舰载直升机电驱动助降装置及其关键特性分析

doi:10.12382/bgxb.2022.0523

摘要/Abstract

摘要：

针对现役综合系留和转运系统(Aircraft Ship Integrated Secure and Traverse,ASIST)存在的捕获冲击力大、转运时系统能耗高的问题,设计舰载直升机电驱动助降装置。通过分析助降装置的工况得出助降装置在执行捕获与转运任务时的性能要求,据此给出电驱动助降装置传动系统的设计方案。基于功率键合图理论建立传动系统的动力学模型,并与液压驱动助降装置进行对比仿真实验。仿真结果表明:电驱动助降装置的捕获速度降低约92%,捕获时最大冲击力降低约94%,能够在21kN的外负载作用下执行直升机转运任务,在执行转运任务时能耗降低约29%,该成果对于拓宽ASIST的使用范围、降低系统能耗具有重要意义;所引入的兼顾系统动态特性与能耗特性的建模方法,为其余复杂机械系统的动力学建模提供了参考。

关键词: 舰载直升机, 助降装置, 着舰辅助系统, 综合系留和转运系统, 功率键合图, 动态特性, 能耗特性

Abstract:

An electric landing assist device for shipborne helicopter is designed to address the problems of significant capture impact and high energy consumption of aircraft ship integrated secure and traverse(ASIST) system. The performance requirements of landing assist device during the capture and transshipment tasks are presented by analyzing the working conditions. According to this, a transmission scheme of electric landing assist device is proposed. A dynamics model of the transmission system is established based on the theory of power bond graph; The proposed dynamics model is compared with the hydraulic landing assist device through the simulation test. The results show that the capture speed is reduced by about 92%, and the maximum impact force is reduced by about 94%. The electric landing assist device can execute the helicopter transshipment tasks with an external load of 21kN and reduce energy consumption by about 29%. These research achievements are of great significance for broadening the application scope and reducing the energy consumption of ASIST. In addition, the introduced modeling method, which considers both the dynamic and energy consumption characteristics, also provides a reference for the dynamic modeling of other complex mechanical systems.

Key words: shipborne helicopter, landing assist device, landing assist system, aircraft ship integrated secure and traverse system, power bond graph, dynamic characteristics, energy consumption characteristics

中图分类号:

TH238

刘谦, 张祝新, 赵丁选, 王辉, 秦占永. 舰载直升机电驱动助降装置及其关键特性分析[J]. 兵工学报, 2024, 45(1): 241-252.

LIU Qian, ZHANG Zhuxin, ZHAO Dingxuan, WANG Hui, QIN Zhanyong. Electric Landing Assist Device of Shipborne Helicopters and Its Key Characteristics Analysis[J]. Acta Armamentarii, 2024, 45(1): 241-252.

图/表 28

图1 ASIST系统的组成示意图

Fig.1 Schematic diagram of ASIST

图2 助降装置的捕获工况示意图

Fig.2 Capture diagram of landing assist device

图3 冲击力曲线(2.5m/s)

Fig.3 Impact curve (2.5m/s)

图4 冲击力曲线(0.2m/s)

Fig.4 Impact curve (0.2m/s)

图5 助降装置的转运工况示意图

Fig.5 Schematic diagram of transshipment of landing assist device

图6 连体坐标系

Fig.6 Connected coordinate system

图7 受力分析图

Fig.7 Force analysis diagram

表1 三级海情下的运动参数

Table 1 Motion parameters under level-3 sea conditions

参数	数值	参数	数值
θ/(°)	10	g/(m·s^-2)	9.8
a_X/(m·s^-2)	1	a_Z/(m·s^-2)	0.5
M_H/kg	6 000	f	0.02
L/m	7	L_H/m	0.9
ρ/(kg·m^-3)	1.29	v_W/(m·s^-1)	12
A_XC_W	20	L_W/m	0.9
L_E/m	0.9	L_bc/m	3.5

图8 电驱动助降装置的传动系统原理图

Fig.8 Schematic diagram of transmission system for electric landing assist device

表2 特性方程和键合图模型

Table 2 Characteristic equation and bond graph model

名称	符号	特征方程
阻性元件	R	e(t)=Rf(t)
容性元件	C	e(t)= $q (t) C$
惯性元件	I	f(t)= $p (t) I$
流源	Sf	f(t)=Sf
势源	Se	e(t)=Se
转换器	TF	$e 2 = m e 1 f 1 = m f 2$
1结	1	$e 1 = e 2 = … = e n ∑ i = 1 n α i f i = 0$
0结	0	$f 1 = f 2 = … = f n ∑ i = 1 n α i e i = 0$

