CN114323551B - Tilting transition corridor wind tunnel experiment balancing method and system for tilting rotorcraft - Google Patents

Tilting transition corridor wind tunnel experiment balancing method and system for tilting rotorcraft Download PDF

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CN114323551B
CN114323551B CN202210249161.9A CN202210249161A CN114323551B CN 114323551 B CN114323551 B CN 114323551B CN 202210249161 A CN202210249161 A CN 202210249161A CN 114323551 B CN114323551 B CN 114323551B
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rotor
tilting
balancing
angle
corridor
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CN114323551A (en
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聂博文
武杰
郭天豪
彭先敏
张卫国
何龙
刘志涛
蒋永
张磊
靳秋硕
任忠才
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Low Speed Aerodynamics Institute of China Aerodynamics Research and Development Center
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Low Speed Aerodynamics Institute of China Aerodynamics Research and Development Center
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Abstract

The invention is suitable for the technical field of wind tunnel dynamic force measurement, and provides a tilting transition corridor wind tunnel experiment balancing method and a system for a tilting rotorcraft.

Description

Tilting transition corridor wind tunnel experiment balancing method and system for tilting rotorcraft
Technical Field
The invention relates to the technical field of wind tunnel dynamic force measurement, in particular to a method and a system for wind tunnel experiment balancing of a tilting transition corridor of a tilting rotorcraft.
Background
The tilting transition of the tilting rotorcraft is a variable-configuration and variable-speed flight process, and can be smoothly completed only by reasonable matching of aerodynamic force of a rotor and wings at different forward flight speeds. However, a low forward flight speed can cause the wings of a tiltrotor aircraft to stall, and a high forward flight speed can be limited by factors such as forward blade compressibility, aft blade stall, and the available power of the rotor. In order to ensure flight safety, the tilting transition process of the tilting rotorcraft needs to be kept within a 'nacelle tilting angle-speed' envelope, namely a tilting transition speed corridor.
In the prior art, patent 201810750002.0 and patent 201610321588.X both obtain the tilting transition corridor by establishing a dynamic model and by simulation calculation, and the principle is as follows: based on the airframe, the wings, the horizontal/vertical tails and the rotor wing aerodynamic characteristic data, a non-linear dynamics mathematical model of the tilt rotor aircraft is established, and the forward flight speed of the wings reaching the critical attack angle under different engine tilt angles is obtained through balancing calculation, so that the lower boundary of the tilt transition corridor can be obtained. And similarly, calculating the forward flight speed when the required power of the rotor wing reaches the rated power of the engine under different engine tilting angles, and obtaining the upper boundary of the tilting transition corridor.
The method can effectively solve the initial design problem of the tilting transition corridor of the tilting rotorcraft, but has the following defects: firstly, the effectiveness of the method depends on the accuracy of a flight dynamics model seriously, and the calculation result of the tilting transition flight corridor is seriously distorted due to large mathematical modeling error; second, the method must compromise between accuracy and complexity of modeling, and it is difficult to build accurate mathematical models of blade flapping, rotor inflow, wake disturbances, aeroelasticity, large angle of attack dynamics, etc. Therefore, the prior art cannot accurately acquire the upper and lower boundaries of the tilting transition corridor, and therefore, a better method needs to be found to acquire the corridor boundary, so that the corridor boundary has a better engineering application value.
Disclosure of Invention
The invention aims to provide a wind tunnel experiment balancing method and system for a tilting transition corridor of a tilting rotor aircraft. The invention is realized by the following steps:
a wind tunnel experiment balancing method for a tilting transition corridor of a tilting rotor aircraft comprises the following steps:
s1, starting and initializing the balancing equipment;
s2, selecting a balancing subject;
the trim discipline includes a tilt corridor upper boundary and a tilt corridor lower boundary; respectively carrying out balancing on the upper boundary of the tilting corridor and the lower boundary of the tilting corridor;
s3, combining the upper and lower boundaries of the tilting corridor to finish balancing;
in the step S2, the trimming S21 of the upper boundary of the tilt corridor includes:
s211, setting a trim constraint variable and enabling
Figure 100002_DEST_PATH_IMAGE001
Wherein, in the step (A),
Figure 100002_DEST_PATH_IMAGE002
respectively is a rotor wing tilting angle and a set rotor wing tilting angle,
Figure 100002_DEST_PATH_IMAGE003
；
s212, setting wind speed
Figure 100002_DEST_PATH_IMAGE004
And a free variable η;
s213, balancing by adopting a Newton iteration method;
s214, angle of attack
Figure 100002_DEST_PATH_IMAGE005
If the stall critical attack angle is smaller than the stall critical attack angle, calculating the required power P of the rotor wing, otherwise executing a step S216;
s215, if the power P is less than or equal to the limit power PlmtIf so, increasing the wind speed, returning to the step S212, otherwise, executing the step S216;
s216, reducing the tilt angle of the rotor, if the tilt angle of the rotor is larger than the minimum set tilt angle of the rotor, returning to the step S212, otherwise, outputting the tilt corridor upper boundary;
in the step 2, the trimming S22 of the lower boundary of the tilt corridor includes:
s221, setting a trim constraint variable and enabling
Figure 100002_DEST_PATH_IMAGE006
Wherein, in the process,
Figure 100002_DEST_PATH_IMAGE007
a stall critical angle of attack;
s222, setting wind speed
Figure 889061DEST_PATH_IMAGE004
And a free variable η;
s223, carrying out balancing by adopting a Newton iteration method;
s224. if
Figure 100002_DEST_PATH_IMAGE008
If so, the wind speed is increased, the process returns to step S222, otherwise the output is dumped to the corridor lower boundary.
