altitude set screw 10, the roll set screw 11, the yaw set screw 12, the pitch set screw 13. The height degree of freedom is used for adjusting the relative height between the airplanes in formation flying, and other degrees of freedom are three attitude degrees of freedom of rolling, pitching and yawing.
As shown in fig. 3, an experimental general flow chart of the formation flight experimental system is shown, which reflects a plurality of experimental tasks that can be completed by the system, and specifically includes: the array of degree of freedom release mechanisms is first arranged in a formation pattern, such as a "V" array or a "line" array. And the wind tunnel experiment airplane scaling model is arranged on a moving joint of the freedom degree release mechanism, so that the rotation center of the moving joint is basically coincided with the gravity center of the airplane model. Next, the locking and the releasing of the set screw can be adjusted, and a plurality of experimental contents are carried out, including: static pneumatic interference experiments of locking all degrees of freedom, dynamic pneumatic interference experiments of locking part of degrees of freedom and flight control law design experiments of releasing attitude degrees of freedom. These experiments cover substantially all of the requirements of formation flight experiments.
Specifically, experiment one: and the static pneumatic interference experiment with all degrees of freedom locked is used for measuring the static pneumatic interference among multi-machine formation. The method comprises the following steps: all the set screws, namely the height set screw 10, the rolling set screw 11, the yawing set screw 12 and the pitching set screw 13 are locked, and the box-type balance 2 is used for acquiring the aerodynamic force borne by the airplane experimental model 4 to obtain the aerodynamic interference value generated by the wing vortex. The method comprises the steps of putting smoke particles into a flow field, shooting a flow image of the smoke particles in the flow field by utilizing a PIV technology, and obtaining a flow field structure of the airplane under the influence of formation aerodynamic interference.
Experiment two: the dynamic aerodynamic interference experiment of partial degree of freedom locking is used for measuring the dynamic aerodynamic interference of unsteady wake flow generated by partial airplane due to attitude change to other airplanes. The method comprises the following steps: and locking a part of the freedom degree mechanisms in the freedom degree mechanism array, releasing the rest of the freedom degree mechanisms, measuring the pneumatic interference numerical value of the airplane in other locking states caused by the generated unsteady wake flow when the airplane in the releasing state completes the maneuvering action, and measuring and acquiring the pneumatic interference data through the box type balance. The method can obtain a flow field structure change image caused by unsteady wake flow by combining a phase-locked PIV technology, and because an unsteady flow field is generated when an airplane does maneuvering motion, PIV trigger signals need to be generated at each phase of the maneuvering motion of the airplane to drive a PIV camera to shoot, so that an unsteady flow field structure is obtained. By observing the unsteady flow fields generated by the maneuvering action of the aircraft, the areas with large flow field disturbance in the space can be judged, and the aircraft participating in formation should avoid the areas in the actual formation flight, so that the flight accidents caused by dynamic aerodynamic interference are effectively avoided.
Experiment three: the design experiment of the flight control law released by the attitude degree of freedom is used for designing the attitude control law of airplane formation flight. The method comprises the following steps: locking a height set screw 10, releasing a rolling set screw 11, a yawing set screw 12 and a pitching set screw 13, enabling all airplanes to be in a three-degree-of-freedom release state, sending an instruction signal to a flight control module by a ground station, simultaneously acquiring the tracking conditions of a plurality of experimental airplane models on the instruction signal, analyzing different formation topological structures, and under different attitude control methods, analyzing the response conditions of the airplanes, thereby designing an attitude control law and optimizing the design of the formation topological structures.
The method is limited by the existing experimental technology, the current experimental study of formation flight aerodynamic interference only considers static aerodynamic interference under the condition of stable flight of an aircraft, and at the moment, the aerodynamic interference of the aircraft mainly comes from a steady induced vortex system generated by the front aircraft in a large scale. With the increasing improvement of the maneuvering performance of the airplane, when the airplane performs large maneuvering actions (especially over-speed maneuvering), strong unsteady wake flows are generated, and at the moment, the numerical calculation means cannot meet the requirements. By utilizing the experimental system and through the second mentioned experiment, the control command is artificially input to control the long plane in the formation to do large motor action, and meanwhile, the aerodynamic force signals received by the wing plane are collected and expressed as
Δ x, Δ y, Δ z represent the coordinate position of the wing plane in space with respect to the long plane, M represents the collection of the various types of manoeuvres of the long plane, x represents the current state quantity of the wing plane. Fitting the interpolation of the state quantity x into a continuous function about t and x, and carrying out Taylor expansion on the state quantity x to obtain
Assuming that the position of a wing plane relative to a long plane is unchanged, adding aerodynamic force generated by aerodynamic interference into a state space of the wing plane to obtain a state space expression:
in the formula, x represents an airplane state quantity, A represents a linear matrix after the airplane is approximated to a linear system, B represents a linear input matrix, C represents a linear output matrix, q represents an uncertain quantity set, and f' (t) represents a first derivative of an aerodynamic interpolation function acquired by the box type balance with time.
