Research on Safe Separation Mechanism of UAV Rocket Booster

doi:10.12382/bgxb.2023.0362

Abstract

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

CLC Number:

TJ713

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.

Figures/Tables 24

Fig.1 Installation of a booster rocket engine

Fig.2 Schematic diagram of UAV and booster

Fig.3 Schematic diagram of booster principle

Fig.4 Schematic diagram of booster separation process

Fig.5 UAV coordinate system

Fig.6 Booster coordinate system

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

Fig.7 Schematic diagram of booster separation process

Fig.8 Schematic diagram of booster separation process

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

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

Fig.9 Separation process of 50° chute angle booster

Fig.10 Separation process of 70° chute angle booster

Fig.11 Separation process of 90° chute angle booster

Fig.12 Schematic diagram of booster coordinate position relationship

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

Fig.14 Booster experimental model

Fig.15 Schematic diagram of experimental system

Fig.16 Coordinate system of booster engine

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

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

Fig.17 Separation trajectories of experimental model

Fig.18 Coordinate comparison between experimental model and simulation model

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

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

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

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