采用摆振柔软式旋翼的倾转旋翼机动力学研究
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摘要
倾转旋翼飞行器兼具直升机高效垂直起降与固定翼螺旋桨飞机高速巡航特点。由于其特殊的结构与工作特点，其动力学特性也类似于传统直升机与固定翼螺旋桨飞机，同时倾转旋翼机具备特殊的倾转过渡模式，倾转过渡飞行模式下存在更加复杂的气弹耦合现象。本文建立了考虑机体自由度在内的倾转旋翼机气弹分析模型，对倾转旋翼飞行器在直升机模式，过渡模式以及飞机模式下进行气弹耦合分析。
基于Hamilton能量原理，利用多体系统动力学的方法，对系统各部件进行运动学描述。建立考虑机体自由度的倾转旋翼机气弹动力学全展模型，充分考虑结构的各种偏置，刚柔耦合与气弹耦合。在对动力学部件进行运动学描述以及气弹耦合动力学建模与方程推导过程中，保留所有非线性项与高阶项的影响。可对起落架，倾转机构，阻尼器等部件的力学性能（包括刚度，阻尼）进行独立赋值，也可基于滞弹位移场理论进行粘弹阻尼器建模，与气弹动力学方程耦合求解。对机翼大梁采用中等变形梁理论进行有限元建模，考虑复合材料梁耦合特性的影响，可通过基于剪裁设计的复合材料梁理论对机翼大梁进行结构建模。基于叶素理论，采用考虑动态失速的Leishman与ONERA非定常气动模型以及动力入流模型对旋翼气动力进行建模。通过将左右两侧旋翼/短舱/机翼气弹耦合动力学方程与机体方程进行组集，构成考虑机体自由度在内的倾转旋翼机耦合气弹动力学方程。采用广义方法结合Newton-Raphson迭代对倾转旋翼气弹动力学方程进行瞬态响应高效求解。
对建立的倾转旋翼机气弹动力学综合分析平台中所用模型进行验证。对复杂几何外形桨叶在不同根部约束条件下进行理论与试验对比研究，并进一步对带有复杂几何外形桨叶的万向铰式旋翼进行整体模态的理论分析与试验验证。在不同铺层角下，对盒形复合材料梁耦合特性进行理论分析，并与静力试验值进行对比验证。基于滞弹位移场理论在多种激励条件下对粘弹阻尼器的刚度特性与能量耗散能力进行理论分析，与设计加工的粘弹阻尼器试验值进行对比验证。采用Leishman与ONERA非定常气动模型进行剖面气动力建模，在不同迎角变化规律下，与国外文献计算值和相应实验值进行对比，验证建模方法的正确性。通过各模块理论分析与试验测量对比，达到对倾转旋翼机气弹动力学模型综合验证的目的。
对摆振柔软式倾转旋翼机在飞机模式，直升机模式以及倾转过渡模式下进行气弹稳定性分析。考虑机体自由度与机翼对称/反对称模态的影响，重点对摆振柔软式倾转旋翼机在多种工作状态下的“地面共振”，空中共振与回转颤振等不稳定现象进行多种参数影响分析。对不同旋翼构型与建模方式下的倾转旋翼机气弹动力学模型稳定性进行对比研究。通过系统耦合关系对摆振柔软式倾转旋翼机气弹稳定性问题的机理进行深入探讨。
针对摆振柔软式倾转旋翼机气弹动力学模型进行瞬态响应分析。在直升机模式下，进行摆振柔软倾转旋翼机“地面共振”和地面开车过程的仿真研究。在飞机模式下，进行回转颤振与阵风扰动的瞬态响应分析。动态倾转过渡过程中，对不同结构参数、倾转角与旋翼转速变化规律，以及飞行状态的影响进行瞬态响应对比研究。
通过建立倾转旋翼机气弹分析模型，重点对摆振柔软式倾转旋翼机在飞机模式、直升机模式以及倾转过渡模式下进行稳定性分析与瞬态响应计算。对三种常见工作模式下的参数影响与多种复杂工作状态下的动态响应进行对比研究，发现一些有价值的规律和有意义的结论，这些结论对倾转旋翼机的进一步发展提供理论支持，并对倾转旋翼机动力学设计的工程实践具有一定的指导意义。
Combining the operating features of vertical take-off and landing capability of a helicopter withthe high-speed and long-range of a conventional fixed-wing aircraft, tiltrotors aircraft has its ownoperating features. These unique characters are determined by its configuration features. Due to these,the tiltrotor is subject to aeroelastic dynamical problems of the two aircrafts, and in addition, it mayencounter more complex aeroelastic instability problems like Inertia force and unsteady aerodynamiccondition during transition flight. To address these problems, full-span soft-inplane tiltrotor model isestablished with consideration of fuselage. Aeroelastical analysis is made in helicopter, airplane andconversion flight condition.
