【作者】 王凯；

【导师】 甄子洋；

【作者基本信息】 南京航空航天大学 ， 工程硕士（专业学位）， 2021， 硕士

【摘要】 随着反舰导弹在现代海战中的广泛应用,海军对舰船反导手段的需求与日俱增。本文以一种应用于舰船反导的新构型低成本弹射式共轴双旋翼直升机为研究对象,重点开展了飞行器的结构设计、建模仿真、飞行控制系统设计和试飞验证优化等研究工作。首先,针对新构型弹射式共轴双旋翼直升机的任务需求,开展了性能指标估算,关键部件选型,机体结构以及辅助测试机构的设计工作。并利用CATIA软件对各个部件进行了模拟装配,强度分析,计算了整机关键力学参数。其次,建立了共轴双旋翼直升机的动力学模型,并设计了基于PID结构的姿态控制律,速度控制律以及位置控制律,通过闭环仿真验证了控制律的动静态性能满足预定性能指标要求。对弹射起飞段的姿态控制和模式转换进行了探讨,并提出了一种基于调姿降落伞与预紧扭簧的技术方案。最后,设计了一套共轴双旋翼直升机飞行控制系统,利用专门设计的面辅助测试设备对整机进行地面测试,验证各系统的可靠性,对控制参数进行优化。通过实飞对整机控制系统进一步优化,最终实现了共轴直升机在增稳模式、定点模式以及航线模式下的稳定飞行。最后进行了极限性能测试,验证了实际性能与设计指标相符合。更多还原

【Abstract】 With the widespread application of anti-ship missiles in modern naval warfare,the Navy’s demand for the effective methods of missile defense is increasing.In this thesis,we designed and built a novel but low-cost coaxial copter to defend the fleet from the threat of anti-ship missiles.First of all,concept designing is conducted based on mission requirements.Then the detailed requests for the components can be estimated.After that,we chose the most important parts of the copter.Then we designed the whole structure of the copter by CATIA.Some auxiliary test facilities for the copter were also designed and built.Once the designing work is accomplished,the 3D model has been strictly tested to make sure its structure is strong enough.Furthermore,we got the important variables of the copter such as moment of inertial and the exact position of the center of gravity by the CAD software.Combine these parameters with the information of the power system and the rotor blades,the dynamic model of the whole copter can be established in MATLAB.After that,the open-loop simulation test has been conducted to help us have a deep understanding of the special copter.According to the PID theory,we have designed the control law for the novel coaxial copter’s attitude controller,rate controller and position controller.Then we used the Simulink tool to test our design results.With this flight control system,the erratic copter could be manipulated by hands in mode Stabilize and could hold its position exactly in mode Loiter and could fly to a planned destination automatically.Besides,attitude adjustment parachute and preloaded torsion spring are applied to the copter to start up as soon as possible after launch.Finally,tests on the ground have been conducted at first.It includes the reliability and endurance test of the reducer,plausibility checks of the flight control system and parameters optimization for the copter’s control system.Then,flight test has been conducted.Control input and the response of the copter was analyzed carefully.Then we tested the extreme performance to verify our previous design effort.更多还原