CN112389665B - Hanging object combined pneumatic surface stability augmentation system and design method - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention belongs to the technical field of flight dynamics, and particularly relates to a hanging object combined pneumatic surface stability augmentation system and a design method. The combined aerodynamic surface stability augmentation system is a combined stability augmentation aerodynamic surface of a horizontal empennage and a vertical empennage, the horizontal empennage improves longitudinal and transverse stability, on one hand, the low head posture of a hanging object can be reduced, on the other hand, the rear swing angle of the hanging object can be reduced, the additional low head moment of the hanging system to a helicopter is reduced, the transverse heading stability is improved by the vertical empennage, the combined stability augmentation aerodynamic surface can simultaneously improve the longitudinal, transverse and heading stability of the hanging object of a box body, the stability augmentation effect is achieved on the rolling, pitching and yawing freedom degrees, the longitudinal vibration of the hanging object is obviously weakened at large forward flying speed, the heading disturbance does not rapidly diverge any more but gradually tends to be stable, the transverse left and right side swing and the rear swing are reduced, the unstable moment of the helicopter is greatly reduced, and the stability and the operation quality of the helicopter are obviously improved.
Description
Technical Field
The invention belongs to the technical field of flight dynamics, and particularly relates to a hanging object combined pneumatic surface stability augmentation system and a design method.
Background
The hanging flight is a characteristic of the helicopter, the application of the hanging flight of the helicopter is more and more extensive, and the hanging flight of the helicopter is rare in many fields such as maritime rescue, forest fire fighting, geological exploration, lumbering, power facility erection and the like, and plays a role of promoting weight. However, when the helicopter is in hanging flight, unsteady separated flow exists around a hanging object, the yawing aerodynamic damping of the hanging object is unstable, the heading disturbance can cause gradual divergence of heading motion, and simultaneously cause lateral swing of a hanging system, the unstable motion of the hanging object can generate adverse effect on the stability of the helicopter, the unstable effect can be aggravated along with the increase of forward flying speed, and the helicopter is difficult to control after reaching a certain speed, so that the unstable effect becomes a main factor for limiting the flying speed of the helicopter before hanging flight, the forward flying speed can not be increased under the condition that the available power of the helicopter is still surplus, and the transportation efficiency of the hanging flight is greatly reduced.
In order to solve the problem, the aerodynamic characteristics of the hanging object are changed by adding air planes on the surface of the hanging object, and the lateral and heading coupled motion of the hanging system is reconstructed, so that the effect of stabilizing the hanging system is achieved. What study is more is installing vertical fin aerodynamic surface with the rear symmetry additional in hanging thing top, the difference is the position of installing additional, it is common to have the top to arrange from beginning to end, arrange in the top back and forth, the rear is arranged, the middle and middle back arrangement in the rear, the back upper side is arranged, these settings have all played certain effect of increasing steady, but these aerodynamic surfaces all have certain erection angle usually, lead to aerodynamic resistance to increase, make the back pendulum of hanging the thing increase, pneumatic center is not at same horizontal plane with hanging thing focus simultaneously, arouse that to hang thing every single move and roll unstable moment, and then cause adverse effect for helicopter stability.
The combined pneumatic surface stability augmentation system and the design method have stability augmentation effects on the rolling freedom degree, the pitching freedom degree and the yawing freedom degree, so that the pitching freedom degree, the transverse swinging freedom degree, the yaw angle and the backswing freedom degree of the hanging object are all reduced, the pneumatic stability of the hanging object is greatly improved, and the combined pneumatic surface stability augmentation system and the design method have good application prospects for hanging flight.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects in the prior art, the combined aerodynamic surface stability augmentation system and the design method thereof are the combined horizontal tail wing and vertical tail wing stability augmentation system and the design method thereof, can simultaneously improve the vertical stability, the horizontal stability and the course stability of a hung object, and solve the problem that the previous stability augmentation aerodynamic surface is easy to cause unstable pitching and rolling moments of the hung object.
