CN114397905B - Tilting transition wind tunnel flight experiment method and system of tilting rotorcraft - Google Patents
Tilting transition wind tunnel flight experiment method and system of tilting rotorcraft Download PDFInfo
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- CN114397905B CN114397905B CN202210297627.2A CN202210297627A CN114397905B CN 114397905 B CN114397905 B CN 114397905B CN 202210297627 A CN202210297627 A CN 202210297627A CN 114397905 B CN114397905 B CN 114397905B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention belongs to the field of wind tunnel experiments, and particularly relates to a tilting transition wind tunnel flight experiment method and system of a tilting rotorcraft. A tilting transition wind tunnel flight experimental method of a tilting rotor aircraft is characterized in that a rotor tilting transition path is designed; designing a flight control law aiming at a rotor wing tilting transition path; selecting N experimental points along the rotor wing tilting transition path; carrying out wind tunnel three-degree-of-freedom flight experiments on the N experimental points, and correcting flight control laws of the N experimental points; and taking the flight control laws of the N corrected experimental points as a reference, and constructing an automatic attitude control law changing structure between the adjacent experimental points to obtain an attitude control law of the rotor wing tilting transition path. The invention decomposes the continuous rotor wing tilting transition path into a series of discrete design points, develops a three-degree-of-freedom flight experiment aiming at each design point, and can correct parameters of a control law and a control surface distribution strategy, thereby obtaining an optimized attitude control law of the rotor wing tilting transition path.
Description
Technical Field
The invention belongs to the field of wind tunnel experiments, and particularly relates to a tilting transition wind tunnel flight experiment method and system of a tilting rotorcraft.
Background
In the conversion process of the tilt rotor aircraft between a helicopter mode and a fixed-wing aircraft mode, the aircraft configuration, the forward flying speed, the aerodynamic characteristics, the operation efficiency and the like are rapidly and violently changed, the dynamic characteristics of an open-loop body are rapidly and violently changed, and the open-loop body is often unstable, and the matching transition of the forward flying speed-tilt angle and the wing lift force-rotor tension in the dynamic tilt process needs to be ensured through an effective attitude control law. In addition, in order to meet the operation requirements of a helicopter mode and a fixed-wing aircraft mode, the tilt rotor aircraft has two operation modes of the helicopter and the fixed-wing aircraft, and the stable transition of the operation amount in the dynamic tilting process is ensured through an effective control surface distribution strategy.
The experiments of the present invention were carried out in order to obtain the control law of tiltrotor aircraft.
Disclosure of Invention
The invention provides a tilting transition wind tunnel flight experiment method and a system of a tilting rotor aircraft, which decompose a continuous tilting transition path of a rotor into a series of discrete design points, develop a three-degree-of-freedom flight experiment aiming at each design point, and correct parameters of a control law and a control surface distribution strategy, thereby obtaining an optimized attitude control law of the tilting transition path of the rotor.
The invention is realized by the following technical scheme:
the invention provides a tilting transition wind tunnel flight experimental method of a tilting rotor aircraft on the one hand, which comprises the following steps:
s100: designing a rotor wing tilting transition path;
s200: designing a flight control law aiming at a rotor wing tilting transition path;
s300: selecting N experimental points along the rotor wing tilting transition path;
s400: carrying out wind tunnel three-degree-of-freedom flight experiments on the N experimental points, and correcting flight control laws of the N experimental points;
s500: and taking the flight control laws of the N corrected experimental points as a reference, and constructing an automatic attitude control law changing structure between the adjacent experimental points to obtain an attitude control law of the rotor wing tilting transition path.