Further, the free variable in the leveling of the upper boundary of the tilting corridor is as follows:
Figure 100002_DEST_PATH_IMAGE009
，
the free variables of the lower limit of the tilting corridor during leveling are as follows:
Figure 100002_DEST_PATH_IMAGE010
，
wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE011
in order to realize the side slip angle,
Figure 100002_DEST_PATH_IMAGE012
in order to realize the tilt angle of the rotor wing,
Figure 100002_DEST_PATH_IMAGE013
in order to control the amount of the pulling force of the rotor,
Figure 100002_DEST_PATH_IMAGE014
in order to be the pitch angle,
Figure 100002_DEST_PATH_IMAGE015
as the angle of the roll, the roll angle,
Figure 100002_DEST_PATH_IMAGE016
is the yaw angle.
Further, the Newton iteration method for balancing comprises the following steps:
s10, setting the initial state of the experiment
Figure 100002_DEST_PATH_IMAGE017
And setting the iteration step number k = 0; wherein
Figure 100002_DEST_PATH_IMAGE018
In the form of an initial state vector, the state vector,
Figure 100002_DEST_PATH_IMAGE019
is an initial steering vector;
s20, starting a device, carrying out an experiment according to an initial state, and collecting the load of the whole machine;
the full-aircraft load comprises acting force of a rotor wing, a horizontal tail, a vertical tail and an aircraft body on the gravity center of the aircraft body
Figure 100002_DEST_PATH_IMAGE020
Sum moment
Figure 100002_DEST_PATH_IMAGE021
；
S30, substituting the full-aircraft load into a dynamic equation to obtain a nonlinear flight dynamic model:
Figure 100002_DEST_PATH_IMAGE022
，
wherein
Figure 100002_DEST_PATH_IMAGE023
In the form of a state vector, the state vector,
Figure 100002_DEST_PATH_IMAGE024
in order to output the vector, the vector is,
Figure 100002_DEST_PATH_IMAGE025
is a steering vector;
Figure 100002_DEST_PATH_IMAGE026
Figure 911899DEST_PATH_IMAGE004
is the wind speed,
Figure 976807DEST_PATH_IMAGE005
Is the angle of attack and
Figure 828089DEST_PATH_IMAGE011
is the slip angle, p, q, r are the angular velocity components,
Figure 461195DEST_PATH_IMAGE012
in order to realize the tilt angle of the rotor wing,
Figure 30717DEST_PATH_IMAGE013
in order to control the amount of the pulling force of the rotor,
Figure 633737DEST_PATH_IMAGE014
in order to be the pitch angle,
Figure 339524DEST_PATH_IMAGE015
as the angle of the roll, the roll angle,
Figure 143532DEST_PATH_IMAGE016
is a yaw angle;
s40, for the currentApplying small perturbations and computing the Jacobian matrixA Jacobi ；
Figure 100002_DEST_PATH_IMAGE027
I balancing free variables at the k iteration;
Figure 100002_DEST_PATH_IMAGE028
，
Figure 100002_DEST_PATH_IMAGE029
，
Figure 100002_DEST_PATH_IMAGE030
，
Figure 100002_DEST_PATH_IMAGE031
，
Figure 100002_DEST_PATH_IMAGE032
，
Figure 100002_DEST_PATH_IMAGE033
in the kth iteration process, balancing free variables after disturbance is applied to the first free variable, the second free variable, the third free variable, the fourth free variable, the fifth free variable and the sixth free variable in sequence are Ɛ, and the given small disturbance quantity is obtained;
s50, calculating iteration step size
Figure 100002_DEST_PATH_IMAGE034
Wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE035
，
Figure 100002_DEST_PATH_IMAGE036
，
Figure 100002_DEST_PATH_IMAGE037
，
Figure 100002_DEST_PATH_IMAGE038
，
Figure 100002_DEST_PATH_IMAGE039
，
Figure 100002_DEST_PATH_IMAGE040
respectively representing the first free variable, the second free variable, the third free variable, the fourth free variable, the fifth free variable and the iteration step length of six free variables in the free variable matrix in the kth iteration process;
Figure 100002_DEST_PATH_IMAGE041
respectively in the kth iteration process, when the first free variable is disturbed, the second free variable is disturbed, the third free variable is disturbed, the fourth free variable is disturbed, the fifth free variable is disturbed, and the sixth free variable is disturbed
Figure 100002_DEST_PATH_IMAGE042
；
S60. if
Figure 100002_DEST_PATH_IMAGE043
Then the free variable is updated
Figure 100002_DEST_PATH_IMAGE044
Let us orderk=k+1, return to S20;
if it is
Figure 100002_DEST_PATH_IMAGE045
If the balancing is successful, the balancing is finished.
