无人机火箭助推机构分离安全性研究

doi:10.12382/bgxb.2023.0362

摘要/Abstract

摘要：

为提高火箭助推式无人机起飞时助推机构的分离安全性,提出一种可自动安全分离的无人机火箭助推机构。以某型号无人机为例,运用理论力学与刚体运动学知识建立以分离安全性最优为目标的助推机构理论模型,得出助推机构中关键参数的设计依据并建立助推机构的三维模型。运用刚体动力学分析方法得到助推机构的分离运动轨迹,搭建包含助推机构和模拟无人机部分的实验系统,验证助推机构分离轨迹和分离姿态与仿真结构有一致的变化趋势。研究结果表明,该助推机构在分离过程中可有效规避安全隐患,提高分离安全性。

关键词: 无人机, 火箭助推机构, 分离安全性, 数学建模, 刚体动力学

Abstract:

A UAV rocket booster which can be separated automatically and safely is proposed to improve the separation safety of booster mechanism of rocket-propelled UAV during take-off. Taking a UAV as an example, a theoretical model of UAV booster with the goal of optimal separation safety is established by using theoretical mechanics and rigid body kinematics knowledge. The design basis of the key parameters in the booster is obtained, and a three-dimensional model of booster is established. The separation trajectory of the improved separation mechanism is obtained by using the rigid body dynamics analysis method. An experiment system including the booster and the simulated UAV part is established to verify that the separation trajectory and attitude of the booster have the same changing trend with the simulation structure. The results show that the booster can effectively avoid the hidden danger in the process of separation, and improves the safety of the booster mechanism separation.

Key words: unmanned aerial vehicle, rocket booster mechanism, separation safety, mathematical modeling, rigid body dynamics

中图分类号:

TJ713

周悦, 李壮壮, 郑然舜, 李军. 无人机火箭助推机构分离安全性研究[J]. 兵工学报, 2024, 45(1): 219-230.

ZHOU Yue, LI Zhuangzhuang, ZHENG Ranshun, LI Jun. Research on Safe Separation Mechanism of UAV Rocket Booster[J]. Acta Armamentarii, 2024, 45(1): 219-230.

图/表 24

图1 某助推火箭发动机的安装

Fig.1 Installation of a booster rocket engine

图2 无人机与助推机构组成示意图

Fig.2 Schematic diagram of UAV and booster

图3 助推机构使用原理示意图

Fig.3 Schematic diagram of booster principle

图4 助推机构分离过程示意图

Fig.4 Schematic diagram of booster separation process

图5 UAV坐标系示意图

Fig.5 UAV coordinate system

图6 助推机构坐标系示意图

Fig.6 Booster coordinate system

表1 助推机构结构参数

Table 1 Structure parameters of booster

符号	定义	符号	定义
m₁/kg	驱动体质量	m₂/kg	发动机分离质量
O₁/mm	駆动体质心	O₂/mm	发动机质心
m₃/kg	助推机构质量	O₃/mm	助推机构质心
(x₁,y₁)/mm	驱动体质心坐标	(x₂,y₂)/mm	助推发动机质心坐标
I₁/(kg·m²)	驱动体转动惯量	I₂/(kg·m²)	助推发动机转动惯量
(x₃,y₃)/mm	助推机构质心坐标	I₃/(kg·m²)	助推机构转动惯量
l₁/mm	驱动体长度	l₂/m	助推发动机长度
r₀/mm	基座转轴半径	r/mm	助推发动机半径
α/(°)	推力角	γ/(°)	仰角
β/(°)	滑槽角	F_max/N	推力峰值
δ/mm	推力偏置距离	F_t/N	稳定推力值

图7 助推机构分离过程示意图

Fig.7 Schematic diagram of booster separation process

图8 助推机构分离过程示意图

Fig.8 Schematic diagram of booster separation process

表2 某无人机助推机构参数

Table 2 Parameters of a UAV booster

参数	数值	参数	数值
γ/(°)	10	r₀/m	0.025
α/(°)	25	β/(°)	待优化
(x₃,y₃)/m	$\left(\frac{0.5 l_{1}+6 \times\left(l_{1}+0.268\right)}{m_{1}+7}, 0\right) $	m₂/kg	6
I₃/(kg·m^-2)	$112$ m₁(0.0075+ $l 12$ )+6(l₁+0.268-x₃)²+m₁(x₃- $12$ l₁)²+0.1474	(x₂,y₂)/m	(l₁+0.268,0)
δ/m	0.015	I₂/(kg·m^-2)	0.1474
m₁/kg	待优化	l₂/m	0.536
(x₁,y₁)/m	( $12$ l₁,0)	r/m	0.05
I₁/(kg·m^-2)	$112$ m₁(0.0075+ $l 12$ )	F_max/kN	9.3
l₁/m	待优化	F_t/kN	8.0