Further, the implementation steps of step S400 are:
s410: to a first order
Carrying out three-degree-of-freedom flight experiments on the tilt rotor model by taking the wind speed corresponding to each experimental point as the experimental wind speed;
s420: taking attitude angle of the tiltrotor model as expected value and/or the second
Correcting a flight control law by a rotor wing tilting angle corresponding to each experimental point;
s430: repeating the steps S410-S420 until all the flight control laws corresponding to the N experimental points are corrected;
wherein:
。
further, the method also comprises the following steps:
s600: carrying out four-degree-of-freedom flight experiments in the forward and reverse continuous tilting transition process of the rotor wing according to the attitude control law of the tilting transition path of the rotor wing; and whether the tilting transition of the rotor wing is stable in the four-degree-of-freedom flight experiment is verified: (1) the tilting transition of the rotor wing is stable, and the experiment is ended; (2) and (4) the tilting transition of the rotor wing is not stable, and the steps S200-S600 are repeated until the tilting transition of the rotor wing is stable.
Further, the implementation step of step S600 is:
s610: the rotor wing is arranged to tilt 90 degrees, the rotating speed of the rotor wing is gradually increased until the tilting rotor wing model enters a hovering state;
s620: wind tunnel wind-up carries out rotor forward transition process that verts in succession according to the attitude control law on rotor transition route that verts and carries out four degrees of freedom flight experiments, observes the rotor and verts the transition whether steady: (1) the tilting transition of the rotor is stable, and the process goes to step S630; (2) repeating the steps S200-S600 until the tilting transition of the rotor wing is stable;
s630: adjusting the pitching attitude of the tilt rotor model to enable the tilt rotor model to be in the middle position of the sinking and floating free stroke;
s640: wind tunnel stops wind, carries out the reverse transition process that verts in succession of rotor according to the attitude control law on the transition route that verts of rotor and carries out the four degrees of freedom flight experiment, observes whether the transition that verts of rotor is steady: (1) the tilting transition of the rotor wing is stable and finished; (2) and (4) the tilting transition of the rotor wing is not stable, and the steps S200-S600 are repeated until the tilting transition of the rotor wing is stable.
Further, the four-degree-of-freedom flight experiment performed in the rotor forward continuous tilting transition process in step S620 specifically includes: the wind speed is from 0 wind speed when the rotor tilt angle that begins to rise gradually on the rotor tilt transition route is 0, and the rotor is controlled to correspond the matching rotation according to the wind speed-tilt angle on rotor tilt transition route when the wind speed rises, still controls the flight attitude of rotor tilt model through the attitude control law of rotor tilt transition route when the wind speed rises.
Further, the four-degree-of-freedom flight experiment performed in the rotor reverse continuous tilting transition process in step S640 specifically includes: the wind speed gradually drops to 0, the rotor is controlled to correspondingly match and rotate according to the wind speed-tilt angle of the tilt rotor transition path while the wind speed drops, and the flight attitude of the tilt rotor model is controlled through the attitude control law of the tilt rotor transition path while the wind speed drops.
The invention provides a tilting transition wind tunnel flight experimental system of a tilting rotor aircraft, which comprises a wind speed sensor, a data acquisition computer, a flight control computer, a flight management computer, a three-degree-of-freedom flight experimental device, an attitude angle sensor and a tilting rotor aircraft model;
the three-degree-of-freedom flight experimental device is used for developing a wind tunnel three-degree-of-freedom flight experiment by a tilt rotor model;
the wind speed sensor is used for detecting the wind speed in the wind tunnel three-degree-of-freedom flight experiment and sending the wind speed to the data acquisition computer;
the attitude angle sensor is arranged on the tilt rotor model and sends the attitude angle of the tilt rotor model in the three-degree-of-freedom flight experiment to the data acquisition computer;
the flight control computer controls the tilt rotor model according to the attitude control law corresponding to the wind speed;
the data acquisition computer is used for processing the wind speed and the attitude angle and sending the processed wind speed and attitude angle to the flight control computer;
and the flight management computer is used for correcting the attitude control law.
Furthermore, the three-degree-of-freedom flight experimental device comprises a three-component balance, a model supporting rod and a spherical hinge, wherein one end of the model supporting rod is arranged in the wind tunnel, the other end of the model supporting rod is connected with the spherical hinge, and the spherical hinge is connected with the tilting rotor machine model.
Further, the wind-driven generator also comprises an airfoil-shaped wind shield, and the airfoil-shaped wind shield is arranged outside the model supporting rod.
