Modeling method of UAV side arm recovery active arresting system based on motor braking

Abstract

The present invention discloses a modeling method for a UAV side arm recovery active arresting system based on motor braking. The arresting system realizes active control of the arresting process by controlling the arresting motor. The conical drum is driven by the arresting motor to release the arresting cable, so that the shipborne UAV can achieve deceleration and precise braking during the recovery process. The modeling method for the side arm recovery arresting system provided by the present invention takes into account the motion characteristics of the UAV in the shipborne recovery arresting system and the coupling effect between the arresting motor and the UAV, constructs a UAV arresting motion and dynamics model and a motor arresting system motion and dynamics model, and provides a modeling method for an arresting mechanism-UAV system during the deceleration process of the cable hanging, providing a highly reliable model for the coordinated control of the UAV and the arresting system during the cable hanging arresting process.

Description

Technical Field

[0001] The present invention relates to a modeling method for a shipborne UAV side arm recovery arresting system based on arresting motor braking, and provides a modeling method for an arresting mechanism-UAV system during the deceleration process of a hanging cable, belonging to the technical field of UAV near-sea landing and recovery. Background Art

[0002] Shipborne UAVs are an important part of modern maritime combat and reconnaissance missions, and the design of their recovery system is of key significance to ensure the safe recovery of UAVs to shipborne platforms. At present, the recovery system of shipborne UAVs usually adopts the traditional arresting cable interception method. The arresting system cannot actively control the arresting process in real time, and it is difficult to achieve stable control of the energy and posture of the entire UAV arresting process. In the actual landing process, the arresting system is affected by the short braking distance of the slide rail, the wide variety of landing aircraft, and the abrupt change in the aerodynamic control efficiency of the UAV decelerated by the hanging cable. The deceleration and braking process after hanging the cable is strictly limited. Therefore, in order to improve the safety of shipborne UAVs during marine recovery, a modeling method for a shipborne UAV side arm recovery arresting system is proposed, which enables the UAV to maintain a stable motion trajectory during the arresting process, ensures the stability and active control of the UAV deceleration process, and improves the arresting efficiency and safety. The present invention is produced under this background. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to provide a modeling method for the active arresting system of the side arm recovery of UAV based on motor braking, and to achieve reliable modeling of the UAV-arresting system in the UAV recovery process through the method based on the arresting motor braking. It provides a new idea and solution for the design and optimization of the shipborne UAV recovery system to meet the requirements of high performance and high reliability of UAV recovery systems for maritime combat and reconnaissance missions.

[0004] Technical solution:

[0005] A modeling method for a UAV side arm recovery active arresting system based on motor braking, the modeling method comprising the following steps;

[0006] Step 1: According to the principle of Newtonian mechanics, the motion state of the UAV after hanging the arresting cable is considered, the force condition of the UAV hanging cable deceleration section is determined, and the arresting dynamics equation of the shipborne UAV is constructed;

[0007] Step 2: Construct the kinematic equation of the shipborne UAV based on the geometric relationship between the arresting cable and the spatial position of the UAV;

[0008] Step 3: Based on the geometric relationship between the arresting cable and the UAV's spatial position in step 2, the influence of the deformation of the arresting cable on the UAV arresting process is considered to construct the arresting cable strain tension model;

[0009] Step 4: Construct the dynamic and kinematic model of the motor-sauron drum and arresting cable according to the active electromagnetic arresting scheme.

[0010] Furthermore, the motion state of the drone after hanging the arresting cable is set as follows: In order to simplify the model calculation without losing accuracy, the following assumptions are made:

[0011] ① The connection point between the drone hook and the drone is located at or near the center of mass of the drone;

[0012] ② The point where the drone is attached after landing is the midpoint of the arresting cable, and the initial speed when attached is perpendicular to the arresting cable;

[0013] ③The influence of the pulley buffer on the movement process of the UAV is not considered.

[0014] Furthermore, the dynamics model of the shipborne UAV arresting motion is:

[0015]

[0016] In the formula, a u =[a ux ,a uh ] T is the longitudinal acceleration of the UAV in the inertial system; m is the mass of the UAV; F t =[F tx ,F th ] T is the engine thrust in the inertial system; F A =[F Ax ,F Ah ] is the aerodynamic force of the UAV in the inertial system; T = [T x ,T h ] T is the arresting cable tension under the inertial system; G xh =[0, mg] is the longitudinal component of gravity.

[0017] Furthermore, the geometric relationship between the arresting cable and the spatial position of the UAV is as follows: the motion process of the UAV can be simplified by the above assumptions and can be regarded as a mass point. At this time, according to the geometric structural relationship when the UAV drives the arresting cable to move after rushing through the arresting cable, the coupling relationship between the UAV speed and the arresting cable extension speed is solved:

[0018]

[0019] Where x,h is the longitudinal position of the UAV during the arrest process; V ux ,V uh is the speed of the drone in the inertial system; V s is the rope extension speed.