Further, step S20 includes determining the number of iterations, if sok≥k max If so, the balancing fails and the balancing is finished.
Further, in step S30, the kinetic equation is:
Figure 100002_DEST_PATH_IMAGE046
(1)
Figure 100002_DEST_PATH_IMAGE047
the total weight of the tiltrotor aircraft;
Figure 100002_DEST_PATH_IMAGE048
and
Figure 100002_DEST_PATH_IMAGE049
respectively a linear velocity vector array and an angular velocity vector array of the machine body,
Figure 100002_DEST_PATH_IMAGE050
is composed of
Figure 100002_DEST_PATH_IMAGE051
The anti-symmetric matrix of (a) is,Jis a matrix of the inertia of the machine body,
Figure 100002_DEST_PATH_IMAGE052
is that
Figure 100002_DEST_PATH_IMAGE053
The first derivative of (a) is,J -1 is thatJThe inverse matrix of (d);
Figure 100002_DEST_PATH_IMAGE054
(2)
and (3) expressing the formula (1) and the formula (2) as a differential equation form to obtain a nonlinear flight dynamics model:
Figure 526583DEST_PATH_IMAGE022
。
further, the rotor demand power P is calculated by:
Figure 100002_DEST_PATH_IMAGE055
；
wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE056
in order to obtain the torque of the rotor,
Figure 100002_DEST_PATH_IMAGE057
is the rotor speed.
The invention also provides a system for executing the wind tunnel experiment balancing method for the tilting transition corridor of the tilting rotor aircraft, which comprises a supporting device, a tilting rotor aircraft model, a main balance, a plurality of small balances, a data acquisition system, a drive control system and a balancing calculation system;
the supporting device supports the tilt rotor model and controls an attack angle and a sideslip angle of the tilt rotor model;
the main balance is connected between the support device and the tiltrotor model and is used for measuring the load of the whole aircraft;
the small balance is arranged in a tilting mechanism or a rotor of the tilting rotor model and is used for measuring rotor load and rotor tilting angle;
the data acquisition system acquires data measured by the main balance and the small balances and sends load data to the balancing calculation system;
the balancing calculation system executes the balancing calculation step, formulates an adjustment control strategy and outputs the adjustment control strategy to the drive control system, and the drive control system is used for driving the supporting device, the actuator and/or the wind speed adjustment system to adjust the test conditions.
Further, the actuator is mounted inside the rotor and/or inside the fixed control surface for controlling one or more of rotor speed, rotor tilt, rotor pitch, and control surface deflection.
And the experiment management machine is used for receiving data acquisition completion handshake signals sent by the data acquisition system and/or motion in-place handshake signals sent by the drive control system.
Furthermore, the data acquisition system, the drive control system, the balancing calculation system and the experiment management machine are all arranged outside the wind tunnel.
Compared with the prior art, the tilting transition corridor wind tunnel experiment balancing method and system of the tilting rotor aircraft at least have the following beneficial effects:
(1) compared with a numerical balancing method based on a flight dynamics mathematical model, the tilting transition corridor balancing method for the tilting rotor aircraft in the wind tunnel has the following advantages: the complex aerodynamic/kinematic coupling characteristics such as blade flapping, rotor inflow and wake flow interference can be simulated really in the wind tunnel, and the obtained tilting transition corridor balancing result is closer to the true value.
(2) The main balance is arranged between the tilting rotor model and the supporting device, and the external force and the moment required by the full-aircraft dynamic equation can be directly measured and obtained, so that the resolution complexity of the full-aircraft dynamic model in the Newton method iteration process is greatly reduced.
(3) The tilt rotor aircraft is provided with the small balance between the rotor and the aircraft body, the rotor reaction torque can be obtained through online measurement, and the power required by the engine of the tilt rotor aircraft can be obtained through real-time calculation, so that the trim result precision and the experimental efficiency of the upper boundary of the tilt transition corridor can be effectively improved.