Further, still include four degree of freedom flight experimental apparatus, four degree of freedom flight experimental apparatus includes: the movable type counter weight comprises a sinking and floating support rod, an outer support rod, a counter weight block, a counter weight rope and a fixed pulley, wherein the sinking and floating support rod is movably arranged in the outer support rod, the sinking and floating support rod has an upper limit position and a lower limit position in the movement of the sinking and floating support rod in the outer support rod, a connecting piece is arranged on the sinking and floating support rod and is connected with one end of the counter weight rope, and the other end of the counter weight rope is connected with the counter weight block; the counterweight rope is arranged on the fixed pulley, and the fixed pulley is higher than the connecting piece.
By adopting the technical scheme, the invention has the following advantages:
1. according to the invention, a continuous rotor wing tilting transition path is decomposed into a series of discrete design points, a three-degree-of-freedom flight experiment is carried out aiming at each design point, and parameter correction can be carried out on a control law and a control surface distribution strategy, so that an optimized attitude control law of the rotor wing tilting transition path is obtained;
2. by carrying out a four-degree-of-freedom flight experiment, the method can truly simulate the forward and reverse continuous tilting transition process, and can accurately obtain the flight attitude and the sinking and floating height history in the tilting transition process, thereby pertinently improving the attitude control laws of the wind speed-rotor tilting angle and the wind speed-rotor tilting transition path;
3. the attitude control law of the rotor wing tilting transition path obtained by the method can obtain good closed-loop attitude stability control characteristics;
4. according to the tilt transition method and the tilt transition device of the rotor wing, the tilt transition flight control effect of the rotor wing is evaluated according to the tilt transition, the attitude change and the sinking and floating movement process of the rotor wing in the tilt transition process of the rotor wing, and the flight control law is corrected until stable forward and reverse tilt transition flight is realized, so that the attitude control law of the tilt transition path of the rotor wing after correction and verification is obtained;
5. the wing-shaped windshield can reduce the aerodynamic interference load on the model supporting rod and improve the accuracy of the experiment;
6. the invention utilizes the wind tunnel, the dynamic similar scaling tilting rotor model and the three-degree-of-freedom flight experimental device to simulate the flight dynamic characteristics of the tilting rotor aircraft in the tilting transition process more truly and improve the confidence coefficient of correction and verification of the flight control law.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention or 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 based on these drawings without creative efforts.
Fig. 1 is an experimental flow chart of a tilting transition wind tunnel flight experimental method of a tilt rotor aircraft in an embodiment of the invention;
FIG. 2 is a schematic view of a tilt rotor transition path in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a tilting transition wind tunnel flight experimental system of a tiltrotor aircraft according to an embodiment of the present invention;
FIG. 4 is a control relationship diagram of a tilt transition wind tunnel flight experiment system of a tilt rotor aircraft according to an embodiment of the present invention;
FIG. 5 is a four-degree-of-freedom flight experiment apparatus according to an embodiment of the present invention;
in the drawings: 1-upper boundary, 2-lower boundary, 3-rotor tilt transition path, 10-wind speed sensor; 20-a data acquisition computer, 30-a flight control computer and 40-a flight management computer; a 50-three-degree-of-freedom flight experimental device; 51-three-component balance; 52-a model strut; 53-ball hinge; 54-airfoil damper; 60-attitude angle sensor; 70-tiltrotor model, 71-rotor, 72-actuator; 80-four-degree-of-freedom flight experimental device, 81-sinking and floating support rod; 82-outer struts; 83-a counterweight block; 84-a counterweight rope; 85-fixed pulley; 90-operating board.
