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新型倾转旋翼无人机建模与最优起飞方案研究。

Study of Modeling and Optimal Take-Off Scheme for a Novel Tilt-Rotor UAV.

机构信息

School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China.

School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China.

出版信息

Sensors (Basel). 2022 Dec 12;22(24):9736. doi: 10.3390/s22249736.

DOI:10.3390/s22249736
PMID:36560106
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9782007/
Abstract

The optimal trajectory planning for a novel tilt-rotor unmanned aerial vehicle (UAV) in different take-off schemes was studied. A novel tilt-rotor UAV that possesses characteristics of both tilt-rotors and a blended wing body is introduced. The aerodynamic modeling of the rotor based on blade element momentum theory (BEMT) is established. An analytical method for determining the taking-off envelope of tilt angle versus airspeed is presented. A novel takeoff-tilting scheme, namely tilting take-off (TTO), is developed, and its optimal trajectory is designed based on the direct collocation method. Parameters such as the rotor thrust, tilt angle of rotor and angle of attack are chosen as control variables, and the forward velocity, vertical velocity and altitude are selected as state variables. The time and the energy consumption are considered in the performance optimization indexes. The optimal trajectories of the TTO scheme and other conventional schemes including vertical take-off (VTO) and short take-off (STO) are compared and analyzed. Simulation results indicate that the TTO scheme consumes 47 percent less time and 75 percent less energy than the VTO scheme. Moreover, with minor differences in time and energy consumption compared to the STO scheme, but without the need for sliding distance, TTO is the optimal take-off scheme to satisfy the flight constraints of a novel tilt-rotor UAV.

摘要

研究了一种新型倾转旋翼无人机（UAV）在不同起飞方案下的最优轨迹规划。介绍了一种兼具倾转旋翼和混合翼身特点的新型倾转旋翼无人机。基于叶素动量理论（BEMT）建立了旋翼的气动建模。提出了一种确定倾转角度与空速起飞包络的解析方法。开发了一种新型起飞倾转方案，即倾斜起飞（TTO），并基于直接配置法设计了其最优轨迹。选择旋翼推力、旋翼倾转角和攻角作为控制变量，将前向速度、垂直速度和高度作为状态变量。在性能优化指标中考虑了时间和能量消耗。比较和分析了 TTO 方案与其他传统方案（包括垂直起飞（VTO）和短距起飞（STO））的最优轨迹。仿真结果表明，TTO 方案比 VTO 方案耗时减少 47%，能量消耗减少 75%。此外，与 STO 方案相比，TTO 方案在时间和能量消耗方面的差异较小，但无需滑动距离，因此是满足新型倾转旋翼无人机飞行约束的最佳起飞方案。

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