The technical scheme of the invention is as follows: in order to achieve the above object, according to a first aspect of the present invention, a suspension combined aerodynamic surface stability augmentation system is provided, which comprises a box suspension (1), a horizontal tail (2), a vertical tail (3), and a bracket (4);
the horizontal tail (2) comprises a left horizontal tail (21) and a right horizontal tail (22), and the left horizontal tail (21) and the right horizontal tail (22) are respectively and symmetrically arranged at two sides of the box body hanging object (1) so as to keep the moment balance in the rolling direction, reduce the rear swing and provide the transverse stability;
the vertical tail (3) comprises a left vertical tail (31) and a right vertical tail (32), and the left vertical tail (31) and the right vertical tail (32) are symmetrically arranged on the rear end face of the box body hanging object (1) so as to reduce the influence of the box body hanging object wake flow and enhance the heading stability augmentation effect; the left vertical tail wing (31) and the right vertical tail wing (32) are respectively fixedly connected with the rear end face of the box body hanging object (1) through the bracket (4).
In one possible embodiment, the horizontal tail (2) is installed reversely, namely the lifting force is downward, so as to reduce the backswing of the hung object of the box body, and an installation angle beta exists between the horizontal tail (2) and the horizontal plane 1 So as to obtain larger lift force and increase the stability augmentation effect.
In one possible embodiment, the horizontal tail wings (2) are arranged on the upper parts of the two side end surfaces of the box body hanging object (1).
In one possible embodiment, the horizontal plane of the installing direction of the bracket (4) is parallel to the upper end face and the lower end face of the box hanging object (1), and the vertical plane of the installing direction of the bracket (4) and the rear end face of the box hanging object (1) have a bracket installing angle beta 2 。
In one possible embodiment, the bracket mounting angle ranges from 90 ° to 180 °.
In one possible embodiment, the vertical tail wing (3) and the end surfaces of the two sides of the box body hanging object (1) have an installation angle beta 3 。
In one possible embodiment, the bracket (4) is arranged at the upper part of the rear end face of the box hanger (1).
According to a second aspect of the present invention, a design method of a suspension object combined pneumatic surface stability augmentation system is provided for the above novel suspension object combined pneumatic surface stability augmentation system, and the design method includes the following steps:
s1: mounting angle beta of horizontal tail 1 And length L 1 And a chord length R 1 As an unknown quantity, calculating the aerodynamic force of the horizontal tail wing by adopting a wing surface lift force and resistance calculation formula;
mounting angle beta of vertical tail 3 And length L 2 And a chord length R 2 As an unknown quantity, calculating aerodynamic force of the vertical tail wing by adopting a wing surface lift force and resistance calculation formula;
considering the aerodynamic force of six degrees of freedom of the box body hanging object and the aerodynamic force of the horizontal tail wing and the vertical tail wing, a flight dynamics model of coupling of the box body hanging object and the stability-increasing aerodynamic surface is established;
s2: performing linear processing on a flight dynamics equation of the box body hanging system by adopting a small disturbance linear theory to obtain a characteristic matrix of the movement of the box body hanging system, analyzing the characteristic matrix to obtain a characteristic root of the characteristic matrix, and analyzing the characteristic root to obtain the stability of the box body hanging system;
s3: for the stability of the box hanging system, the mounting angle beta of the horizontal tail wing (2) 1 And length L 1 And a chord length R 1 And the angle of incidence beta of said vertical tail (3) 3 And length L 2 And a chord length R 2 And respectively carrying out parameter sensitivity analysis.
In one possible embodiment, in step S3, the installation angle β of the horizontal rear wing (2) 1 And length L 1 And a chord length R 1 The parameter sensitivity analysis is carried out by determining a set of parameters of the vertical flight (3) for the angle of incidence beta of the horizontal flight (2) 1 And length L 1 And a chord length R 1 Determining any two parameters by adopting a control variable method, analyzing the influence of the other parameter on the stability of the box body hanging object (1), and selecting the most stable characteristic root real part of the box body hanging object (1) which is a negative valueSmall parameters are respectively used as the installation angle beta of the horizontal tail wing (2) 1 And length L 1 And a chord length R 1 。
In a possible embodiment, in step S3, the angle of incidence β of the vertical tail (3) 3 And the length L of the extension 2 And a chord length R 2 The parameter sensitivity analysis is carried out by determining a set of parameters of the horizontal flight (2), the angle of incidence beta of the vertical flight (3) 3 Is 0 deg., the spreading length L 2 The height of the vertical tail wing (3) is consistent with that of the box body hanging object (1), and the chord length R of the vertical tail wing (3) is analyzed 2 The influence on the stability of the box body hanging system is that the minimum chord length which enables all the stability characteristic root real parts of the box body hanging object (1) to be negative is selected as the chord length R of the vertical tail wing (3) 2 。
The invention has the beneficial technical effects that: the combined aerodynamic surface stability augmentation system of the invention is a combined stability augmentation aerodynamic surface of a horizontal empennage and a vertical empennage, the horizontal empennage improves the longitudinal and transverse stability, on one hand, the head-down gesture of a hanging object can be reduced, on the other hand, the backswing angle of the hanging object can also be reduced, the additional head-down moment of the hanging system to a helicopter is reduced, the vertical empennage improves the transverse heading stability, the combined stability augmentation aerodynamic surface can simultaneously improve the longitudinal, transverse and heading stability of the hanging object of a box body, has the effect of stabilizing the freedom degrees of rolling, pitching and yawing, obviously weakens the longitudinal vibration of the hanging object under the large forward flying speed, gradually stabilizes the heading direction after being disturbed and not rapidly dispersed, reduces the transverse left-right side swing and the transverse rear swing, the unstable moment to the helicopter is greatly reduced, the stability and the control quality of the helicopter are obviously improved, and the effect of improving the maximum flying speed of the helicopter for hanging is further achieved.