Based on Hamilton Principle, taking structure offsets, rigid-flexible, aeroelastic coupling, theimpact of nonlinear and higher order terms into consideration, the components of system aredescribed in kinematics by the method of multibody dynamics. The elastic and dampling componentsare modeled by assigning mechanical properties (stiffness and damping) of landing gear, tilt-hinge,and lag damper independently, or by putting it into viscoelastic damper and being solved withaeroelastic dynamics equations. Dynamic-inflow is employed. Airfoil unsteady aerodynamic model isused to simulate complex aerodynamic environment of tiltrotor aircraft. Leishman and ONERAunsteady aerodynamic models are employed. Metal beam and tailored composite box-beam are usedto model wing beam. Then the right and left rotor/pylon/wing aeroelastic coupled equations combinedwith fuselage equations can be used to constitute full-span soft-inplane tiltrotor aeroelastic dynamicsequations. The method of generalized-combined with Newton iteration is used to improve theefficiency of solving aeroelastic dynamics equations for transient response.
In order to ensure the correctness of submodules of full-span soft-inplane tiltrotor model, eachtheory modeling is supposed to be verified. Theory analysis results of advanced geometry blade arecompared with experimental results in different root restraints. Furthermore, integral modes ofgimbaled rotor with advanced geometry blades are analyzed theoretically and measured. For differentcomposite plys, coupling properties of tailored composite box-beam are discussed by comparison withtheoretical analysis and experiments. Viscoelastic dampers are measured in multiple-excitation cases.Stiffness characteristic and ability of energy dissipation of dampers are studied in anelasticdisplacement field theory. Leishman and ONERA unsteady aerodynamic models are employed in foilsection aerodynamic analysis. Aerodynamic coefficients of calculation are compared with foreign research literatures in various changing laws of angles of attack. In conclusion, the above processreaches the goal of validating the every submodules.
Aerolatic stability of full-span soft-inplane tiltrotor model also needs analyzing in various flightconditions like helicopter, airplane and conversion. In airplane mode, parameters influence on whirlflutter of full-span soft-inplane tiltrotor are discussed, and compared with analysis results ofsemi-span gimbaled tiltrotor. In helicopter mode, parameters influence on ground resonanceaeroelastic stability of full-span soft-inplane tiltrotor model are studied. Aeroelastic stability offull-span soft-inplane tiltrotor is researched in different nacelle tilting angles and forward speeds.
Transient response analysis of full-span soft-inplane tiltrotor model is made. Ground resonanceand rotor starting process on ground are researched by transient response of full-span soft-inplanetiltrotor model in helicopter mode. Transient response of whirl flutter and gust disturbance arediscussed in airplane mode. Transient response of full-span soft-inplane tiltrotor model is analyzed invarious structure parameters, nacelle tilting angles, changing laws of rotor speed, flight conditions.