(4) The supporting device can accurately restrict the attack angle of the tilt rotor aircraft to the critical attack angle, so that the trim result precision and the test efficiency of the lower boundary of the tilt transition corridor are effectively improved.
(5) The tilting transition corridor balancing experiment system provided by the invention can be used for checking the influence of aerodynamic layout parameters, control distribution strategies and the like on the tilting transition corridor at the initial stage of the layout design of the tilting rotorcraft, and provides an effective tilting transition flight performance verification and evaluation means for the overall designers of the tilting rotorcraft.
(6) The tilting transition balancing experimental system provided by the invention has good universality and can be used for carrying out tilting transition balancing research of tilting rotary-wing aircraft with different layouts; the provided experimental process is simple and standard, low in risk and low in cost, and has a good engineering application prospect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a wind tunnel experiment balancing method for a tilt transition corridor of a tilt rotor aircraft according to embodiment 1 of the present invention;
FIG. 2 is a flow chart of the tilt corridor upper boundary trimming of embodiment 1 of the present invention;
FIG. 3 is a flow chart of the tilt corridor lower boundary trim of embodiment 1 of the present invention;
FIG. 4 is a flowchart of a Newton's iterative balancing method of example 1 of the present invention;
fig. 5 is a composition diagram of a tilt transition corridor wind tunnel experiment balancing system of a tilt rotor aircraft according to embodiment 2 of the present invention;
FIG. 6 is a diagram showing the composition of a data acquisition system according to embodiment 2 of the present invention;
fig. 7 is a configuration diagram of a drive control system according to embodiment 2 of the present invention.
In the figure, 1-supporting device, 2-tilting rotor model, 3-main balance, 4-small balance, 5-rotor, 6-fixed wing control surface, 7-wind tunnel wall, 8-data acquisition system, 9-trim calculation system, 10-experiment management machine and 11-driving control system.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The particular examples set forth below are intended as a brief description of the invention and are not intended as limiting the scope of the invention.
Example 1
A wind tunnel experiment balancing method for a tilting transition corridor of a tilting rotor aircraft is shown in figure 1 and comprises the following steps:
s1, starting and initializing the balancing equipment;
the balancing method of the invention adopts wind tunnel experiment, carries out balancing calculation under the condition of the parameters measured by the experiment, and has the following advantages compared with the numerical balancing method based on the flight dynamics mathematical model in the prior art: the complex aerodynamic/kinematic coupling characteristics such as blade flapping, rotor inflow and wake flow interference can be simulated really in the wind tunnel, and the obtained tilting transition corridor balancing result is closer to the true value. Therefore, the trim device is started and initialized first.
S2, selecting a balancing subject;
the trim discipline comprises an upper tilt corridor boundary and a lower tilt corridor boundary; respectively carrying out balancing on the upper boundary of the tilting corridor and the lower boundary of the tilting corridor;
s3, combining the upper and lower boundaries of the tilting corridor to finish balancing; i.e. the upper and lower boundaries are combined together, the upper and lower boundaries of the tilt corridor are obtained.
Specifically, in step S2, the balancing S21 of the upper boundary of the tilt corridor is shown in fig. 2, and the tilt angle of the rotor is determined at different wind speeds
Figure 63787DEST_PATH_IMAGE001
（
Figure 889660DEST_PATH_IMAGE003
) And angle of attack
Figure 100002_DEST_PATH_IMAGE058
A trim experiment was performed under constrained conditions, comprising:
s211, setting a balancing constraint variable and enabling
Figure 192466DEST_PATH_IMAGE001
Wherein, in the step (A),
Figure 205421DEST_PATH_IMAGE002
respectively is a rotor wing tilting angle and a set rotor wing tilting angle,
Figure 100002_DEST_PATH_IMAGE059
generally take
Figure 884664DEST_PATH_IMAGE003
；
S212, setting wind speed
Figure 565044DEST_PATH_IMAGE004
And a free variable η;
the free variable when the upper boundary of the tilting corridor is matched is as follows:
Figure 835488DEST_PATH_IMAGE009
，
Figure 601319DEST_PATH_IMAGE005
the angle of attack is the angle of attack,
Figure 225199DEST_PATH_IMAGE011
in order to realize the side slip angle,
Figure 25664DEST_PATH_IMAGE013
in order to control the amount of the pulling force of the rotor,
Figure 467010DEST_PATH_IMAGE014
in order to be the pitch angle,
Figure 720137DEST_PATH_IMAGE015
as the angle of the roll, the roll angle,
Figure 147707DEST_PATH_IMAGE016
is a yaw angle;