Drawings
FIG. 1 is a schematic structural view of a suspension combination pneumatic surface stability augmentation system of the present invention;
FIG. 2 is a flow chart of the method of the present invention;
description of numbering: 1-hanging objects in a box body; 21-left horizontal tail; 22-right horizontal tail; 31-left vertical tail; 32-right vertical tail; 4-bracket.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
As shown in figure 1, the hanging object combined pneumatic surface stability augmentation system comprises a box body hanging object (1), a horizontal tail wing (2), a vertical tail wing (3) and a support (4);
the horizontal tail (2) comprises a left horizontal tail (21) and a right horizontal tail (22), and the left horizontal tail (21) and the right horizontal tail (22) are respectively and symmetrically arranged at two sides of the box body hanging object (1);
the vertical tail wing (3) comprises a left vertical tail wing (31) and a right vertical tail wing (32), and the left vertical tail wing (31) and the right vertical tail wing (32) are symmetrically arranged on the rear end surface of the box body hanging object (1); the left vertical tail wing (31) and the right vertical tail wing (32) are respectively fixedly connected with the rear end face of the box body hanging object (1) through the bracket (4);
the horizontal tail wing (2) is reversely installed, and an installation angle beta exists between the horizontal tail wing (2) and the horizontal plane 1 ；
The horizontal tail wings (2) are arranged on the upper parts of the end surfaces of the two sides of the box body hanging object (1);
the plane of the mounting direction of the bracket (4) is parallel to the upper and lower end faces of the box body hanging object (1), and a bracket mounting angle beta exists between the mounting direction of the bracket (4) and the rear end face of the box body hanging object (1) 2 The mounting angle of the bracket is 135 degrees;
the vertical tail (3) and the vertical plane form a vertical mounting angle beta 3 In this embodiment, the spread length L of the vertical rear wing (3) is 0 DEG 2 The height of the hanging object is consistent with that of the box body; the bracket (4) is arranged on the upper part of the end surface of the rear side of the box body hanging object (1).
When the helicopter is hung and flies, the left and right horizontal tail wings are reversely arranged to generate downward lift force, so that the low head posture of a hung object can be reduced, the backswing angle of the hung object can be reduced, the additional low head moment of a hanging system to the helicopter is reduced, when the transverse direction is not disturbed, the lift forces of the left and right horizontal tail wings are balanced with each other, and rolling moment can not be generated; the left vertical tail wing and the right vertical tail wing are provided with installation angles of 0 degree and respectively generate lift forces towards two sides, when the course is not disturbed, the lift forces of the left vertical tail wing and the right vertical tail wing are balanced with each other, no yaw moment is generated, the hung object is supposed to generate left yaw (the front end of the hung object is deviated left) due to yaw disturbance, airflow is blown from the left front of the hung object, the pneumatic attack angle of the left vertical tail wing is smaller, the lift force is reduced, the pneumatic attack angle of the right vertical tail wing is increased, the lift force is increased, rightward yaw moment, namely course restoring moment is generated, the left yaw of the hung object is corrected, and the course of the hung object is stable. The horizontal tail and the vertical tail combined stability-enhancing aerodynamic surface can simultaneously improve the longitudinal stability, the transverse stability and the course stability of a hanging object of the box body, and is favorable for improving the hanging flight speed of the helicopter and improving the transportation efficiency.
The following describes the selection of the parameters of the horizontal and vertical tail surfaces.