Aeroelastic stability and transient response analysis is made by established full-spansoft-inplane tiltrotor aeroelastic dynamical model in helicopter, airplane and conversion flightcondition. Some valuable conclusions of full-span soft-inplane tiltrotor are summarized by analyzingparameters influence on aeroelastic stability and transient response in three common operating modes.Essential laws have guiding significance in engineering practice of dynamic design.
基于Hamilton能量原理，利用多体系统动力学的方法，对系统各部件进行运动学描述。建立考虑机体自由度的倾转旋翼机气弹动力学全展模型，充分考虑结构的各种偏置，刚柔耦合与气弹耦合。在对动力学部件进行运动学描述以及气弹耦合动力学建模与方程推导过程中，保留所有非线性项与高阶项的影响。可对起落架，倾转机构，阻尼器等部件的力学性能（包括刚度，阻尼）进行独立赋值，也可基于滞弹位移场理论进行粘弹阻尼器建模，与气弹动力学方程耦合求解。对机翼大梁采用中等变形梁理论进行有限元建模，考虑复合材料梁耦合特性的影响，可通过基于剪裁设计的复合材料梁理论对机翼大梁进行结构建模。基于叶素理论，采用考虑动态失速的Leishman与ONERA非定常气动模型以及动力入流模型对旋翼气动力进行建模。通过将左右两侧旋翼/短舱/机翼气弹耦合动力学方程与机体方程进行组集，构成考虑机体自由度在内的倾转旋翼机耦合气弹动力学方程。采用广义方法结合Newton-Raphson迭代对倾转旋翼气弹动力学方程进行瞬态响应高效求解。
对建立的倾转旋翼机气弹动力学综合分析平台中所用模型进行验证。对复杂几何外形桨叶在不同根部约束条件下进行理论与试验对比研究，并进一步对带有复杂几何外形桨叶的万向铰式旋翼进行整体模态的理论分析与试验验证。在不同铺层角下，对盒形复合材料梁耦合特性进行理论分析，并与静力试验值进行对比验证。基于滞弹位移场理论在多种激励条件下对粘弹阻尼器的刚度特性与能量耗散能力进行理论分析，与设计加工的粘弹阻尼器试验值进行对比验证。采用Leishman与ONERA非定常气动模型进行剖面气动力建模，在不同迎角变化规律下，与国外文献计算值和相应实验值进行对比，验证建模方法的正确性。通过各模块理论分析与试验测量对比，达到对倾转旋翼机气弹动力学模型综合验证的目的。
对摆振柔软式倾转旋翼机在飞机模式，直升机模式以及倾转过渡模式下进行气弹稳定性分析。考虑机体自由度与机翼对称/反对称模态的影响，重点对摆振柔软式倾转旋翼机在多种工作状态下的“地面共振”，空中共振与回转颤振等不稳定现象进行多种参数影响分析。对不同旋翼构型与建模方式下的倾转旋翼机气弹动力学模型稳定性进行对比研究。通过系统耦合关系对摆振柔软式倾转旋翼机气弹稳定性问题的机理进行深入探讨。
针对摆振柔软式倾转旋翼机气弹动力学模型进行瞬态响应分析。在直升机模式下，进行摆振柔软倾转旋翼机“地面共振”和地面开车过程的仿真研究。在飞机模式下，进行回转颤振与阵风扰动的瞬态响应分析。动态倾转过渡过程中，对不同结构参数、倾转角与旋翼转速变化规律，以及飞行状态的影响进行瞬态响应对比研究。
通过建立倾转旋翼机气弹分析模型，重点对摆振柔软式倾转旋翼机在飞机模式、直升机模式以及倾转过渡模式下进行稳定性分析与瞬态响应计算。对三种常见工作模式下的参数影响与多种复杂工作状态下的动态响应进行对比研究，发现一些有价值的规律和有意义的结论，这些结论对倾转旋翼机的进一步发展提供理论支持，并对倾转旋翼机动力学设计的工程实践具有一定的指导意义。
Combining the operating features of vertical take-off and landing capability of a helicopter withthe high-speed and long-range of a conventional fixed-wing aircraft, tiltrotors aircraft has its ownoperating features. These unique characters are determined by its configuration features. Due to these,the tiltrotor is subject to aeroelastic dynamical problems of the two aircrafts, and in addition, it mayencounter more complex aeroelastic instability problems like Inertia force and unsteady aerodynamiccondition during transition flight. To address these problems, full-span soft-inplane tiltrotor model isestablished with consideration of fuselage. Aeroelastical analysis is made in helicopter, airplane andconversion flight condition.