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 illustrative only and are not intended to be limiting.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means a plurality or more unless specifically limited otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection: may be mechanically connected, may be electrically connected or may be in communication with each other; the elements may be connected directly or indirectly through intervening media, or may be interconnected or interconnected by a communication link or links. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1
As shown in fig. 1, the embodiment provides a tilt transition wind tunnel flight experimental method of a tilt rotor aircraft, including the following steps:
s100: designing a rotor wing tilting transition path 3; as shown in fig. 2, by selecting rotor tilt transition path 3 within upper boundary 1 and lower boundary 2, upper boundary 1 is primarily limited by the rotor speed drive power of the tiltrotor aircraft, and lower boundary 2 is primarily limited by the critical stall angle of attack of the tiltrotor aircraft wing.
It should be noted that: the determination of the upper and lower boundaries 1, 2 can be determined from the actual tiltrotor aircraft.
S200: designing a flight control law aiming at the rotor wing tilting transition path 3; for the design of the flight control law, the forward flight speed of tiltrotor model 70 is used as an independent variable (that is, the designed flight control law takes the forward flight speed of tiltrotor model 70 as an input), and in the wind tunnel experiment, tiltrotor model 70 is stationary, and the aircraft flight is simulated through the change of the environment, so the forward flight speed of tiltrotor model 70 is the wind speed in the wind tunnel.
As shown in fig. 2, the rotor tilt transition path 3 is a continuous process, so the flight control law is also a continuous process, and in colloquial, the flight control law can also form a continuous line segment.
S300: selecting N experimental points along the rotor wing tilting transition path 3; it should be noted that N experimental points are selected, that is, each experimental point corresponds to a flight control law.
S400: carrying out wind tunnel three-degree-of-freedom flight experiments on the N experimental points, and correcting flight control laws of the N experimental points; in the three-degree-of-freedom flight experiment, the wind speed and the tilt angle of rotor 71 at a specific test point are subjected to the experiment, and therefore the correction of the flight control law is performed on the flight control laws corresponding to the N test points.
S410: to a first order
And carrying out a 70-degree-of-freedom flight experiment on the tilting rotor model by taking the wind speed corresponding to each experimental point as the experimental wind speed.
S420: with desired and/or second attitude angle of tiltrotor model 70
Correcting a flight control law by the rotor 71 tilt angle corresponding to each experimental point; in the experimental process of the tilt-rotor type aircraft model 70, the wind speed is used as the input of a flight control law, and the flight control law calculates the tilt angle of the rotor 71 and/or the attitude angle of the tilt-rotor type aircraft model 70 according to the input wind speed; the tilt rotor 71 machine forms an actual tilt angle and/or attitude angle (including pitch angle, roll angle, yaw angle) of the rotor 71 controlled by the flight control law according to the control instruction, and the actual tilt angle and/or attitude angle (including pitch angle, roll angle, yaw angle) of the rotor 71 is required to be consistent with the expected tilt angle of the rotor 71 and/or attitude angle of the tilt rotor model 70, so that the flight control law is corrected (i.e., the flight control law is adjusted)Parameters of the row control law, etc.).
Note that, in the present embodiment, the attitude angle is a desired value of 0.
S430: and repeating the steps S410-S420 until all the flight control laws corresponding to the N experimental points are corrected.
Wherein:
。
s500: and taking the flight control laws of the N corrected experimental points as a reference, and constructing an automatic attitude control law changing structure between the adjacent experimental points to obtain an attitude control law of the rotor wing tilting transition path 3. Since the corrected flight control law is a correction of the flight control law for a specific experimental point of the rotor tilt transition path 3, the flight control laws for other points on the tilt transition path are not corrected, and therefore, by constructing the attitude control law automatic changing structure between adjacent experimental points, the corrected flight control laws for all points on the tilt transition path, that is, the attitude control laws for the rotor tilt transition path, can be obtained.
Because the selected experimental points are a series of scattered points, the rotation transition condition of the rotor 71 does not exist in the experimental process (the rotor 71 can enable the tilt rotor 71 to have sinking and floating motions at different positions, and the sinking and floating motions do not exist because the rotor 71 does not have rotation transition), and the purpose of correcting the flight control law can be achieved only by carrying out a three-degree-of-freedom experiment. And the flight control law between the experimental points is corrected by the automatic attitude control law changing structure between the adjacent experimental points, so that the four-degree-of-freedom flight experiment can be carried out on the attitude control law of the rotor wing tilting transition path.