s213, balancing by adopting a Newton iteration method; auspicious see the section of the post newton iterative method;
s214, angle of attack
Figure 537100DEST_PATH_IMAGE005
Less than stall critical angle of attack
Figure 883768DEST_PATH_IMAGE007
I.e. by
Figure 100002_DEST_PATH_IMAGE060
If not, executing step S216;
Figure 100002_DEST_PATH_IMAGE061
；
wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE062
in order to obtain the torque of the rotor,
Figure 742965DEST_PATH_IMAGE057
is the rotor speed;
s215, if the power P is less than or equal to the limit power PlmtIf so, increasing the wind speed, returning to the step S212, otherwise, executing the step S216;
s216, reducing the tilt angle of the rotor wing, if the tilt angle of the rotor wing is larger than the minimum set tilt angle of the rotor wing, returning to the step S212, otherwise, outputting a tilt corridor upper boundary;
in the step 2, the trimming S22 of the upper boundary of the tilting corridor is performed at the rotor tilting angle under different wind speeds
Figure 100002_DEST_PATH_IMAGE063
And angle of attack
Figure 302122DEST_PATH_IMAGE006
A trim experiment was conducted for the constraint conditions, wherein,
Figure 100002_DEST_PATH_IMAGE064
minimum rotor tilt angle and maximum rotor tilt angle set points, respectively, as shown in fig. 3, include:
s221, setting a trim constraint transformerAmount to make
Figure 139497DEST_PATH_IMAGE006
，
Figure 657066DEST_PATH_IMAGE007
A stall critical angle of attack;
s222, setting wind speed
Figure 760151DEST_PATH_IMAGE004
And a free variable η;
the free variable when the upper boundary of the tilting corridor is matched is as follows:
Figure 654158DEST_PATH_IMAGE009
；
s223, carrying out balancing by adopting a Newton iteration method;
s224, if
Figure 283723DEST_PATH_IMAGE008
If so, the wind speed is increased, the process returns to step S222, otherwise the output is dumped to the corridor lower boundary.
Further, the Newton iteration method for balancing comprises the following steps:
s10, setting the initial state of the experiment
Figure 972193DEST_PATH_IMAGE017
And setting the iteration step number k = 0;
wherein
Figure 421629DEST_PATH_IMAGE023
In the form of a state vector, the state vector,
Figure 260272DEST_PATH_IMAGE024
in order to output the vector, the vector is,
Figure 478764DEST_PATH_IMAGE025
is a steering vector;x 0 in the form of an initial state vector, the state vector,
Figure 100002_DEST_PATH_IMAGE065
is an initial manipulated variable vector;
Figure 806977DEST_PATH_IMAGE026
，
s20, starting a device, carrying out an experiment according to an initial state, and collecting the load of the whole machine;
the full-aircraft load comprises the acting force of a rotor wing, a horizontal tail, a vertical tail and an aircraft body on the gravity center of the aircraft body
Figure 743709DEST_PATH_IMAGE020
Sum moment
Figure 245097DEST_PATH_IMAGE021
；
S30, substituting the full-aircraft load into a dynamic equation to obtain a nonlinear flight dynamic model:
specifically, the full-aircraft kinetic equation of the tiltrotor aircraft is as follows:
Figure DEST_PATH_IMAGE066
Figure 786937DEST_PATH_IMAGE047
the total weight of the tiltrotor aircraft;
Figure 82789DEST_PATH_IMAGE048
and
Figure 512677DEST_PATH_IMAGE049
respectively a linear velocity vector array and an angular velocity vector array of the machine body,
Figure DEST_PATH_IMAGE067
is composed of
Figure DEST_PATH_IMAGE068
The anti-symmetric matrix of (a) is,Jis a matrix of the inertia of the machine body,
Figure 83335DEST_PATH_IMAGE052
is that
Figure 276419DEST_PATH_IMAGE053
The first derivative of (a) is,J -1 is thatJThe inverse matrix of (d);
in wind tunnels, wind speed is usually used
Figure 212014DEST_PATH_IMAGE004
Angle of attack
Figure 123338DEST_PATH_IMAGE005
And angle of sideslip
Figure 700950DEST_PATH_IMAGE011
Instead of machine body linear velocity
Figure DEST_PATH_IMAGE069
Representing the relationship between the body and the airflow:
Figure 217382DEST_PATH_IMAGE054
and (3) expressing the two formulas in a differential equation form to obtain a nonlinear flight dynamics model:
Figure 589458DEST_PATH_IMAGE022
；
s40, applying small perturbation to the current balancing free variable and constructing Jacobian matrixA Jacobi ；
Figure 988078DEST_PATH_IMAGE027
I balancing free variables at the k iteration;
Figure 510326DEST_PATH_IMAGE028
，
Figure 678002DEST_PATH_IMAGE029
，
Figure 486558DEST_PATH_IMAGE030
，
Figure 841316DEST_PATH_IMAGE031
，
Figure 26310DEST_PATH_IMAGE032
，
Figure 923859DEST_PATH_IMAGE033
in the kth iteration process, balancing free variables after disturbance is applied to the first free variable, the second free variable, the third free variable, the fourth free variable, the fifth free variable and the sixth free variable in sequence are Ɛ, and the given small disturbance quantity is obtained; perturb for 6 times in total, calculate the jacobian matrix:
Figure DEST_PATH_IMAGE070
wherein the content of the first and second substances,y i at the i-th perturbationy，η i The balance free variable at the ith disturbance is taken as the balance free variable; i = (1, 2, 3, 4, 5, 6).
