无人机软着陆气囊缓冲特性研究

doi:10.3969/j.issn.1000-1093.2014.11.019

兵工学报 ›› 2014, Vol. 35 ›› Issue (11): 1867-1875.doi: 10.3969/j.issn.1000-1093.2014.11.019

无人机软着陆气囊缓冲特性研究

蔡文¹，李斌¹，温金鹏²，王力³

(1.西北工业大学航空学院，陕西西安 710072; 2.中国工程物理研究院四川绵阳 621000;

收稿日期:2013-12-13 修回日期:2013-12-13 上线日期:2015-01-05
通讯作者: 蔡文 E-mail:caiwen2008300197@163.com
作者简介:蔡文（1990—），女，硕士研究生
基金资助:
国家自然科学基金项目（11172238）；高等学校学科创新引智计划项目（B07050）

Research on Cushioning Characteristics of UAV Soft Landing Airbags

CAI Wen¹, LI Bin¹, WEN Jin-peng², WANG Li³

(1.School of Aeronautic, Northwestern Polytechnical University, Xi'an 710072, Shaanxi, China;2.China Academy of Engineering Physics, Mianyang 621000, Sichuan, China;3.No.365 Institute, Northwestern Polytechnical University, Xi'an 710072, Shaanxi, China)

Received:2013-12-13 Revised:2013-12-13 Online:2015-01-05
Contact: CAI Wen E-mail:caiwen2008300197@163.com

摘要/Abstract

摘要： 以上单翼布局无人机为对象，建立软着陆气囊缓冲系统的简化解析模型，开展了气囊软着陆系统缓冲特性的研究。在此基础上，进一步确定气囊设计参数的可行取值域，选取气囊初始设计参数。之后，构建缓冲系统的动力学有限元模型，分析了气囊设计参数及着陆姿态对于缓冲效果的影响。研究结果表明，正常着陆工况下，解析模型得到的气囊设计参数对无人机质心过载峰值的影响规律与有限元分析结果基本一致，不过由于解析模型中引入了多个假设，两种方法得到的过载峰值大小存在差异。当着陆存在初始姿态角时，会加重无人机缓冲过程中的俯仰与滚转运动，易造成机体的损坏。为了避免二次硬冲击带来的局部意外损害，提出一种组合型气囊设计方案。仿真分析表明，应用组合型气囊可以在缓冲后段提供有效的软支撑作用，避免无人机发生二次硬冲击和反弹翻覆。

关键词: 航空、航天科学技术基础学科, 无人机, 排气型气囊, 组合型气囊, 俯仰角, 滚转角

Abstract: For an unmanned aerial vehicle (UAV) with high-mounted wings, a simplified analytical model is established to analyze the cushioning characteristics of a soft landing airbag system and determine the initial design parameters of the soft landing airbags. A finite element model is established and a series of simulations are conducted to analyze the influence of design parameters and landing attitude angle on cushioning characteristics. Numerical results show that the results obtained by FEM and the analytical model are the same, but the errors of impact response values calculated by two models are still 5%~12.5% because of the introduction of some assumptions in the analytical model; and the existence of initial landing attitude angles makes the pitch and roll motions of UAV much worse in the later stage of landing process, so that the rigid impact occurs easily. However, a vented airbag system is incapable of avoiding the local damage caused by the rigid impact. The study also shows that the proposed hybrid airbag scheme can provide a reliable soft support in the later stage of soft landing process and reduce the risk of suffering the rigid impact.

Key words: basic disciplines of aerospace and technology, UAV, vented airbag, hybrid airbag, pitch angle, roll angle

中图分类号:

V279

蔡文，李斌，温金鹏，王力. 无人机软着陆气囊缓冲特性研究[J]. 兵工学报, 2014, 35(11): 1867-1875.

CAI Wen, LI Bin, WEN Jin-peng, WANG Li. Research on Cushioning Characteristics of UAV Soft Landing Airbags[J]. Acta Armamentarii, 2014, 35(11): 1867-1875.