S600: carrying out four-degree-of-freedom flight experiments in the forward and reverse continuous tilting transition processes of the rotor 71 according to the attitude control law of the rotor tilting transition path 3; and verify whether the tilting transition of the rotor 71 in the four-degree-of-freedom flight experiment is stable: (1) the rotor 71 is stably in tilting transition, and the experiment is finished; (2) and (4) the tilting transition of the rotor 71 is not stable, and the steps S200-S600 are repeated until the tilting transition of the rotor 71 is stable. After returning to step S300, the experimental points may be selected or unselected experimental points.
S610: the rotor 71 is set to tilt by 90 °, and the rotation speed of the rotor 71 is gradually increased until the tilt rotor model 70 enters a hovering state.
S620: wind tunnel wind-up carries out rotor 71 forward transition process that verts in succession according to rotor 3's attitude control law and carries out four degrees of freedom flight experiments, and it is steady whether to observe rotor 71 and vert the transition: (1) the tilting transition of the rotor 71 is stable, and the process goes to step S630; (2) and (4) the tilting transition of the rotor 71 is not stable, and the steps S200-S600 are repeated until the tilting transition of the rotor 71 is stable.
S630: the pitch attitude of tiltrotor model 70 is adjusted so that tiltrotor model 70 is at the intermediate position of the heave free stroke.
And S640: wind tunnel stops wind, carries out the reverse transition process that verts in succession of rotor 71 according to the attitude control law of rotor transition route 3 and carries out the four degrees of freedom flight experiments, observes rotor 71 and verts the transition whether steady: (1) the tilting transition of the rotor 71 is stable and finished; (2) and (4) the tilting transition of the rotor 71 is not stable, and the steps S200-S600 are repeated until the tilting transition of the rotor 71 is stable.
Further, the four-degree-of-freedom flight experiment performed in the forward continuous tilting transition process of the rotor 71 in step S620 specifically includes: and the wind speed gradually rises from 0 to the wind speed when the tilt angle of the rotor 71 on the rotor tilt transition path 3 is 0 degrees, the rotor 71 is controlled to correspondingly match and rotate according to the wind speed-tilt angle of the tilt rotor transition path 3 when the wind speed rises, and the flight attitude of the tilt rotor model 70 is also controlled through the attitude control law of the rotor tilt transition path when the wind speed rises.
Further, the four-degree-of-freedom flight experiment performed in the reverse continuous tilting transition process of the rotor 71 in the step S640 specifically includes: the wind speed gradually decreases to 0, the control rotor 71 correspondingly matches and rotates according to the wind speed-tilt angle of the tilt rotor transition path 3 while the wind speed decreases, and the flight attitude of the tilt rotor model 70 is also controlled through the attitude control law of the rotor tilt transition path while the wind speed decreases.
It should be noted that: the control surface distribution strategy of the rotor tilting transition path 3 is determined by the attitude control law of the rotor tilting transition path, so that the accurate and effective control surface distribution strategy can be obtained after the accurate and effective attitude control law of the tilting path of the tilting rotor 71 is obtained.
