计及关节及杆柔性的空间机械臂抓取控制

针对考虑关节及杆柔性的空间机械臂动力学与抓取控制问题,以三连杆柔性机械臂为研究对象,考虑臂杆的横向弯曲变形、纵向拉伸变形及由于横向变形引起的轴向收缩的二阶耦合量等,并通过引用转子扭簧模型来考虑柔性关节的影响,应用Lagrange方程和假设模态法建立动力学模型.引入“动态抓取域”来描述机械臂的抓取过程,采用关节主动阻尼控制来抑制抓取过程中的碰撞激振力,分析了匀速抓取和加速抓取两种策略的机械臂柔性关节的变形特性.仿真结果表明:关节柔性减小了整体碰撞力,在碰撞过程中起到一定的缓冲作用;加速抓取控制下比匀速抓取控制下的关节变形小,前者整体优于后者.     

动力学参数对倾转旋翼机气弹稳定性的影响研究

在建立倾转旋翼机飞机模式和直升机模式下的旋翼/短舱/机翼系统耦合气弹动力学分析模型的基础上,分析了倾转旋翼、机翼动力学参数对倾转旋翼机气弹稳定性的影响,得到了不同动力学参数对前飞时回转颤振速度和悬停时模态阻尼的影响曲线,对于倾转旋翼机动力学设计具有理论指导意义.     

柔性飞机非线性气动弹性与飞行动力学耦合静、动态特性

高空长航时(HALE)飞机结构细长、具有柔性,在常规飞行条件下可发生结构大变形、气动失速以及结构低频振动与刚体运动耦合,这些现象显著影响其静、动态特性.基于几何精确完全本征运动梁模型、ONERA动失速气动力模型和六自由度刚体运动模型,建立了考虑几何非线性、动失速和材料各向异性等因素的大展弦比柔性飞机非线性气动弹性与飞行...     

基于混合CFD方法的旋翼桨-涡干扰噪声计算

建立了一个基于Euler方程和自由尾迹分析的新的、高效的混合计算方法,用于旋翼桨-涡干扰(BVI)气动和噪声特性的研究.在该方法中,仅针对单片桨叶进行计算,通过求解Euler方程来捕捉流场中旋翼近尾迹的影响以及桨叶表面的非定常载荷,流场空间中旋翼远尾迹的位置由自由尾迹模型给出;提出了广义网格速度方法以将旋翼远尾迹的影响...     

NeoCASS: An integrated tool for structural sizing, aeroelastic analysis and MDO at conceptual design level

This paper presents a design framework called NeoCASS (Next generation Conceptual Aero-Structural Sizing Suite), developed at the Department of Aerospace Engineering of Politecnico di Milano in the frame of SimSAC (Simulating Aircraft Stability And Control Characteristics for Use in Conceptual Design) project, funded by EU in the context of 6th Framework Program. It enables the creation of efficient low-order, medium fidelity models particularly suitable for structural sizing, aeroelastic analysis and optimization at the conceptual design level.The whole methodology is based on the integration of geometry construction, aerodynamic and structural analysis codes that combine depictive, computational, analytical, and semi-empirical methods, validated in an aircraft design environment.The work here presented aims at including the airframe and its effect from the very beginning of the conceptual design. This aspect is usually not considered in this early phase. In most cases, very simplified formulas and datasheets are adopted, which implies a low level of detail and a poor accuracy. Through NeoCASS, a preliminar distribution of stiffness and inertias can be determined, given the initial layout. The adoption of empirical formulas is reduced to the minimum in favor of simple numerical methods. This allows to consider the aeroelastic behavior and performances, as well, improving the accuracy of the design tools during the iterative steps and lowering the development costs and reducing the time to market.The result achieved is a design tool based on computational methods for the aero-structural analysis and Multi-Disciplinary Optimization (MDO) of aircraft layouts at the conceptual design stage. A complete case study regarding the TransoniCRuiser aircraft, including validation of the results obtained using industrial standard tools like MSC/NASTRAN and a CFD (Computational Fluid Dynamics) code, is reported. As it will be shown, it is possible to improve the degree of fidelity of the conceptual design process by including tailored numerical tools, overcoming the lacks of statistical methods. The result is a method minimally dependent on datasheets, featuring a good compromise between accuracy and costs.     

基于浸入式边界方法的运动物体声辐射数值模拟

为了在声学计算中简化网格的处理,从而发展出适用于运动复杂边界问题模拟的计算格式,基于浸入式边界方法,提出了一种适用于无黏流动、无穿透边界条件的处理方法,并对一些简单的运动物体声辐射问题进行了数值模拟.数值结果与解析解得到了令人满意的对比,初步验证了所提出的研究方案的可行性.     

直升机悬停状态全耦合飞行动力学模型辨识方法

提出了一种基于集员辨识理论的直升机全耦合飞行动力学模型参数辨识方法.该方法针对直升机飞行动力学模型耦合强,难以得到辨识模型和待辨识参数之间显式函数关系的特点,推导并建立了状态空间微分方程形式模型集员辨识的间接辨识算法.通过引入广义噪声的概念以及对其边界的灵活设定,实现了对辨识参数众多、耦合严重且灵敏度差异大的复杂模型的...     

考虑结构动力学与颤振约束的颤振缩比模型优化设计

由于颤振缩比模型与原模型在承力结构上存在差异,当二者的结构动力学特性相似时,气动弹性可能并不等效.针对该问题,提出了同时考虑结构动力学约束和颇振约束的颤振缩比模型优化设计方法,建立了利用遗传/敏度混合优化算法求解此问题的流程,研究了优化问题中目标函数和约束条件的选取方式,并以机翼颤振缩比模型为算例对方法的有效性进行了验...     

结冰对飞机动态响应特性的影响

结冰条件下运输类飞机的适航审定是确保飞行安全的重要保障.建立了飞机本体非线性动力学模型和不同状态的结冰模型,计算了结冰前后飞机对驾驶员控制输入指令的响应特性,并探讨了结冰对飞机爬升性能的影响.仿真结果表明,结冰会导致舵面操纵效率下降,从而引起动态响应特性的恶化,而且飞机出现不对称结冰时将严重偏离正常状态、危及飞行安全,...     

结冰条件下的飞机飞行动力学仿真

基于飞机结冰参量模型对飞机在结冰条件下的飞行动力学特性进行了仿真研究.提出一种飞机结冰参量模型的参数计算方法,并针对一定结冰气象条件下的不同结冰时间对飞机的结冰严重程度进行了评估,基于小扰动理论对飞机结冰前和不同结冰严重程度下的纵向、横侧动稳定性以及操纵响应进行了仿真计算,根据仿真计算结果分析了不同结冰严重程度对飞机造...