[0020] Furthermore, according to the geometric relationship between the arresting cable and the spatial position of the UAV in step 2, the arresting cable tension and the arresting cable pulling force component have the following relationship:

[0021]

[0022] Where, T s To prevent the tension of the arresting cable along the rope direction;

[0023] The strain and tension of the arresting cable can be expressed as follows:

[0024]

[0025] Where ε is the strain coefficient of the arresting cable; E, A are the elastic modulus and cross-sectional area of ​​the arresting cable; r is the radius of the Soren drum.

[0026] Furthermore, in step 4, the active electromagnetic arresting scheme is specifically as follows: in the UAV arresting system, the linear motion of the UAV is converted into the coaxial rotation of the arresting motor and the Solen drum, which drives the Solen drum to retract and release the rope, and the arresting motor uses electromagnetic action to generate a braking torque to achieve deceleration of the UAV.

[0027] The Solon drum is a cylinder with the arresting rope wound around its circumference. The relationship between the UAV's movement speed and the Solon drum's rope-releasing speed is:

[0028]

[0029] In the formula, a s The arresting cable extension speed;

[0030] Establish the relationship between the rope release speed and the angular velocity of the reduction motor:

[0031]

[0032] Get the arresting motor-UAV power and kinematic model:

[0033]

[0034] In the formula, ω m is the angular velocity of the arresting motor; a m is the angular acceleration of the arresting motor; P u =[x,h] T , V=[V ux ,V uh ] T is the longitudinal position and speed of the UAV during the arrest process; B is the system input matrix.

[0035] Beneficial effects:

[0036] The present invention provides a modeling method for a shipborne UAV sidearm recovery arresting system. Considering the influence of the deformation of the arresting cable on the UAV arresting process and the coupling effect between the arresting motor and the UAV, the corresponding motion and dynamic models are established. The arresting process is actively controlled by controlling the arresting motor, which effectively improves the model accuracy and provides a highly reliable model for the coordinated control of the UAV and the arresting system during the cable arresting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 An overall schematic diagram of the side arm recovery system provided by the present invention;

[0038] Figure 2 This is a force analysis diagram of the deceleration section of the UAV hanging cable provided by the present invention;

[0039] Figure 3 A geometrical schematic diagram of the shipborne UAV impact cable provided by the present invention;

[0040] Description of reference numerals:

[0041] 1-reduction motor; 2-sauron drum; 3-pulley reduction group; 4-pulley group; 5-arresting cable. DETAILED DESCRIPTION

[0042] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention is further described in detail below with reference to the accompanying drawings.

[0043] The modeling method of the UAV side arm recovery active arresting system based on motor braking provided in this application has the following specific modeling steps:

[0044] Step 1, construct the shipborne UAV arresting dynamics equation. Considering the motion characteristics of the UAV in the shipborne recovery arresting system, according to the principle of Newtonian mechanics, determine the force of the UAV cable deceleration section. Assuming that the connection point between the UAV cable back hook and the UAV is designed at or near the center of mass of the UAV, the pulling force of the back hook on the UAV on the UAV can be ignored. After the UAV back hook successfully captures the center of the arresting cable, it pulls the arresting cable forward, and the force analysis of the UAV cable deceleration section is performed. The shipborne UAV arresting dynamics model is as follows:

[0045]

[0046] In the formula, a u =[a ux ,a uh ] T is the longitudinal acceleration of the UAV in the inertial system; m is the mass of the UAV; F t =[F tx ,F th ] Tis the engine thrust in the inertial system; F A =[F Ax ,F Ah ] is the aerodynamic force of the UAV in the inertial system; T = [T x ,T h ] T is the arresting cable tension under the inertial system; G xh =[0, mg] is the longitudinal component of gravity.

[0047] Step 2: Construct the kinematic equation of the UAV based on the geometric relationship between the arresting cable and the spatial position of the UAV. Assume that the point where the UAV is attached to the cable after landing is the midpoint of the arresting cable, and the initial speed when attaching the cable is perpendicular to the arresting cable. Based on the geometric structural relationship when the UAV drives the arresting cable to move after rushing through it, we can get:

[0048]

[0049] Where x,h is the longitudinal position of the UAV during the arrest process, d is the actual displacement of the UAV; L is the initial rope length; S is the actual elongation of the rope.

[0050] This allows us to solve for the drone’s position:

[0051]

[0052] By taking the derivative of the above formula, we can get the coupling relationship between the UAV speed and the rope speed:

[0053]

[0054] Where V x ,V h is the speed of the drone; V s is the rope extension speed.

[0055] Step 3: Construct the arresting cable strain tension model. Based on the state relationship between the arresting cable and the UAV obtained in step 2, considering the influence of the deformation of the arresting cable on the arresting process of the UAV, and combining the geometric relationship of the arresting cable, it can be concluded that the arresting cable tension and the arresting cable pull component have the following relationship:

[0056]

[0057] Where, T s To prevent the tension of the arresting cable along the rope direction.