表2 某无人机助推机构参数

Table 2 Parameters of a UAV booster

参数	数值	参数	数值
γ/(°)	10	r₀/m	0.025
α/(°)	25	β/(°)	待优化
(x₃,y₃)/m	$\left(\frac{0.5 l_{1}+6 \times\left(l_{1}+0.268\right)}{m_{1}+7}, 0\right) $	m₂/kg	6
I₃/(kg·m^-2)	$112$ m₁(0.0075+ $l 12$ )+6(l₁+0.268-x₃)²+m₁(x₃- $12$ l₁)²+0.1474	(x₂,y₂)/m	(l₁+0.268,0)
δ/m	0.015	I₂/(kg·m^-2)	0.1474
m₁/kg	待优化	l₂/m	0.536
(x₁,y₁)/m	( $12$ l₁,0)	r/m	0.05
I₁/(kg·m^-2)	$112$ m₁(0.0075+ $l 12$ )	F_max/kN	9.3
l₁/m	待优化	F_t/kN	8.0

图9 50°滑槽角助推机构分离过程

Fig.9 Separation process of 50° chute angle booster

图10 70°滑槽角助推机构分离过程

Fig.10 Separation process of 70° chute angle booster

图11 90°滑槽角助推机构分离过程

Fig.11 Separation process of 90° chute angle booster

图12 助推机构坐标位置关系示意图

Fig.12 Schematic diagram of booster coordinate position relationship

图13 助推机构到螺旋桨最小距离随时间变化曲线

Fig.13 Curves of minimum distance between booster and propeller over time

图14 助推机构实验模型

Fig.14 Booster experimental model

图15 实验系统示意图

Fig.15 Schematic diagram of experimental system

图16 助推发动机坐标系

Fig.16 Coordinate system of booster engine

表3 实验模型数据

Table 3 Experimental model data

助推发动机相关参数	数值
质量/kg	6.0±0.1
质心距离 $O f C f ¯$ /mm	322.6
质心赤道转动惯量I_x_c/(kg·mm²)	80445.0
质心赤道转动惯量I_z_c/(kg·mm²)	80445.1
质心极转动惯量I_y_c/(kg·mm²)	3701.0

表3 实验模型数据

Table 3 Experimental model data

助推发动机相关参数	数值
质量/kg	6.0±0.1
质心距离 $O f C f ¯$ /mm	322.6
质心赤道转动惯量I_x_c/(kg·mm²)	80445.0
质心赤道转动惯量I_z_c/(kg·mm²)	80445.1
质心极转动惯量I_y_c/(kg·mm²)	3701.0

图17 实验模型分离轨迹

Fig.17 Separation trajectories of experimental model

图18 助推机构实验模型和仿真模型坐标对比

Fig.18 Coordinate comparison between experimental model and simulation model

图19 助推机构前端和后端坐标-时间曲线

Fig.19 Front-end and back-end coordinates of booster-time curves

表4 助推机构前后端坐标差值

Table 4 Difference between the coordinates of front-end and back-end of booster

前后端坐标差值	时间/s
前后端坐标差值	0	0.05	0.10	0.15	0.20	0.25	0.30	0.35	0.40	0.45	0.50
前端Y坐标差值/mm	0	1.24	2.69	0.06	-2.78	-4.72	1.00	5.64	5.05	1.85	0.45
前端Z坐标差值/mm	0	-0.71	-1.38	-1.37	-7.27	-7.55	-15.16	-33.69	-58.43	-88.34	-150.11
后端Y坐标差值/mm	10.85	8.45	0.26	8.88	-11.01	-6.94	-11.45	-19.43	-29.26	-37.43	-55.77
后端Z坐标差值/mm	17.24	7.31	-0.08	11.11	-5.01	-0.51	-10.05	-25.63	-44.50	-72.55	-114.53

图20 助推机构前后端坐标差值-时间曲线

Fig.20 Coordinate difference between booster front-end and back-end-time curvs

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