Design and Simulation of Folding Wing UAV Cluster Launch Device
-
摘要: 为了充分发挥无人机集群作战的优势,能够在复杂环境和多样任务下快速、可靠地完成无人机集群发射任务,设计了一种折叠翼无人机集群发射装置。首先通过分析无人机发射过程主要性能指标,进行群发原理研究及装置总体布置。以发射技术指标作为输入,确定装置的动力匹配方案,基于几何学和运动学关系完成各机构的详细设计,利用偏心块组件和间歇机构的协调配合,将电机的动力分时分段传输给发射机构和输送机构,储能弹簧循环弹射无人机。最后利用LMS Virtual.Lab软件进行多体动力学建模仿真,仿真结果表明:电机功率、无人机发射速度和发射频率满足设计要求,设计方案具有可行性。Abstract: In order to give full play to the advantages of unmanned aerial vehicle cluster operation and complete the UAV cluster launch task quickly and reliably in complex environment and various tasks, a folding wing UAV cluster launch device is designed in this paper. Firstly, by analyzing the main performance indicators of UAV launch process, the principle of group launch and the overall arrangement of the device are studied. Taking the launch technical index as the input, the power matching scheme of the device is determined. Based on the geometry and kinematics relationship, the detailed design of each mechanism is completed. Using the coordination of eccentric block components and intermittent mechanism, the power of the motor is transmitted to the launch mechanism and transmission mechanism in time and section, and the energy storage spring is used to cycle eject the UAV. Finally, LMS Virtual.Lab software is used for multi-body dynamics modeling and simulation, the simulation results show that the motor power, UAV launch speed and launch frequency meet the design requirements, and the design scheme is feasible.
-
Key words:
- folding wing UAV /
- cluster launch /
- mechanism design /
- multi-body dynamics /
- modeling and simulation
-
表 1 无人机集群发射主要性能指标
指标 数值 无人机质量mw/kg 10 发射频率f/(架·min−1) 30 发射速度Vw/(km·h−1) 100 发射数量Q/个 30 表 2 电机型号详细参数
参数 数值 额定功率P/kW 22 额定电流I/A 42.2 额定转速ne/(r·min−1) 2800 表 3 压缩弹簧主要参数
参数 数值 材料直径d/mm 40 弹簧中径D/mm 260 有效圈数n 6.5 自由高度H0/mm 680 弹簧刚度F'/(N·mm−1) 221 最大芯轴直径Dxmax/mm 207 最小套筒直径Drmin/mm 313 最大形变量fn/mm 259 表 4 传动系统传动比分配方案
传动比名称 数值 齿轮a与齿轮b之间的传动比${i_1}$ 3.5 齿轮c与齿轮d之间的传动比${i_2}$ 5.2 齿轮e与齿轮f、h之间的传动比${i_3}$ 5.1 -
[1] 杨中英, 王毓龙, 赖传龙. 无人机蜂群作战发展现状及趋势研究[J]. 飞航导弹, 2019(5): 34-38.YANG Z Y, WANG Y L, LAI C L. Research on the development status and trend of UAV swarm combat[J]. Aerodynamic Missile Journal, 2019(5): 34-38. (in Chinese) [2] 贾永楠, 田似营, 李擎. 无人机集群研究进展综述[J]. 航空学报, 2020, 41(S1): 723738.JIA Y N, TIAN S Y, LI Q. Recent development of unmanned aerial vehicle swarms[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(S1): 723738. (in Chinese) [3] MESHCHERYAKOV R V, TREFILOV P M, CHEKHOV A V, et al. An application of swarm of quadcopters for searching operations[J]. IFAC-PapersOnLine, 2019, 52(25): 14-18. doi: 10.1016/j.ifacol.2019.12.438 [4] 孙盛智, 常会振, 郑卫娟, 等. 空中协同作战模式及关键技术[J]. 兵器装备工程学报, 2020, 41(7): 177-181. doi: 10.11809/bqzbgcxb2020.07.035SUN S Z, CHANG H Z, ZHENG W J, et al. Air coordination mode and key technology[J]. Journal of Ordnance Equipment Engineering, 2020, 41(7): 177-181. (in Chinese) doi: 10.11809/bqzbgcxb2020.07.035 [5] 鲍传美, 刘长亮, 孙烨, 等. 无人机发射技术及其发展[J]. 飞航导弹, 2012(2): 56-60.BAO C M, LIU C L, SUN Y, et al. UAV lanch technology and its development[J]. Aerodynamic Missile Journal, 2012(2): 56-60. (in Chinese) [6] 袁新波, 江多琨, 周前进, 等. 某型迫击炮射无人机应用研究[J]. 兵器装备工程学报, 2018, 39(6): 105-109. doi: 10.11809/bqzbgcxb2018.06.022YUAN X B, JIANG D K, ZHOU Q J, et al. Research on the application of a mortar-launched unmanned aerial vehicle[J]. Journal of Ordnance Equipment Engineering, 2018, 39(6): 105-109. (in Chinese) doi: 10.11809/bqzbgcxb2018.06.022 [7] 苌军红, 李便花, 潘会平, 等. 