The airfoil aerodynamic force can be calculated from equation (1),
in the formula, F L 、F D Lift, drag of airfoil surface, C L 、C D The airfoil angle of attack is composed of a mounting angle and a relative inflow angle, rho is air density, V is relative inflow velocity at the airfoil, R is airfoil chord length, and L is airfoil span length.
The aerodynamic force of the horizontal tail and the vertical tail is loaded into a suspended object flight dynamics model, as shown in formula (2),
wherein m is the mass of the hanging object,
acceleration of the hung object, F is the resultant force of the hung object except the aerodynamic force of the horizontal tail wing and the vertical tail wing, F Lh For horizontal tail lift, F Dh For tailplane drag, F Lv For vertical tail lift, F Dv Is the resistance of the vertical tail, I is the inertia moment of the suspended object,
the angular acceleration of the hung object is adopted, M is the resultant moment of the hung object except the aerodynamic moment of the horizontal tail wing and the vertical tail wing, and L is Lh Is a lifting force arm of the horizontal tail wing L Dh Is a drag force arm of the horizontal tail wing L Lv Is a lifting force arm of the vertical tail wing L Dv Is a vertical tail resistance force arm.
And (3) adopting a small disturbance linearization theory to linearize the flying dynamics equation of the suspended object, obtaining a characteristic matrix A of the motion equation of the suspended object according to formula (3), further obtaining a characteristic root reflecting the stability of the suspended object, wherein the real part of the characteristic root is negative, the system stability is represented, and the larger the absolute value of the negative real part is, the larger the motion damping of the suspended object is, and the faster the motion attenuation is after disturbance. The combination of a small installation angle, a length expansion and a chord length which enables the root real part of all the motion characteristics of the hanging object to be negative is selected so as to reduce the pneumatic stability augmentation structural weight and the vertical downward additional force and reduce the load of the helicopter under the condition of certain weight of the hanging object.
In the formula, X
The state quantity of the hanging object of the box body and the first derivative of the state quantity are provided, the state quantity comprises a three-axis translation speed, a three-axis angular speed and a three-axis attitude angle, and A is a motion equation coefficient matrix.
When the installation angle, the spread length and the chord length of the horizontal tail wing and the chord length of the vertical tail wing are selected, the installation angle beta is used 1 For example, the parameter sensitivity analysis is carried out by first assuming the span length L of the horizontal tail 1 1/4 of long side of hanging object of box body, chord length R 1 1/4 of short side of hanging object of box body and mounting angle beta of vertical tail wing 3 Is 0 degree, spread out length L 2 The height of the hanging object is consistent with that of the box body, and the chord length R 2 Is half of the short side of the article hung on the box body, and takes the installation angle beta of the horizontal tail wing 1 The stability characteristic root of the hanging object is a dependent variable, and the minimum beta which enables the real part of the stability characteristic root to be a negative value is obtained through analysis 1 Namely the preliminarily selected horizontal tail installation angle. Other parameter selection method and the installation angle beta of the horizontal rear wing 1 The selection method is the same.
The combined aerodynamic surface stability augmentation system is designed in detail by taking box body hanging objects as an example, assuming that the long sides, the short sides and the heights of the box body are respectively a, b and c, the chord length of a horizontal tail wing is b/4, the spreading length is a/4, installation angles of 10 degrees in reverse direction are reversely arranged at two ends of the short side at the rear upper part of the box body, and the rear edge of a wing surface is flush with the rear edge of the box body; the chord length of the vertical empennage is b/2, the span length is c, the symmetrical 0-degree installation angles are reversely arranged on two sides of the short side at the rear upper part of the box body, the lifting force is outward and is connected with the box body through a support, the distance from the front edge of the airfoil surface to the rear surface a/4 of the box body is c/4 of the side surface of the box body, one half of the span direction is positioned above the box body, and the other half is positioned below the box body. Under the arrangement of the horizontal tail and the vertical tail, the hung object has better longitudinal and transverse stability and course stability, meanwhile, the pneumatic stability-increasing structure weight and the generated vertical downward additional force are not large, and the additional load on the helicopter is smaller.
