【摘要】 以某挂载多管发射器的小型四旋翼无人机为研究对象，为研究特种弹药发射对四旋翼无人机飞行稳定性造成的影响，建立了特种弹药发射内弹道模型，通过内弹道编程计算获得了该发射器发射某特种弹药产生的后坐冲量。基于牛顿-欧拉方程建立了无人机及多管发射器的六自由度动力学模型，通过Simulink建模计算，获得了四旋翼无人机及多管发射器的姿态与位置变化数据，计算和试验结果符合较好。研究表明：在多种发射工况下，基于PID控制器控制下的四旋翼无人机皆能安全实现特种弹药悬停发射；改变四旋翼无人机机身受到的后坐冲量大小进行数值计算，可得到四旋翼无人机悬停状态下实现安全发射所受到的后坐冲量理论阈值；为四旋翼无人机及挂载多管发射器的研制提供了理论和数据支撑。更多还原

【Abstract】 Taking a small four-rotor UAV with multi-tube launcher as the research object, in order to study the influence of hovering launch of special ammunition on the flight stability of four-rotor UAV,the interior ballistic model of special ammunition launching was established, and the recoil impulse generated by the launcher launching a special ammunition was calculated by interior ballistic programming. Based on Newton-Euler equation, the six-degree-of-freedom dynamic model of UAV and multi-tube launcher was established. Through Simulink modeling calculation, the attitude and position change data of four-rotor UAV and multi-tube launcher were obtained, and the calculated and experimental results are in good agreement. The research shows that under various launch conditions, the four-rotor UAV controlled by PID controller can safely realize hovering launch of special ammunition. The theoretical threshold of recoil impulse for safe launch of four-rotor UAV in hovering state can be obtained by numerical calculation by changing the recoil impulse of four-rotor UAV fuselage. It provides theoretical and data support for the development of four-rotor UAV and multi-tube launcher.更多还原