Based on Hamilton Principle, taking structure offsets, rigid-flexible, aeroelastic coupling, theimpact of nonlinear and higher order terms into consideration, the components of system aredescribed in kinematics by the method of multibody dynamics. The elastic and dampling componentsare modeled by assigning mechanical properties (stiffness and damping) of landing gear, tilt-hinge,and lag damper independently, or by putting it into viscoelastic damper and being solved withaeroelastic dynamics equations. Dynamic-inflow is employed. Airfoil unsteady aerodynamic model isused to simulate complex aerodynamic environment of tiltrotor aircraft. Leishman and ONERAunsteady aerodynamic models are employed. Metal beam and tailored composite box-beam are usedto model wing beam. Then the right and left rotor/pylon/wing aeroelastic coupled equations combinedwith fuselage equations can be used to constitute full-span soft-inplane tiltrotor aeroelastic dynamicsequations. The method of generalized-combined with Newton iteration is used to improve theefficiency of solving aeroelastic dynamics equations for transient response.
In order to ensure the correctness of submodules of full-span soft-inplane tiltrotor model, eachtheory modeling is supposed to be verified. Theory analysis results of advanced geometry blade arecompared with experimental results in different root restraints. Furthermore, integral modes ofgimbaled rotor with advanced geometry blades are analyzed theoretically and measured. For differentcomposite plys, coupling properties of tailored composite box-beam are discussed by comparison withtheoretical analysis and experiments. Viscoelastic dampers are measured in multiple-excitation cases.Stiffness characteristic and ability of energy dissipation of dampers are studied in anelasticdisplacement field theory. Leishman and ONERA unsteady aerodynamic models are employed in foilsection aerodynamic analysis. Aerodynamic coefficients of calculation are compared with foreign research literatures in various changing laws of angles of attack. In conclusion, the above processreaches the goal of validating the every submodules.
Aerolatic stability of full-span soft-inplane tiltrotor model also needs analyzing in various flightconditions like helicopter, airplane and conversion. In airplane mode, parameters influence on whirlflutter of full-span soft-inplane tiltrotor are discussed, and compared with analysis results ofsemi-span gimbaled tiltrotor. In helicopter mode, parameters influence on ground resonanceaeroelastic stability of full-span soft-inplane tiltrotor model are studied. Aeroelastic stability offull-span soft-inplane tiltrotor is researched in different nacelle tilting angles and forward speeds.
Transient response analysis of full-span soft-inplane tiltrotor model is made. Ground resonanceand rotor starting process on ground are researched by transient response of full-span soft-inplanetiltrotor model in helicopter mode. Transient response of whirl flutter and gust disturbance arediscussed in airplane mode. Transient response of full-span soft-inplane tiltrotor model is analyzed invarious structure parameters, nacelle tilting angles, changing laws of rotor speed, flight conditions.
Aeroelastic stability and transient response analysis is made by established full-spansoft-inplane tiltrotor aeroelastic dynamical model in helicopter, airplane and conversion flightcondition. Some valuable conclusions of full-span soft-inplane tiltrotor are summarized by analyzingparameters influence on aeroelastic stability and transient response in three common operating modes.Essential laws have guiding significance in engineering practice of dynamic design.
引文
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