Coaxial multi-rotor simulation method and system

A simulation method and multi-rotor technology, applied in the field of helicopter simulation, can solve the problem of difficult balance between coaxial multi-rotor accuracy and real-time performance

Active Publication Date: 2019-08-23
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 2. Time lag of rotor wake
[0007] Due to the strong nonlinearity of the system and the influence of the time-lag of the rotor wake, the calculation of the thrust of the coaxial multi-rotor has the problem of both accuracy and real-time performance.

Method used

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  • Coaxial multi-rotor simulation method and system
  • Coaxial multi-rotor simulation method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0060] figure 1 It is a method flow chart of the coaxial multi-rotor simulation method in Embodiment 1 of the present invention.

[0061] see figure 1 , the coaxial multi-rotor simulation method, including:

[0062] Step 101: Obtain real-time flight parameters and real-time rotor properties of the coaxial multi-rotor helicopter;

[0063] Step 102: Input the real-time flight parameters and the real-time rotor attributes into the pre-established coaxial N-rotor finite state model to obtain the induced speed of each rotor and the flapping angle and angular acceleration of each blade;

[0064] Step 103: Calculate the thrust of each rotor of the coaxial multi-rotor helicopter according to the induced speed combined with the real-time flight parameters;

[0065] Step 104: Substituting the thrust of each rotor into the flight motion equation for solution to obtain the attitude and position of the coaxial multi-rotor helicopter;

[0066] Step 105: Simulate the coaxial multi-rotor ...

Embodiment 2

[0083] This embodiment 2 is a further optimization of the embodiment.

[0084] A finite state model of a coaxial N-rotor is established. The finite state model of coaxial N-rotors is used to calculate the induced velocity of each rotor as well as the flapping angle and angular acceleration of each blade. The input quantities of the coaxial N-rotor finite state model include flight parameters and rotor properties. Specifically: the attitude of the coaxial multi-rotor helicopter, flight motion parameters, throttle amount, total moment of each rotor, lateral and longitudinal periodic moment change, etc. Throttle volume is used to calculate RPM. The pitch can be calculated from the total rotor moment, lateral and longitudinal cyclic torque. The establishment of the finite state model of the coaxial N-rotor includes two processes: 1) the determination of the mixing velocity of the induced velocity of the full flow field of the rotor; 2) the determination of the finite state mode...

Embodiment 3

[0151] Figure 5 It is a system structure diagram of the coaxial multi-rotor simulation system in Embodiment 3 of the present invention.

[0152] see Figure 5 , the coaxial multi-rotor simulation system includes:

[0153] An acquisition module 501, configured to acquire real-time flight parameters and real-time rotor attributes of the coaxial multi-rotor helicopter;

[0154] The input module 502 is used to input the real-time flight parameters and the real-time rotor attributes into the pre-established coaxial N rotor finite state model to obtain the induced speed of each rotor and the flapping angle and angular acceleration of each blade;

[0155] The thrust calculation module 503 is used to calculate the thrust of each rotor of the coaxial multi-rotor helicopter according to the induced speed combined with the real-time flight parameters;

[0156] The attitude position calculation module 504 is used to substitute the thrust of each rotor into the flight motion equation t...

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Abstract

The invention discloses a coaxial multi-rotor simulation method and system. The method comprises the following steps: inputting real-time flight parameters and real-time rotor attributes into a coaxial N-rotor finite state model to obtain the induction speed of each rotor and the waving angle and angular acceleration of each blade; calculating the thrust of each rotor wing according to the induction speed in combination with the real-time flight parameters; substituting the thrust into the flight motion equation for resolving to obtain an attitude and a position; performing simulation according to the waving angle and angular acceleration of each blade and the attitude and position; the establishment process of the model comprises the following steps: establishing a single-rotor finite-state model for expressing the relationship among flight parameters, rotor attributes, induction speeds, segmented lift forces of all blades, swing angles of all the blades and angular accelerations; determining a load formula according to the load change of the single rotor wing under the influence of the induced speed of the surrounding rotor wings; and creating a coaxial N-rotor finite state modelaccording to the single-rotor finite state model and a load formula. According to the invention, simulation precision and real-time performance can be considered.

Description

technical field [0001] The invention relates to the field of helicopter simulation, in particular to a coaxial multi-rotor simulation method and system. Background technique [0002] The real-time calculation of the thrust and flap angle of the coaxial multi-rotor is one of the important links in the flight simulation of the coaxial multi-rotor, and the thrust of the coaxial multi-rotor is also the main power source of the coaxial multi-rotor helicopter. The real-time calculation of the thrust of the coaxial multi-rotor is relatively difficult, mainly manifested in the following two points: [0003] 1. Strong nonlinearity of the system [0004] Due to the short distance between the rotors, there is a strong mutual interference phenomenon in the flow field. Each rotor inflow will be affected by the upwash or wake of other rotors, and the intensity of the influence varies with time. Due to the real-time fluctuation of the inflow, each rotor will cause the fluctuation of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50B64F5/00
CPCB64F5/00G06F30/15G06F30/23
Inventor 黄健哲敬忠良董鹏潘汉
Owner SHANGHAI JIAO TONG UNIV
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