Example 2
As shown in fig. 3 and fig. 4, the present embodiment provides a tilt transition wind tunnel flight experimental system of a tilt rotor aircraft, including a wind speed sensor 10, a data acquisition computer 20, a flight control computer 30, a flight management computer 40, a three-degree-of-freedom flight experimental apparatus 50, an attitude angle sensor 60, and a tilt rotor aircraft model 70;
the three-degree-of-freedom flight experiment device 50 is used for the tiltrotor model 70 to develop a wind tunnel three-degree-of-freedom flight experiment, measure the attitude angular acceleration of the tiltrotor model 70, and send the attitude angular acceleration to the data acquisition computer 20;
the wind speed sensor 10 is used for detecting the wind speed in the wind tunnel three-degree-of-freedom flight experiment and sending the wind speed to the data acquisition computer 20;
the attitude angle sensor 60 is arranged on the tilt rotor model 70, and transmits the attitude angle of the tilt rotor model 70 in the three-degree-of-freedom flight experiment to the data acquisition computer 20;
the flight control computer 30 controls the tilt rotor model 70 according to the attitude control law corresponding to the wind speed; the flight control computer 30 has a real-time operating system, receives the instruction of the console 90, and executes the calculation of the flight control law; the flight control computer 30 controls the attitude angle of the tiltrotor model 70 and the tilt angle of the rotor 71 through the actuator 72 by transmitting the control signal to the actuator 72;
the data acquisition computer 20 is configured to process the wind speed and the attitude angle, and send the processed wind speed and attitude angle to the flight control computer 30;
the flight management computer 40 is used for correcting the attitude control law; the flight management computer 40 provides the flight control laws (i.e., the flight control laws are set in the flight management computer 40), and has a human-machine interface, which can be used for online parameter adjustment (i.e., correction of the flight control laws), data recording and playback, and the like.
Further, the three-degree-of-freedom flight experimental device comprises a model support rod 52 and a spherical hinge 53, wherein one end of the model support rod 52 is connected with the three-component balance 51, the other end of the model support rod is connected with the spherical hinge 53, and the spherical hinge 53 is connected with the tilting rotor model 70.
Further, an airfoil damper 54 is included, the airfoil damper 54 being disposed outside the mold strut 52.
Further, in some embodiments, a console 90 is included, the console 90 being configured to send instructions to the flight control computer 30; the three-degree-of-freedom flight experimental device 50 further comprises a three-component balance 51, the three-component balance 51 is connected with the model supporting rod 52, and the three-component balance 51 is used for measuring the linear motion acceleration of the rotor 71 model.
As shown in fig. 3, the three-component balance 51 is capable of detecting forces in three directions, i.e., front-rear direction, left-right direction, and up-down direction, of the tiltrotor model 70, and is capable of obtaining the linear motion acceleration of the tiltrotor model 70 from the detected forces.
It should be noted that the command sent by the console 90 to the flight control computer 30 is an attitude command (i.e., a pitch, roll, yaw, etc.) and it can be determined whether the command sent by the console 90 needs to be adjusted by using the three-component balance 51 in combination, that is, it is determined that the console 90 should send the pitch, roll, and yaw attitude commands by linear motion acceleration obtained by the forces in three directions of the tilt rotor model 70 detected by the three-component balance 51, and the console 90 has a motion stroke when sending the command, and it is possible to provide an adjustment reference for actual flight adjustment by the motion stroke.
Further, as shown in fig. 5, the system further includes a four-degree-of-freedom flight experimental apparatus 80, where the four-degree-of-freedom flight experimental apparatus 80 includes: the counter weight comprises a sinking and floating support rod 81, an outer support rod 82, a counter weight block 83, a counter weight rope 84 and a fixed pulley 85, wherein the sinking and floating support rod 81 is movably arranged in the outer support rod 82, the sinking and floating support rod 81 is movably arranged in the outer support rod 82 and has an upper limit position and a lower limit position, a connecting piece is arranged on the sinking and floating support rod 81 and is connected with one end of the counter weight rope 84, and the other end of the counter weight rope 84 is connected with the counter weight block 83; the weight rope 84 is disposed on a fixed pulley 85, and the fixed pulley 85 is higher than the connecting member.