In the actual calculation process, when i =1, performing first disturbance, at this time, calculating to obtain the 1 st column element of the Jacobian matrix, when i =2, performing 2 nd disturbance, at this time, calculating to obtain the 2 nd column element of the Jacobian matrix, when i =3, performing third disturbance, at this time, calculating to obtain the 3 rd column element of the Jacobian matrix, and so on, and after 6 disturbances, obtaining a complete Jacobian matrix;
s50, calculating iteration step size
Figure DEST_PATH_IMAGE071
，
Figure DEST_PATH_IMAGE072
Wherein the content of the first and second substances,
Figure 45528DEST_PATH_IMAGE035
for the iteration step of the first free variable in the free variable matrix, e.g. for the angle of attack when fitting the upper boundary of a tilting corridor
Figure 418741DEST_PATH_IMAGE005
The iteration step length is the rotor wing tilting angle when the lower boundary of the tilting corridor is matched with the normal
Figure DEST_PATH_IMAGE073
The iteration step size of (2);
Figure 345108DEST_PATH_IMAGE036
the step size of the iteration of the second of the free variables in the free variable matrix, for example, when fitting the upper boundary of a tilting corridor, is the sideslip angle
Figure 956218DEST_PATH_IMAGE011
The iteration step length of (1) is a sideslip angle when the lower boundary of the tilting corridor is matched with the normal
Figure 372156DEST_PATH_IMAGE011
And so on.
S60. if
Figure 967085DEST_PATH_IMAGE043
Then the free variable is updated
Figure 493882DEST_PATH_IMAGE044
Let us orderk=k+1, return to S20;
if it is
Figure 100444DEST_PATH_IMAGE045
If the balancing is successful, the balancing is finished.
I.e. iterate continuously until
Figure 687283DEST_PATH_IMAGE045
Wherein
Figure DEST_PATH_IMAGE074
For a given small amount, it is generally taken
Figure DEST_PATH_IMAGE075
. When in use
Figure DEST_PATH_IMAGE076
In time, generally take
Figure DEST_PATH_IMAGE077
If the trimming is not completed, the trimming is determined to be failed.
Example 2
This embodiment provides a system for executing the tilt transition corridor wind tunnel experiment balancing method of the tilt rotor aircraft according to embodiment 1, as shown in fig. 5, which includes a support device 1, a tilt rotor aircraft model 2, a main balance 3, a plurality of small balances 4, a data acquisition system 8, a drive control system 11, a balancing calculation system 9,
the supporting device 1 supports the tilt rotor model 2 and controls an attack angle and a sideslip angle of the tilt rotor model 2;
the main balance 3 is connected between the supporting device 1 and the tiltrotor model 2 and is used for measuring the load of the whole aircraft;
and the microbalance 4 is arranged in a tilting mechanism or a rotor 5 of the tilting rotor model 2 and is used for measuring rotor load and a rotor tilting angle.
The data acquisition system 8 acquires data measured by the main balance 3 and the plurality of small balances 4, and sends load data to the trim calculation system 9 as shown in fig. 6;
trim calculation system 9 carries out the trim calculation step, formulates the adjustment control strategy, and will adjustment control strategy exports for drive control system 11, drive control system 11 is used for the drive strutting arrangement 1, actuator and/or wind speed governing system carry out the test condition adjustment, as shown in figure 7, and the actuator is installed in the inside of rotor 5 and/or the inside of fixed rudder face 6 for one or more in control rotor rotational speed, the rotor verts, rotor displacement and the rudder face deflection.
Preferably, the system further comprises an experiment management machine, and the experiment management machine is used for receiving the data acquisition completion handshake signals sent by the data acquisition system and/or the motion-to-position handshake signals sent by the drive control system.