某型火工品作用失效研究[J]. 新技术新工艺, 2017(3): 78-81. doi: 10.16635/j.cnki.1003-5311.2017.03.023CHANG J H, LI B H, PAN H P, et al. Study on a type of pyrotechnics effect failure[J]. New Technology & New Process, 2017(3): 78-81. (in Chinese) doi: 10.16635/j.cnki.1003-5311.2017.03.023 [8] 李悦, 裴锦华. 无人机气液压发射动力学数值仿真[J]. 机械工程学报, 2011, 47(8): 183-190. doi: 10.3901/JME.2011.08.183LI Y, PEI J H. Dynamic numerical simulation of the pneumatic and hydraulic launching of UAV[J]. Journal of Mechanical Engineering, 2011, 47(8): 183-190. (in Chinese) doi: 10.3901/JME.2011.08.183 [9] 黄国勤, 罗莎祁, 于今. 小型无人机气动肌腱式弹射系统动态仿真与优化[J]. 中国机械工程, 2019, 30(4): 448-454. doi: 10.3969/j.issn.1004-132X.2019.04.010HUANG G Q, LUO S Q, YU J. Dynamic simulation and optimization of pneumatic tendon ejection systems for small UAVs[J]. China Mechanical Engineering, 2019, 30(4): 448-454. (in Chinese) doi: 10.3969/j.issn.1004-132X.2019.04.010 [10] 曹亚光, 尹文军. 无人机液压弹射系统仿真研究[J]. 液压与气动, 2017(7): 90-95. doi: 10.11832/j.issn.1000-4858.2017.07.017CAO Y G, YIN W J. Simulation research on UAV hydraulic launching system[J]. Chinese Hydraulics & Pneumatics, 2017(7): 90-95. (in Chinese) doi: 10.11832/j.issn.1000-4858.2017.07.017 [11] 王湘, 吴峻, 孟庆富. 一种无人机连发型电磁弹射系统的设计[J]. 火力与指挥控制, 2021, 46(4): 141-146. doi: 10.3969/j.issn.1002-0640.2021.04.026WANG X, WU J, MENG Q F. Design of a continuous electromagnetic ejection system for UAV[J]. Fire Control & Command Control, 2021, 46(4): 141-146. (in Chinese) doi: 10.3969/j.issn.1002-0640.2021.04.026 [12] 安佳宁. 某型无人机火箭助推发射系统设计及分析[J]. 指挥控制与仿真, 2019, 41(4): 120-125. doi: 10.3969/j.issn.1673-3819.2019.04.023AN J N. Launch system design and analysis for unmanned aerial vehicle with rocket Booster[J]. Command Control & Simulation, 2019, 41(4): 120-125. (in Chinese) doi: 10.3969/j.issn.1673-3819.2019.04.023 [13] 曹莉, 耿斌斌, 周亮, 等. 无人机集群发射与回收技术发展研究[J]. 空天防御, 2019, 2(2): 68-72. doi: 10.3969/j.issn.2096-4641.2019.02.012CAO L, GENG B B, ZHOU L, et al. Research on UAVS launch and recovery technology development[J]. Air & Space Defense, 2019, 2(2): 68-72. (in Chinese) doi: 10.3969/j.issn.2096-4641.2019.02.012 [14] 魏长旭, 宋朝省, 朱才朝, 等. 电动车高速轮边减速器传动效率建模与分析[J]. 重庆大学学报, 2019, 42(4): 1-8. doi: 10.11835/j.issn.1005-2909.2019.04.001WEI C X, SONG C S, ZHU C C, et al. Modeling and analysis of transmission efficiency of high-speed wheel speed reducer for electric vehicles[J]. Journal of Chongqing University, 2019, 42(4): 1-8. (in Chinese) doi: 10.11835/j.issn.1005-2909.2019.04.001 [15] 王源, 张耀成, 杨兆建, 等. 转盘式间歇运动机构的设计与特性分析[J]. 机械设计与制造, 2020(11): 1-4. doi: 10.3969/j.issn.1001-3997.2020.11.001WANG Y, ZHANG Y C, YANG Z J, et al. Design and characteristic analysis of turntable intermittent motion mechanism[J]. Machinery Design & Manufacture, 2020(11): 1-4. (in Chinese) doi: 10.3969/j.issn.1001-3997.2020.11.001 [16] XU W P. Structure optimization design of transmission system of shearer cutter based on genetic algorithm[J]. Journal of Physics:Conference Series, 2021, 1952(4): 042106. doi: 10.1088/1742-6596/1952/4/042106 [17] 白昀博, 许锋. 基于LMS Virtual Lab的一种折叠机翼动力学仿真[J]. 机械设计与制造工程, 2015, 44(1): 29-32. doi: 10.3969/j.issn.2095-509X.2015.01.007BAI Y B, XU F. The dynamic simulation of a folding wing based on LMS Virtual lab[J]. Machine Design and Manufacturing Engineering, 2015, 44(1): 29-32. (in Chinese) doi: 10.3969/j.issn.2095-509X.2015.01.007