小型固定翼无人机绳钩回收过程动力学分析

摘要

Rope-hook recovery system ,as a assigned spot and nondestructive recovery program for fixed-wing unmanned aerial vehicle (UAV) ,has developed rapidly both at home and abroad in recent years . In this paper ,two kinds of dynamic model for Rope-hook recovery system are established by parameter-ization .First ,the Lagrange equation of the Rope-hook recovery system is established based on the flexi-ble recovery frame .Secondly ,the multi-body dynamics simulation model of the recovery system based on MSC .ADAMS is established by considering the deformation of the rope and the details of the system structure .The dynamic characteristics of UAV in the recovery process are analyzed .Finally ,the appli-cability and effectiveness of the two dynamic simulation models in the different design stages of the Rope-hook recovery system are determined by comparing the simulation results with the test results .%绳钩回收作为小型固定翼无人机的一种精确定点拦阻无损回收技术,近年来在国内外得到迅速发展.本文以某型无人机的绳钩回收系统为研究对象,对绳钩回收系统进行了参数化处理并建立了两种动力学仿真模型.一是在考虑回收架柔性基础上建立了基于Lagrange方程的绳钩回收系统的动力学仿真模型,二是在考虑绳索变形和系统结构细节基础上建立了基于MSC.ADAMS的绳钩回收系统的多体动力学仿真模型.通过上述两种仿真模型的算例分析以及与某型无人机绳钩回收试验的测试数据作对比,验证了两种动力学仿真模型在绳钩回收系统不同设计阶段的适用性和有效性.