参考文献

［1］温金鹏，李斌，杨智春. 缓冲气囊冲击减缓研究进展［J］. 宇航学报,2010, 31(11): 2438-2447.
WEN Jin-peng, LI Bin, YANG Zhi-chun. Process of study on impact attenuation capability of airbag cushion system［J］. Journal of Astronautics, 2010, 31(11): 2438-2447.(in Chinese)
［2］ Richard B T, Robin C H, Cliff E W, et al. Modeling and simulation of the second-generation Orion crew module airbag landing system［C］∥AIAA Space 2009 Conference & Exposition.Pasadena,Washington:AIAA, 2009.
［3］ Allouis E, Ellery A, Welch C S. Entry descent and landing systems for small planetary missions: parametric comparison of parachutes and inflatable systems for the proposed vanguard mars mission［J］. Acta Astronautica, 2006，59(8):911-922.
［4］樊邦奎. 国外无人机大全［M］. 北京：航空工业出版社, 2001.
FAN Bang-kui. Introduction of foreign unmanned aerial vehicles［M］. Beijing: Aviation Industry Press, 2001. (in Chinese)
［5］ Turner C T, Irard L A. Airbag impact attenuation system for the AQM-34V remote piloted vehicle［J］. Journal of Aircraft, 1982, 19(11):984-989.
［6］戈嗣诚，施允涛. 无人机回收气囊缓冲特性研究［J］.南京航空航天大学学报, 1999,31(4):458-463.
GE Si-cheng, SHI Yun-tao. Study on cushioning characteristics of airbags for RPV recovery［J］. Journal of Nanjing University of Aeronautics & Astronautics, 1999, 31(4):458-463.（in Chinese）
［7］张元明. 无人机回收减震气囊的理论研究［J］. 液压与气动，2005, （1）：7-9.
ZHANG Yuan-ming. Study of air bag impact attenuation system for UAV［J］. Chinese Hydraulics and Pneumatics, 2005, （1）：7-9. (in Chinese)
［8］王红岩,洪煌杰,李建阳，等. 空降车缓冲气囊系统特性仿真及其参数优化方法研究［J］. 兵工学报，2012,33(12)：1461-1466.
WANG Hong-yan, HONG Huang-jie, LI Jian-yang, et al. Research on simulation and optimization of cushion characteristic of airbag for airborne vehicle ［J］. Acta Armamentarii, 2012, 33(12)：1461-1466.(in Chinese)
［9］文桂林，雷志华，尹建武，等. 全向式多室连通气囊的缓冲特性研究［J］. 振动与冲击，2013,32(8):13-17.
WEN Gui-lin,LEI Zhi-hua, YIN Jian-wu, et al. Cushion characteristics of an omni-directional and multi-chamber airbag［J］. Journal of Vibration and Shock, 2013,32(8):13-17. (in Chinese)
［10］尹汉锋, 文桂林, 韩旭. 空投设备缓冲气囊的优化设计［J］. 系统仿真学报, 2008,20(5):1325-1327.
YIN Han-feng, WEN Gui-lin, HAN Xu. Optimal design of airbag impact attenuation system for airdropping equipment ［J］. Journal of System Simulation, 2008,20(5):1325-1327. (in Chinese)
［11］孙晓伟. 自落式缓冲气囊设计计算的一般方法［J］. 中航救生, 2005(4): 29-31.
SUN Xiao-wei. General methods for gravity type airbag design［J］. China Aeronautical & Astronautical Life-support, 2005(4):29- 31.(in Chinese)
［12］王亚伟,杨春信,柯鹏. 货台空投系统气囊缓冲过程仿真［J］. 系统仿真学报, 2007,19(14):3176-3179.
WANG Ya-wei, YANG Chun-xin, KE Peng. Airbag cushion process simulation for cargo airdrop system［J］. Journal of System Simulation, 2007,19(14):3176-3179. (in Chinese)
［13］吕航,何欢,陈国平. 气囊式无人机缓冲系统的着陆侧翻现象［J］. 航天返回与遥感, 2013,34(1):21-28.
LYU Hang, HE Huan, CHEN Guo-ping. Landing turn-over of UAV with airbag cushion system［J］. Spacecraft Recovery & Remote Sensing, 2013,34(1):21-28. (in Chinese)
［14］ Esgar J B，Morgan W C. Analytical study of soft landing on gas-filled bags［R］．District of Columbia, Washington：NASA，1960．
［15］温金鹏. 气囊缓冲动力学问题研究［D］. 西安：西北工业大学，2011.
WEN Jin-peng. Research on impact attenuation capability of airbag cushioning system［D］. Xi'an: Northwestern Polytechnical University, 2011. (in Chinese)
［16］ Wen J P, Li B, Yang Z C. Study on cushioning characteristics of soft landing airbag with elastic fabric［J］. International Journal of Applied Electromagnetics, 2010, 33(3/4):1535-1545.