In order to reduce the influence of the equipment on the accuracy of experimental data, a data acquisition system, a drive control system, a balancing calculation system and an experimental management machine are all arranged outside the wind tunnel.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. The wind tunnel experiment balancing method for the tilting transition corridor of the tilting rotor aircraft is characterized by comprising the following steps of:
s1, starting and initializing the balancing equipment;
s2, selecting a balancing subject;
the trim discipline includes a tilt corridor upper boundary and a tilt corridor lower boundary; respectively carrying out balancing on the upper boundary of the tilting corridor and the lower boundary of the tilting corridor;
s3, combining the upper and lower boundaries of the tilting corridor to finish balancing;
in the step S2, the trimming S21 of the upper boundary of the tilt corridor includes:
s211, setting a trim constraint variable and enabling
Figure DEST_PATH_IMAGE001
Wherein, in the step (A),
Figure DEST_PATH_IMAGE002
respectively a rotor wing tilting angle and a set rotor wing tilting angle,
Figure DEST_PATH_IMAGE003
；
Figure DEST_PATH_IMAGE004
respectively setting a minimum rotor wing tilting angle and a maximum rotor wing tilting angle;
s212, setting wind speed
Figure DEST_PATH_IMAGE005
And a free variable η;
s213, balancing by adopting a Newton iteration method;
s214, angle of attack
Figure DEST_PATH_IMAGE006
If the stall critical attack angle is smaller than the stall critical attack angle, calculating the required power P of the rotor wing, otherwise executing a step S216;
s215, if the power P is less than or equal to the limit power PlmtIf so, increasing the wind speed, returning to the step S212, otherwise, executing the step S216;
s216, reducing the tilt angle of the rotor, if the tilt angle of the rotor is larger than the minimum set tilt angle of the rotor, returning to the step S212, otherwise, outputting the tilt corridor upper boundary;
in the step 2, the trimming S22 of the lower boundary of the tilt corridor includes:
s221, setting a trim constraint variable and enabling
Figure DEST_PATH_IMAGE007
Wherein, in the step (A),
Figure DEST_PATH_IMAGE008
a stall critical angle of attack;
s222, setting wind speed
Figure DEST_PATH_IMAGE009
And a free variable η;
s223, carrying out balancing by adopting a Newton iteration method;
s224. if
Figure DEST_PATH_IMAGE010
If so, increasing the wind speed, returning to the step S222, otherwise, outputting the lower boundary of the tilting corridor;
the free variable of the tilting corridor upper boundary during the leveling is as follows:
Figure DEST_PATH_IMAGE011
，
the free variables of the lower limit of the tilting corridor during leveling are as follows:
Figure DEST_PATH_IMAGE012
，
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE013
in order to realize the side slip angle,
Figure DEST_PATH_IMAGE014
in order to realize the tilt angle of the rotor wing,
Figure DEST_PATH_IMAGE015
in order to control the amount of the pulling force of the rotor,
Figure DEST_PATH_IMAGE016
in order to be the pitch angle,
Figure DEST_PATH_IMAGE017
in order to obtain the rolling angle of the roller,
Figure DEST_PATH_IMAGE018
is a yaw angle;
the Newton iteration method for balancing comprises the following steps:
s10, setting the initial state of the experiment
Figure DEST_PATH_IMAGE019
And setting the iteration step number k = 0; wherein
Figure DEST_PATH_IMAGE020
Is a vector of the initial state of the device,
Figure DEST_PATH_IMAGE021
is an initial steering vector;
s20, starting a device, carrying out an experiment according to an initial state, and collecting the load of the whole machine;
the full-aircraft load comprises acting force of a rotor wing, a horizontal tail, a vertical tail and an aircraft body on the gravity center of the aircraft body
Figure DEST_PATH_IMAGE022
Sum moment
Figure DEST_PATH_IMAGE023
；
S30, substituting the full-aircraft load into a dynamic equation to obtain a nonlinear flight dynamic model:
Figure DEST_PATH_IMAGE024
，
wherein
Figure DEST_PATH_IMAGE025
In the form of a state vector, the state vector,
Figure DEST_PATH_IMAGE026
in order to output the vector, the vector is,
Figure DEST_PATH_IMAGE027
is a steering vector;
Figure DEST_PATH_IMAGE028
Figure 449078DEST_PATH_IMAGE005
is the wind speed,
Figure 694114DEST_PATH_IMAGE006
Is the angle of attack and
Figure 739431DEST_PATH_IMAGE013
is the slip angle, p, q, r are the angular velocity components,
Figure 456677DEST_PATH_IMAGE014
in order to realize the tilt angle of the rotor wing,
Figure 536628DEST_PATH_IMAGE015
in order to control the amount of the pulling force of the rotor,
Figure 686987DEST_PATH_IMAGE016
in order to be the pitch angle,
Figure 16337DEST_PATH_IMAGE017
in order to obtain the rolling angle of the roller,
Figure 480816DEST_PATH_IMAGE018
is a yaw angle;
s40, applying small perturbation to the current balancing free variable and calculating Jacobian matrixA Jacobi ；
Figure DEST_PATH_IMAGE029
I balancing free variables at the k iteration;
Figure DEST_PATH_IMAGE030
，
Figure DEST_PATH_IMAGE031
，
Figure DEST_PATH_IMAGE032
，
Figure DEST_PATH_IMAGE033
，
