多旋翼无人机弹药发射过程扰动响应特性

针对多旋翼无人机弹药发射过程的扰动响应问题，建立了弹药发射过程无人机飞行动力学模型。在考虑了基本增稳增控飞行控制的条件下，分析了弹药安装位置、质量、反冲量大小和倾斜发射角等参数对发射过程无人机位置、高度和姿态扰动响应的影响规律。分析表明:对于弹药水平发射，纵向安装位置对无人机水平位置扰动幅值具有重要影响，适当后置弹药安装位置可减小无人机位置扰动幅值，在其他参数一定的条件下，存在无人机位置扰动最小的弹药纵向安装位置。对于弹药倾斜发射，给出了无人机水平位置扰动幅值关于弹药安装位置和倾斜发射角的等值图，可为无人机和弹药的匹配选型问题提供参考。 

Disturbance response characteristics of multi-rotor UAV during ammunition launching

Focusing on disturbance response of the ammunition launching process，the flight dynamics model of the multi-rotor UAV （unmanned aerial vehicle） was established based on the idea of multi-body kinetics.The influences of the parameters of ammunition installation position，mass，recoil and tilt launching angle on the position，altitude and attitude disturbance response of UAV during launching were analyzed under the condition of basic stability augmentation and control augmentation flight control.The analysis showed that for the ammunition horizontal launching，the longitudinal installation position had an important influence on the disturbance amplitude of UAV horizontal position，and the appropriate rear ammunition installation position can reduce the disturbance amplitude of position.Under the condition of other certain parameters，there existed the ammunition longitudinal installation position with the least disturbance of UAV position.For ammunition oblique launching，the contour diagram of the disturbance amplitude of UAV horizontal position relating to ammunition installation position and oblique launching angle was given，which can provide reference for UAV and ammunition matching and selection.