At the moment, the wing plane is regarded as a linear time-varying system, and the flight control law of the wing plane under strong aerodynamic disturbance is designed by utilizing the theory of the linear time-varying system.
In multi-machine formation, when the formation quantity is large, according to the conventional mode, the control system can be verified only through computer simulation and actual flight, the computer simulation result is different from the actual result, the accuracy is poor, the actual flight cost is high, and the cost of test failure is borne. By using the experimental system, the design of the control system can be verified safely, efficiently and accurately through the third experiment. The topology of the flight formation is represented in the form of a directed or undirected graph, and with the set G ═ (v epsilon a)*) V denotes a node, i.e. each aircraft in the formation; epsilon represents an edge, representing the information flow direction between different aircrafts; a. the*The weighted adjacency matrix represents the information transfer path between the aircrafts. The entire formation flight system can be represented in the form of a state space:
where q represents the uncertainty of the system in the parameters and τ represents the time delay incurred by the data transmission. Because the communication bandwidth between the airplanes is limited during actual flying, pairwise communication between all the airplanes cannot be realized, so flying state information needs to be gradually sent from a long plane to a wing plane according to a certain data transmission path, if an information transmission path between the airplanes is represented by a directed graph, namely if the airplane 1 can transmit information to the airplane 2, an arrow pointing to the airplane 2 from the airplane 1 is drawn, and therefore a formation flying topological structure can be obtained, and the structure determines A*The values of the matrix. In the experiment, the wifi module is utilized to transmit information among the airplanes, and information transmission can be carried out through wifi between which aircrafts can be artificially configured through software, so thatCan freely configure the weighted adjacent matrix A in the experiment*And obtaining optimized A according to experimental results and use requirements*And the matrix is adopted, so that a more complete formation topology and flight control strategy are obtained.
Claims (9)
1. The utility model provides a formation flight aerodynamic disturbance and attitude control experimental system which characterized in that includes: the aircraft model is characterized by comprising a freedom degree release mechanism (1), a box type balance (2), a flight control module (3), an aircraft model (4) and a ground station (6), wherein the aircraft model (4) is installed on the freedom degree release mechanism (1), and the freedom degree release mechanism (1) can realize locking and releasing of multiple freedom degrees; the box type balance (2) is fixedly connected with the freedom degree release mechanism (1) and is used for collecting aerodynamic force borne by the airplane model (4) and transmitting data to the ground station (6) through a serial port data line; data transmission is carried out between the flight control module (3) and the ground station (6) and between the flight control modules of different airplane models through wifi modules, the ground station (6) sends a control command to the flight control module (3), and the flight control module (3) transmits collected airplane attitude data back to the ground station (6) for modification and optimization of a flight control law.
2. The formation flying aerodynamic interference and attitude control experiment system according to claim 1, wherein the freedom degree release mechanism (1) comprises an outer support rod (7), an inner support rod (8), a moving joint (9), a height set screw (10), a rolling set screw (11), a yawing set screw (12) and a pitching set screw (13), one end of the inner support rod (8) is inserted into the hollow outer support rod (7) and is fixed through the height set screw (10); the moving joint (9) is arranged at the other end of the inner supporting rod (8) and used for bearing the airplane model (4), and the rolling set screw (11), the yawing set screw (12) and the pitching set screw (13) are arranged on the moving joint (9) and used for realizing the degrees of freedom of three postures, namely rolling, yawing and pitching, of the airplane experimental model (4).
3. The formation flying aerodynamic disturbance and attitude control experiment system according to claim 2, characterized by further comprising a rectifying plate (5) which is installed outside the inner supporting rod (8) and has a section shape of NACA0008 airfoil.