Figure DEST_PATH_IMAGE034
，
Figure DEST_PATH_IMAGE035
in the kth iteration process, balancing free variables after disturbance is applied to the first free variable, the second free variable, the third free variable, the fourth free variable, the fifth free variable and the sixth free variable in sequence are Ɛ, and the given small disturbance quantity is obtained;
s50, calculating iteration step size
Figure DEST_PATH_IMAGE036
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE037
，
Figure DEST_PATH_IMAGE038
，
Figure DEST_PATH_IMAGE039
，
Figure DEST_PATH_IMAGE040
，
Figure DEST_PATH_IMAGE041
，
Figure DEST_PATH_IMAGE042
respectively representing the first free variable, the second free variable, the third free variable, the fourth free variable, the fifth free variable and the iteration step length of six free variables in the free variable matrix in the kth iteration process;
Figure DEST_PATH_IMAGE043
respectively perturbing the first free variable in the kth iteration process
Figure DEST_PATH_IMAGE044
Perturbing the second free variable
Figure DEST_PATH_IMAGE045
Perturbing the third free variable
Figure DEST_PATH_IMAGE046
Perturb the fourth free variable
Figure DEST_PATH_IMAGE047
Perturb the fifth free variable
Figure DEST_PATH_IMAGE048
Perturb the sixth free variable
Figure DEST_PATH_IMAGE049
Of the hour
Figure DEST_PATH_IMAGE050
；
S60. if
Figure DEST_PATH_IMAGE051
Then the free variable is updated
Figure DEST_PATH_IMAGE052
Let us orderk=k+1, return to S20;
if it is
Figure DEST_PATH_IMAGE053
If the balancing is successful, the balancing is finished.
2. The wind tunnel experiment balancing method for the tilting transition corridor of the tiltrotor aircraft according to claim 1, wherein in the step S20, the method further comprises the step of judging the iteration number, if the iteration number is larger, the method is further characterized in thatk≥k max If so, the balancing fails and the balancing is finished.
3. The wind tunnel experiment balancing method for the tilting transition corridor of the tilting rotor aircraft according to claim 2, wherein in the step S30, the kinetic equation is as follows:
Figure DEST_PATH_IMAGE054
(1)
Figure DEST_PATH_IMAGE055
the total weight of the tiltrotor aircraft;
Figure DEST_PATH_IMAGE056
and
Figure DEST_PATH_IMAGE057
respectively a linear velocity vector array and an angular velocity vector array of the machine body,
Figure DEST_PATH_IMAGE058
is composed of
Figure DEST_PATH_IMAGE059
An antisymmetric matrix of (a);Jis a matrix of the inertia of the machine body,
Figure DEST_PATH_IMAGE060
is that
Figure DEST_PATH_IMAGE061
The first derivative of (a) is,J -1 is thatJThe inverse matrix of (d);
Figure DEST_PATH_IMAGE062
(2)
and (3) expressing the formula (1) and the formula (2) as a differential equation form to obtain a nonlinear flight dynamics model:
Figure 103690DEST_PATH_IMAGE024
。
4. the method according to claim 1, wherein said rotor power demand P is calculated by the following formula:
Figure DEST_PATH_IMAGE063
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE064
in order to provide a torque to the rotor,
Figure DEST_PATH_IMAGE065
is the rotor speed.
5. A system for executing the tilting rotor aircraft tilting transition corridor wind tunnel experiment balancing method according to any one of claims 1-4, characterized by comprising a supporting device, a tilting rotor aircraft model, a main balance, a plurality of small balances, a data acquisition system, a driving control system and a balancing calculation system,
the supporting device supports the tilt rotor model and controls an attack angle and a sideslip angle of the tilt rotor model;
the main balance is connected between the support device and the tiltrotor model and is used for measuring the load of the whole aircraft;
the small balance is arranged in a tilting mechanism or a rotor of the tilting rotor model and is used for measuring rotor load and rotor tilting angle;
the data acquisition system acquires data measured by the main balance and the plurality of small balances and sends load data to the balancing calculation system;
the balancing calculation system executes the balancing calculation step, formulates an adjustment control strategy and outputs the adjustment control strategy to the drive control system, and the drive control system is used for driving the supporting device, the actuator and/or the wind speed adjustment system to adjust the test conditions.
6. The system of claim 5, wherein the actuators are mounted inside the rotor and/or inside the fixed control surface for controlling one or more of rotor speed, rotor tilt, rotor pitch, and control surface deflection.
7. The system of claim 5, further comprising an experiment management machine, wherein the experiment management machine is configured to receive the data acquisition completion handshake signals sent by the data acquisition system and/or the motion-to-position handshake signals sent by the drive control system.
8. The system of claim 7, wherein the data acquisition system, the drive control system, the trim calculation system, and the experiment manager are all disposed outside of the wind tunnel.
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