[1]	薛少辉，范继，唐旭，陈晓明，王凤歌，侯勇，曾玉芸. 基于椎体空间的无人机毁伤元密度分析[J]. 兵工学报, 2022, 43(S1): 133-139.
[2]	王盼，吴昊，梁宇，胡雪岑，纪雪松，王振宇. 轻型无人机起落架设计与强度分析[J]. 兵工学报, 2022, 43(S1): 140-145.
[3]	崔令飞，郭永红，修全发，史超，张硕阳. 基于国产嵌入式智能计算平台的无人机检测方法[J]. 兵工学报, 2022, 43(S1): 146-154.
[4]	朱毅飞, 林德福, 莫雳, 叶建川. 四旋翼无人机旋翼对机身非定常气动干扰特性[J]. 兵工学报, 2022, 43(2): 410-422.
[5]	姜雨彤，宋海平，王光辉. 基于质量评价最优的无人机航拍图像去雾方法[J]. 兵工学报, 2022, 43(1): 148-158.
[6]	姚立新，赵晓尧，王帅祥，于永强. 反蜂群无人机防空火箭弹四象限周视激光引信探测概率[J]. 兵工学报, 2022, 43(1): 218-225.
[7]	张云飞，林德福，郑多，程子恒，唐攀. 多目标时空同步协同攻击无人机任务分配与轨迹优化[J]. 兵工学报, 2021, 42(7): 1482-1495.
[8]	王慧东，周来宏. 四旋翼无人机反步积分自适应控制器设计[J]. 兵工学报, 2021, 42(6): 1283-1289.
[9]	叶建川，王江，梁熠，宋韬，吴则良，徐超. 四旋翼无人机前飞模态特性[J]. 兵工学报, 2021, 42(11): 2476-2490.
[10]	张振华，吴向阳，李春萍，张吉智，魏列江，王飞. 无人机新型水动力弹射动力学特性[J]. 兵工学报, 2021, 42(1): 151-158.
[11]	梁少军，张世荣，郑幸，林冬生. 固定翼无人机多工况聚类及工况匹配[J]. 兵工学报, 2020, 41(8): 1600-1612.
[12]	张哲，吴剑，代冀阳，李品伟. 基于改进A^*算法的多无人机协同战术规划[J]. 兵工学报, 2020, 41(12): 2530-2539.
[13]	张朔，赵振峰，董雪飞，叶莹. 二冲程航空活塞发动机增压匹配研究和优化[J]. 兵工学报, 2020, 41(1): 135-142.
[14]	李小民，毛琼，甘勤涛，杜占龙. 有界变化时滞和联合连通拓扑条件下的分布式无人机编队飞行控制策略[J]. 兵工学报, 2019, 40(6): 1179-1189.
[15]	刘流，梁晓龙，张佳强，何吕龙，侯岳奇. 切换通信拓扑条件下的无人机集群构型变换控制[J]. 兵工学报, 2019, 40(5): 996-1002.

无人机软着陆气囊缓冲特性研究

Research on Cushioning Characteristics of UAV Soft Landing Airbags

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价