It should be noted that: the present embodiment provides a four-degree-of-freedom flight experimental apparatus 80, which is only a specific example, and the four-degree-of-freedom flight experimental apparatus 80 in the prior art can also be used in the present embodiment; meanwhile, it should be noted that the specific structure of other specific implementation details of the exemplary four-degree-of-freedom flight experimental apparatus 80 does not affect the implementation of the present invention, so that other specific implementation details of the exemplary four-degree-of-freedom flight experimental apparatus 80 are not described in detail in this embodiment.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (5)
1. A tilting transition wind tunnel flight experimental method of a tilting rotor aircraft is characterized by comprising the following steps:
s100: designing a rotor wing tilting transition path;
s200: designing a flight control law aiming at a rotor wing tilting transition path;
s300: selecting N experimental points along the rotor wing tilting transition path;
s400: performing wind tunnel three-degree-of-freedom flight experiments on the N experimental points, and correcting the flight control laws of the N experimental points;
the implementation steps of the step S400 are as follows:
s410: to a first order
Carrying out three-degree-of-freedom flight experiments on the tilt rotor model by taking the wind speed corresponding to each experimental point as the experimental wind speed;
s420: by tilting rotationThe attitude angle of the airfoil model is at a desired value and/or the second
Correcting a flight control law by the rotor wing tilting angle corresponding to each experimental point;
s430: repeating the steps S410-S420 until all the flight control laws corresponding to the N experimental points are corrected;
wherein:
；
s500: and taking the flight control laws of the N corrected experimental points as a reference, and constructing an automatic attitude control law changing structure between the adjacent experimental points to obtain an attitude control law of the rotor wing tilting transition path.
2. The tilt transition wind tunnel flight experimental method of a tiltrotor aircraft according to claim 1, further comprising the steps of:
s600: carrying out four-degree-of-freedom flight experiments in the forward and reverse continuous tilt transition processes of the rotor wing according to the attitude control law of the tilt transition path of the rotor wing; and whether the rotor wing tilting transition is stable in the four-degree-of-freedom flight experiment is verified: (1) the tilting transition of the rotor wing is stable, and the experiment is ended; (2) and (4) the tilting transition of the rotor wing is not stable, and the steps S200-S600 are repeated until the tilting transition of the rotor wing is stable.
3. The tilt transition wind tunnel flight experimental method of a tilt rotor aircraft according to claim 2, wherein the step S600 is implemented by:
s610: the rotor wing is arranged to tilt 90 degrees, the rotating speed of the rotor wing is gradually increased until the tilting rotor wing model enters a hovering state;
s620: wind tunnel wind-up carries out rotor forward transition process that verts in succession according to the attitude control law on rotor transition route that verts and carries out four degrees of freedom flight experiments, observes the rotor and verts the transition whether steady: (1) the tilting transition of the rotor is stable, and the process goes to step S630; (2) repeating the steps S200-S600 until the tilting transition of the rotor wing is stable;
s630: adjusting the pitching attitude of the tilt rotor model to enable the tilt rotor model to be in the middle position of the sinking and floating free stroke;
s640: wind tunnel stops wind, carries out the reverse transition process that verts in succession of rotor according to the attitude control law on the transition route that verts of rotor and carries out the four degrees of freedom flight experiment, observes whether the transition that verts of rotor is steady: (1) the tilting transition of the rotor wing is stable and the process is finished; (2) and (4) the tilting transition of the rotor wing is not stable, and the steps S200-S600 are repeated until the tilting transition of the rotor wing is stable.
4. The tilt transition wind tunnel flight experimental method of a tilt rotor aircraft according to claim 3, characterized in that: the four-degree-of-freedom flight experiment carried out in the rotor forward continuous tilting transition process in the step S620 specifically comprises the following steps: the wind speed gradually rises from 0 to the wind speed when the tilt angle of the rotor wing on the tilt transition path of the rotor wing is 0 degrees, the rotor wing is controlled to correspondingly match and rotate according to the wind speed-tilt angle of the tilt rotor wing transition path when the wind speed rises, and the flight attitude of the tilt rotor wing model is controlled through the attitude control law of the tilt rotor wing transition path when the wind speed rises.
5. The tilting transition wind tunnel flight experimental method of the tiltrotor aircraft according to claim 3, characterized in that: the four-degree-of-freedom flight experiment carried out in the rotor reverse continuous tilting transition process in the step S640 specifically comprises the following steps: the wind speed gradually drops to 0, the rotor is controlled to correspondingly match and rotate according to the wind speed-tilt angle of the tilt rotor transition path while the wind speed drops, and the flight attitude of the tilt rotor model is controlled through the attitude control law of the tilt rotor transition path while the wind speed drops.
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