The foregoing is merely a detailed description of the embodiments of the present invention, and some of the conventional techniques are not detailed. The scope of the present invention is not limited thereto, and any modifications or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention will be covered by the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. A design method of a suspended object combined pneumatic surface stability augmentation system is characterized in that the suspended object combined pneumatic surface stability augmentation system comprises a box body suspended object (1), a horizontal tail wing (2), a vertical tail wing (3) and a support (4);
the horizontal tail (2) comprises a left horizontal tail (21) and a right horizontal tail (22), and the left horizontal tail (21) and the right horizontal tail (22) are respectively and symmetrically arranged at two sides of the box body hanging object (1);
the vertical tail (3) comprises a left vertical tail (31) and a right vertical tail (32), and the left vertical tail (31) and the right vertical tail (32) are symmetrically arranged on the rear end face of the box body hanging object (1); the left vertical tail wing (31) and the right vertical tail wing (32) are respectively fixedly connected with the rear end face of the box body hanging object (1) through the bracket (4); the horizontal tail wing (2) is arranged on the upper parts of the end surfaces of the two sides of the box body hanging object (1), and the design method comprises the following steps:
s1: mounting angle beta of horizontal tail wing 1 And length L 1 And a chord length R 1 As an unknown quantity, calculating the aerodynamic force of the horizontal tail wing by adopting a wing surface lift force and resistance calculation formula;
mounting angle beta of vertical tail 3 And length L 2 And a chord length R 2 As an unknown quantity, calculating aerodynamic force of the vertical tail wing by adopting a wing surface lift force and resistance calculation formula;
considering the aerodynamic force of six degrees of freedom of the box body hanging object and the aerodynamic force of the horizontal tail wing and the vertical tail wing, a flight dynamics model of coupling of the box body hanging object and the stability-increasing aerodynamic surface is established;
s2: performing linear processing on a flight dynamics equation of the box body hanging system by adopting a small disturbance linear theory to obtain a characteristic matrix of the movement of the box body hanging system, analyzing the characteristic matrix to obtain a characteristic root of the characteristic matrix, and analyzing the characteristic root to obtain the stability of the box body hanging system;
s3: for the stability of the box body hanging system, the installation angle beta of the horizontal tail wing (2) 1 And the length L of the extension 1 And a chord length R 1 And the angle of incidence beta of said vertical tail (3) 3 And length L 2 And a chord length R 2 And respectively carrying out parameter sensitivity analysis.
2. The method for designing a suspended object combined aerodynamic surface stability augmentation system as claimed in claim 1, wherein in said step S3, the installation angle β of said horizontal rear wing (2) is 1 And the length L of the extension 1 And a chord length R 1 The method for analyzing the sensitivity of the parameters is to determine a set of parameters of the vertical flight (3) for the angle of incidence beta of the horizontal flight (2) 1 And length L 1 And a chord length R 1 Determining any two parameters by adopting a control variable method, analyzing the influence of the other parameter on the stability of the box body hanging object (1), and selecting the minimum parameter which ensures that all real parts of the stability characteristic roots of the box body hanging object (1) are negative values as the installation angle beta of the horizontal tail wing (2) respectively 1 And the length L of the extension 1 And a chord length R 1 。
3. The method for designing a suspended object combined aerodynamic surface stability augmentation system as claimed in claim 1, wherein in said step S3, the installation angle β of said vertical tail (3) is 3 And length L 2 And a chord length R 2 The method for analyzing the parameter sensitivity comprises determining a set of parameters of the horizontal tail (2) and the installation angle beta of the vertical tail (3) 3 Is 0 DEG, the spreading length L 2 The height of the vertical tail wing (3) is consistent with that of the box body hanging object (1), and the chord length R of the vertical tail wing (3) is analyzed 2 The minimum chord length which enables the real parts of all stability characteristic roots of the box body hanging objects (1) to be negative is selected as the chord length R of the vertical tail wing (3) 2 。
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| CN102874413A (en) * | 2012-10-12 | 2013-01-16 | 北京航空航天大学 | Method and tail fin for improving flight stability of hung object of helicopter |
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| US6783096B2 (en) * | 2001-01-31 | 2004-08-31 | G. Douglas Baldwin | Vertical lift flying craft |
| CN2642674Y (en) * | 2003-10-17 | 2004-09-22 | 吴征 | Hull type amphibious super-light airplane with two seats arranged longitudinally |
| US8185259B2 (en) * | 2010-08-23 | 2012-05-22 | King Fahd University Of Petroleum & Minerals | Fuzzy logic-based control method for helicopters carrying suspended loads |
| US8532846B2 (en) * | 2011-08-26 | 2013-09-10 | Donald John Tollenaere | Helicopter sling-load stability control and release system |
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