4. A method for performing formation flight aerodynamic disturbance and attitude control experiments using the experimental system of claim 2, comprising the steps of:
s1, arranging the freedom release mechanisms (1) according to a formation mode to form a freedom release mechanism array;
s2, mounting the airplane model (4) on a moving joint (9) of the freedom degree release mechanism (1) to ensure that the rotation center of the moving joint (9) is basically coincided with the gravity center of the airplane model (4);
s3, adjusting the locking and the loosening of the set screw, and carrying out a plurality of experimental contents, including: static pneumatic interference experiments of locking all degrees of freedom, dynamic pneumatic interference experiments of locking part of degrees of freedom and flight control law design experiments of releasing attitude degrees of freedom.
5. The experimental method of claim 4, wherein the static aerodynamic interference experiment locked by all degrees of freedom is used for measuring the static aerodynamic interference among multi-machine formations, and the method comprises the following steps: locking a height set screw (10), a rolling set screw (11), a yawing set screw (12) and a pitching set screw (13), acquiring aerodynamic force borne by an airplane experimental model (4) by using a box-type balance (2), obtaining a pneumatic interference value generated by wing vortex, and obtaining a flow field structure under the pneumatic interference by combining a PIV technology to optimize a formation form.
6. The experimental method of claim 4, wherein the partial degree of freedom locked dynamic aerodynamic disturbance experiment is used for measuring dynamic aerodynamic disturbance of unsteady wake flow generated by a part of aircraft due to attitude change to other aircraft, and the method comprises the following steps: and locking partial freedom degree release mechanisms in the freedom degree release mechanism array, releasing other freedom degree release mechanisms, measuring a pneumatic interference value of the generated unsteady wake flow to the airplane models in other locking states when the airplane models in the releasing state complete the maneuvering action, and obtaining a flow field structure change image caused by the unsteady wake flow by combining a phase-locked Particle Image Velocimetry (PIV) technology.
7. The experimental method of claim 4, wherein the experimental design of flight control laws released by the attitude degrees of freedom is used for designing attitude control laws for formation flight of airplanes, and the experimental method comprises the following steps: locking height set screws (10), releasing roll set screws (11), yaw set screws (12) and pitch set screws (13), enabling all aircraft models to be in a three-degree-of-freedom release state, sending command signals to a flight control module (3) by a ground station (6), simultaneously collecting tracking conditions of a plurality of aircraft models (4) on the command signals, analyzing different formation topological structures, and under different attitude control methods, responding conditions of the aircraft models (4) so as to design an attitude control law and design optimization of the formation topological structures.
8. The experimental method of claim 6, wherein the calculation of the aerodynamic interference value comprises: the ground station (6) sends a control command to the flight control module (3) to control the fans in the formation to do large motor actions and to collect the pneumatic signals received by the fans and to represent the signals as
Δ x, Δ y, Δ z represent the coordinate position of a wing-machine in space with respect to a long-machine, M represents the collection of the various maneuvers of the long-machine, x represents the current state quantity of the wing-machine, which is synthesized by interpolation as a continuous function with respect to t and x, and the state quantity x is subjected to taylor expansion to obtain
Assuming that the position of a wing plane relative to a long plane is unchanged, adding aerodynamic force generated by aerodynamic interference into a state space of the wing plane to obtain a state space expression:
in the formula, x represents an airplane state quantity, A represents a linear matrix after the airplane is approximated to a linear system, B represents a linear input matrix, C represents a linear output matrix, q represents an uncertain quantity set, and f' (t) represents a first derivative of an aerodynamic interpolation function acquired by the box type balance to time;
at the moment, the wing plane is regarded as a linear time-varying system, and the flight control law of the wing plane under strong aerodynamic disturbance is designed by utilizing the theory of the linear time-varying system.
9. The experimental method of claim 8, wherein analyzing the formation topology for attitude control law design comprises: the topology of the flight formation is represented in the form of a directed or undirected graph, and with the set G ═ (v epsilon a)*) V denotes a node, i.e. each aircraft in the formation; epsilon represents an edge, representing the information flow direction between different aircrafts; a. the*Representing the information transfer path between the aircrafts for the weighted adjacent matrix; the entire formation flight system is represented in the form of a state space:
wherein q represents the uncertainty of the system on the parameters, tau represents the time delay generated by data transmission, and a weighted adjacent matrix A is configured by changing the information transmission path of the wifi module between the aircrafts*And obtaining an optimized matrix A according to the experimental result and the use requirement, thereby obtaining a more perfect formation topological structure and a flight control strategy.
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