Dynamics Simulation and Analysis of Rotating Traction Parachute Ejection System
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摘要: 为了缩短降落伞开伞时间，对无人机降落伞弹射系统进行了研究。通过高速旋转方式，采用牵引球将降落伞伞口牵引开，增大伞口初始面积，加速气流进入伞内。使用Solidworks进行三维建模后，导入Adams进行运动学仿真，对仿真结果进行分析。结果发现，牵引球在弹射出仓后做斜抛运动，在4个方位散开，其运动方式和运动轨迹符合设想。结果表明：增大电机转速可以增大牵引球在水平方向的速度和位移，增大弹簧刚性系数可以增大牵引球在竖直方向上的速度和位移；理想状态下，最佳电机转速为2000 °/s，弹簧刚度系数为80 N/m；与以往系统相比，该无人机回收伞降系统开伞时间仅为1.4033 s，开伞用时至少缩短了0.5 s。Abstract: In order to shorten the time of parachute opening, the ejecting dynamics of the UAV parachute ejection system is studied. By means of high-speed rotation, a traction ball is used to pull the parachute opening to increase the initial area of the opening and accelerate more airflow into the parachute. After building the 3D model of parachute ejection system using Solidworks, it was imported into Adams for kinematics simulation, and the simulation results were analyzed. The results show that the traction ball does oblique throw after ejection and spreads out in four directions. And increasing the motor speed can increase the velocity and displacement of the traction ball in the horizontal direction, and increasing the spring stiffness coefficient can also increase the stiffness and displacement of the traction ball in the vertical direction. Under the ideal condition, the optimal motor speed is 2000 °/s, and the spring stiffness coefficient is 80 N/m. Compared with the previous ejection system, the opening time of the UAV recovery parachute drop system is only 1.4033 s and shortened by at least 0.5 s.
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表 1 零件之间的运动副设置
构件名称 约束作用类型 底座与大地 固定副 底座与推塞 圆柱副 底座与仓壳 旋转副 仓壳与降落伞 圆柱副 推塞与底座 弹簧力 推塞 压力 牵引球1与推塞与降落伞 接触力 牵引球2与推塞与降落伞 接触力 牵引球3与推塞与降落伞 接触力 牵引球4与推塞与降落伞 接触力 
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表 2 其余参数设置
参数 数值 降落伞质量 0.020 kg 小球材质 钢 小球直径 8 mm 仓壳外径 51 mm 仓壳壁厚 2 mm 弹簧刚度 80 N/m 弹簧力函数 Step（time,1,8,1.0001,−8） 预载荷 8 N 转速MOTION_1 −2000 °/s 转速MOTION_2 −2000 °/s 转速MOTION_3 −2000 °/s
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表 3 不同类型降落伞的名义直径和开伞用时
降落伞类型 名义直径/m 开伞用时/s 太阳能无人机伞降系统 3.2 4 多旋翼无人机失控开伞系统 1.2 2.5 无人机伞降回收系统 2.8283 3.8 旋转牵引式降落伞弹射系统 1.3467 1.4033
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