软管锥套组合体飘摆现象动力学分析、建模与主动抑制

Whipping phenomenon of hose-drogue assembly has been a serious constraint to the success rates and security of aerial refueling. Because of the coupled effects of the internal and external factors including the flexible material of hose, tanker vortex and other items, the accurate hose-drogue assembly dynamic model has not been built, the primary cause of the whipping phenomenon has not been researched, and hence the available suppression methods for whipping phenomenon are not satisfactory. In this project, the hose-drogue assembly is modeled as a solid-flexibility-liquid coupled system. Based on wind tunnel, CFD and fluid-solid interaction analysis, the coupled mechanism of the internal and external items to the dynamic characteristics of the whipping phenomenon could be profoundly uncovered; the primary cause, induced precondition, mechanical characteristics and evolution process of the whipping phenomenon could be mastered. With the help of flexible multibody dynamics, a dynamic model of hose-drogue assembly including solid-flexibility-liquid coupled effects could be built. By employing non-linear control theory and the idea of active control, system characteristics of the whipping phenomenon including nonlinearity, unsteady, fast-varying and strong-coupled could be effectively addressed, and the active suppression methods for whipping phenomenon could be developed. The work mentioned above will promote the theory of dynamics analysis, modeling, and control of solid-flexibility-liquid coupled system, technically enhance the success rates and security of aerial refueling, and hence it will have important theoretical and practical values.

软管锥套组合体的飘摆现象极大地制约了飞机空中加油的成功率和安全性。由于加油软管柔性材料属性及加油机尾流扰动等多种内外部因素的耦合作用，软管锥套组合体的动力学特性极为复杂，难以建立准确的动力学模型，飘摆现象产生机理尚未明确，现有飘摆现象抑制方法受到了很大限制。本项目拟将软管锥套组合体抽象为刚-柔-液耦合系统，综合应用风洞实验、CFD和流固耦合分析，揭示内外部影响因素对飘摆现象动力学特性的耦合作用机理，掌握飘摆现象原因根源、诱发条件、力学特性、演化过程等本质属性；研究多柔体动力学建模方法，建立包含刚-柔-液耦合特性的软管锥套组合体动力学模型；应用非线性控制理论和主动控制思想，应对飘摆现象非线性、非定常、快时变、强耦合的系统特征，探索飘摆现象主动抑制方法。研究成果对于促进刚-柔-液耦合系统动力学分析、建模与控制理论的发展，提高飞机空中加油成功率和安全性，具有重要的理论意义与实际应用价值。

为提高飞机空中加油的成功率和安全性，项目通过将软管锥套组合体抽象为刚—柔—液耦合系统，综合应用风洞实验、CFD和流固耦合分析方法，建立了准确的软管锥套组合体动力学模型，揭示了内外部影响因素对飘摆现象动力学特性的耦合作用机理，掌握了飘摆现象原因根源、诱发条件、力学特性、演化过程等本质属性。研究了多柔体动力学建模方法，建立了包含刚—柔—液耦合特性的软管锥套组合体动力学模型；应用非线性控制理论和主动控制思想，应对飘摆现象非线性、非定常、快时变、强耦合的系统特征，探索了飘摆现象主动抑制方法。深入系统地研究了加油机尾流特性，研究了各翼面尾流的压力分布、尾涡核心距离、涡量变化以及下洗速度等物理特性，分析了其对整机尾流特性的影响权重，进而研究了整机尾流场的涡索卷成、涡距演化、涡核变化等宏观特性，以及尾涡核心速度分布、下洗速度、侧洗速度分布和空中加油区域速度场等微观特性。通过线性叠加方式，机头将大气扰动、Hallock-Burnham加油机尾流和受油波三部分综合为完整的空中加油流场数值仿真环境，能够为空中加油系统建模、控制系统设计等研究工作提供真实的流场环境。针对软管锥套式空中加油系统的动力学建模与甩鞭抑制问题，基于集中参数的多刚体动力学，提出了一种包含软管弹性且长度可变的软管锥套组合体运动模型，能够为无人机对接飞行控制提供真实跟踪目标。将软管抽象为由无摩擦铰链相互串联的若干变长度刚性连杆，各连杆质量和受力假设集中于铰链处，同时考虑软管弯曲恢复力、软管收放、加油机牵连运动、重力、定常流、大气扰动、加油机尾流等内外部因素，推导了迭代式软管锥套组合体运动方程。在分析恒力弹簧控制缺陷的基础上，提出了基于永磁同步电机转角控制的甩鞭现象主动抑制策略，用以对接后实时收紧软管，抑制甩鞭现象，协同匹配无人机完成自主对接，分析了软管锥套组合体基本静态特性、甩鞭现象和控制策略的有效性。