[0058] At this time, the strain coefficient and tension of the arresting cable can be expressed as follows:

[0059]

[0060] Where x,h is the longitudinal position of the UAV during the arrest process; V ux ,Vuh is the speed of the drone in the inertial system; V s is the rope extension speed.

[0061] Step 4: By sorting out the active electromagnetic arresting scheme, the dynamic and kinematic model of the motor-sauron drum and the arresting cable is constructed. In the UAV arresting system, the linear motion of the UAV is converted into the coaxial rotation of the arresting motor and the solen drum, which drives the solen drum to retract and release the rope. The arresting motor uses electromagnetic action to generate braking torque to achieve the deceleration of the UAV.

[0062] The Solon drum is usually cylindrical, with the arresting rope wound around its circumference. The relationship between the UAV's movement speed and the Solon drum's rope release speed is:

[0063]

[0064] In the formula, a x ,a h is the speed of the drone; a s The arresting cable extension speed.

[0065] In order to facilitate control, it is necessary to establish the relationship between the rope release speed and the angular velocity of the reduction motor:

[0066]

[0067] Thus, the arresting motor-UAV power and kinematic model is obtained:

[0068]

[0069] In the formula, ω m is the angular velocity of the arresting motor; a m is the angular acceleration of the blocking motor; r is the radius of the motor hub, P u =[x,h] T , V=[V ux ,V uh ] T is the longitudinal position and speed of the UAV during the arrest process; B is the system input matrix.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Several modifications and changes may be made without departing from the principles of the present invention. These improvements and detailed adjustments should also be considered to be within the scope of protection of the present invention.

Claims

1. A modeling method for a UAV side arm recovery active arresting system based on motor braking, characterized in that: The modeling method comprises the following steps: Step 1: According to the principle of Newtonian mechanics, the motion state of the UAV after hanging the arresting cable is considered, the force condition of the UAV hanging cable deceleration section is determined, and the arresting dynamics equation of the shipborne UAV is constructed; Step 2: Construct the kinematic equation of the shipborne UAV based on the geometric relationship between the arresting cable and the spatial position of the UAV; The geometric relationship between the arresting cable and the spatial position of the UAV is as follows: after simplifying the motion process of the UAV, the motion process of the UAV is regarded as a mass point. At this time, according to the geometric structure relationship when the UAV drives the arresting cable to move after rushing through the arresting cable, the coupling relationship between the UAV speed and the arresting cable extension speed is solved: Where x,h is the longitudinal position of the UAV during the arrest process; V ux ,V uh is the speed of the drone in the inertial system; V s is the rope extension speed; The geometric relationship between the arresting cable and the spatial position of the UAV results in the following relationship between the arresting cable tension and the arresting cable pulling force component: Where, T s To prevent the tension of the arresting cable along the rope direction; The strain and tension of the arresting cable are expressed as follows: Where ε is the strain coefficient of the arresting cable; E and A are the elastic modulus and cross-sectional area of ​​the arresting cable; r is the radius of the Solon drum; Step 3: Based on the geometric relationship between the arresting cable and the UAV's spatial position in step 2, the influence of the deformation of the arresting cable on the UAV arresting process is considered to construct the arresting cable strain tension model; Step 4: Construct the dynamic and kinematic model of the motor-sauron drum and arresting cable according to the active electromagnetic arresting scheme.

2. According to the modeling method of the UAV side arm recovery active arresting system based on motor braking according to claim 1, it is characterized in that: The dynamics model of the shipborne UAV arresting motion is: In the formula, a u =[a ux ,a uh ] T is the longitudinal acceleration of the UAV in the inertial system; m is the mass of the UAV; F t =[F tx ,F th ] T is the engine thrust in the inertial system; F A =[F Ax ,F Ah ] is the aerodynamic force of the UAV in the inertial system; T = [T x ,T h ] T is the arresting cable tension under the inertial system; G xh =[0, mg] is the longitudinal component of gravity.

3. The modeling method of the UAV side arm recovery active arresting system based on motor braking according to claim 1 is characterized in that: In step 4, the active electromagnetic arresting scheme is specifically as follows: in the drone arresting system, the linear motion of the drone is converted into the coaxial rotation of the arresting motor and the Solen drum, which drives the Solen drum to retract and release the rope, and the arresting motor uses electromagnetic action to generate braking torque to achieve deceleration of the drone; The Solon drum is a cylinder with the arresting rope wound around its circumference. The relationship between the UAV's movement speed and the Solon drum's rope-releasing speed is: In the formula, a s The arresting cable extension speed; Establish the relationship between the rope release speed and the angular velocity of the reduction motor: Get the arresting motor-UAV power and kinematic model: In the formula, ω m is the angular velocity of the arresting motor; a m is the angular acceleration of the arresting motor; P u =[x,h] T , V=[V ux ,V uh ] T is the longitudinal position and speed of the UAV during the arrest process; B is the system input matrix.

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