表2 特性方程和键合图模型

Table 2 Characteristic equation and bond graph model

名称	符号	特征方程
阻性元件	R	e(t)=Rf(t)
容性元件	C	e(t)= $q (t) C$
惯性元件	I	f(t)= $p (t) I$
流源	Sf	f(t)=Sf
势源	Se	e(t)=Se
转换器	TF	$e 2 = m e 1 f 1 = m f 2$
1结	1	$e 1 = e 2 = … = e n ∑ i = 1 n α i f i = 0$
0结	0	$f 1 = f 2 = … = f n ∑ i = 1 n α i e i = 0$

图9 转运时的键合图模型

Fig.9 Bond graph model for transshipment

图10 捕获时的键合图模型

Fig.10 Bond graph model for capture

图11 机械爪捕获速度曲线

Fig.11 Capture velocity curve of mechanical claw

图12 余弦函数速度规划曲线

Fig.12 Velocity planning curve

图13 仿真原理图

Fig.13 Schematic diagram of simulation

表3 电驱动助降装置的传动系统参数

Table 3 Parameters of transmission system for electric landing assist device

传动部件	参数	数值
电机	输出转速Sf/(rad·s^-1)
	转动转化为平动TF/(rad·m^-1)	20.61
同步带传动	同步带刚度C/(m·N^-1)	1.92×10^-7
	平动转化为转动TF/(m·rad^-1)	48.52×10^-3
减速机输入端	转动惯量I/(kg·m²)	4.25×10^-3
	转动阻尼R/(N·m·s)	4.7×10^-2
减速机	减速比TF	40
	丝杆刚度C/(rad·N^-1·m^-1)	7.8×10^-6
减速机输出端	转动惯量I/(kg·m²)	22.95×10^-3
	转动阻尼R/(N·m·s)	5.3×10^-3
动滑轮	质量I/kg	35.75
	转动转化为平动TF/(rad·m^-1)	628.93
链传动	链条刚度C/(m·N^-1)	1.49×10^-9
	倍行程效应TF	0.5
机械爪	摩擦阻尼R/N	30
	质量I/kg	44.328
直升机	阻力Se/N	2.1×10⁴
	质量I/kg	6×10³

图14 电机输出的转速与转矩曲线

Fig.14 Motor output speed and torque curves

图15 机械爪的速度与位移曲线

Fig.15 Velocity and displacement curves of mechanical claw

图16 转运时液压驱动助降装置的部分传动系统原理图

Fig.16 Schematic diagram of a part of transmission system for hydraulic landing assist device

图17 液压驱动助降装置的键合图模型

Fig.17 Bond graph model of hydraulic landing assist device

表4 液压驱动助降装置的传动系统参数

Table 4 Parameters of transmission system for hydraulic landing assist device

传动部件	参数	数值
电机	输出转速Sf/(rad·s^-1)
齿轮泵	转动转化为流量TF/(rad·m^-3)	2.09×10⁶
	内部泄漏R/(m³·s^-1·Pa^-1)	3.21×10^-12
液压管路	内部流阻R/(Pa·s·m^-3	0.91×10¹¹
单向阀	内部流阻R/(Pa·s·m^-3)	3.76×10⁹
换向阀	内部流阻R/(Pa·s·m^-3)	1.03×10¹⁰
	内部泄漏R/(m³·s^-1·Pa^-1)	3.3×10^-13
	液压油刚度C/(m³·Pa^-1)	2.51×10^-14
	内部泄漏R/(m³·s^-1·Pa^-1)	1.04×10^-12
液压缸	流量转化为平动TF/(m²·s^-1)	5.02×10^-3
	质量I/kg	46.32
	摩擦阻尼R/N	12.6
动滑轮	质量I/kg	35.75
	摩擦阻尼R/N	25.0
链传动	链条刚度C/(m·N^-1)	1.49×10^-8
	倍行程效应TF	0.5
机械爪	摩擦阻尼R/N	30
	质量I/kg	44.328
直升机	负载运动阻力Se/N	2.1×10⁴
	负载质量I/kg	6×10³

图18 液压驱动助降装置的电机输出曲线

Fig.18 Motor output curve of hydraulic landing assist device

图19 电驱动助降装置的电机输出曲线

Fig.19 Motor output curve of electric landing assist device

图20 直升机运动速度曲线

Fig.20 Helicopter motion velocity curve

图21 储能元件能耗曲线

Fig.21 Energy consumption curves of energy storage elements

图22 阻性原件能耗曲线

Fig.22 Energy consumpation curves of resistance elements

图23 系统输入的能量曲线

Fig.23 Energy curve of system input

图24 系统输入的功率曲线

Fig.24 Power curve of system input

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