CN115808286B - Simulation device and simulation method for virtual flight of hard type air refueling docking wind tunnel - Google Patents
Simulation device and simulation method for virtual flight of hard type air refueling docking wind tunnel Download PDFInfo
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Abstract
The invention relates to the technical field of wind tunnel tests, in particular to a simulation device and a simulation method for virtual flight of a hard type air refueling docking wind tunnel, wherein the simulation device comprises a pitching-yawing assembly, a hard type refueling rod, a servo control surface and an oil receiving machine model; the pitching-yawing assembly is arranged on the top wall of the wind tunnel and is rotationally connected with the hard oiling rod, so that the hard oiling rod has the degrees of freedom of pitching and yawing; the servo control surface is movably connected with the hard type oiling rod and is used for controlling the pitching and the yawing of the hard type oiling rod; the oil receiving machine model is movably connected with the bottom of the wind tunnel and can move relative to the bottom of the wind tunnel. The simulation device and the simulation method provided by the invention can verify and simulate the actual oiling process, and are low in safety risk and controllable in test conditions.
Description
Technical Field
The invention relates to the technical field of wind tunnel tests, in particular to a simulation device and a simulation method for virtual flight of a hard type air refueling docking wind tunnel.
Background
Hard autonomous aerial fueling is a research front of aerial fueling technology, and has the advantages of high fueling speed, small operating load of an oil receiving machine model driver and the like compared with soft fueling. The technology can obviously prolong the voyage and the endurance of the oil receiving machine model, and has important application value. When the aircraft performs hard autonomous aerial refueling, firstly, the hard refueling rod is put down by the refueling machine and deflected to one side; the oil receiving machine model approaches the oiling machine from the right lower part, keeps the tight formation, and opens the oil receiving port on the back; then the end part of the hard oiling rod is butted and stretches into the oil receiving port to be locked under the action of an autonomous butting control law; after the butt joint is successful, the fuel oil is conveyed to the oil receiving machine model through the hard oil filling rod; after the refueling is completed, the hard type refueling rod is retracted and separated from the oil receiving port. In the process of hard free butt joint, the front end of a hard oiling rod is fixedly connected to an oiling machine, the rod body flies in the air and controls the gesture through a control surface, the length of the rod body can be controlled through extension, the pneumatic damping of the body is small, the complex pneumatic/flight control coupling problem exists, full verification needs to be carried out on the ground, and otherwise, the flight safety risk is extremely high. The virtual flight of the wind tunnel is an important means for developing the pneumatic/flight control integrated verification of the aircraft, and compared with the atmospheric flight, the virtual flight of the wind tunnel has the remarkable advantages of low safety risk and controllable test conditions. A virtual flying simulation method of the hard type autonomous air refueling docking wind tunnel is established, and has important application value for verifying a hard type autonomous refueling overall scheme, a hard type refueling rod stability-increasing control law, a hard type autonomous refueling docking control law and the like. Therefore, it is highly desirable to design a test device that can be used for virtual flight of a hard air refueling docking wind tunnel.
Disclosure of Invention
The invention provides a simulation device and a simulation method for virtual flight of a hard type air refueling docking wind tunnel, which are used for verifying the rationality and effectiveness of a hard type autonomous refueling overall scheme, a hard type refueling rod stability augmentation control law and a hard type refueling autonomous docking control law.
In order to achieve the aim, the invention provides a simulation device for virtual flight of a hard type air refueling docking wind tunnel, which comprises a pitching-yawing assembly, a hard type refueling rod, a servo control surface and an oil receiving machine model; the pitching-yawing assembly is arranged on the top wall of the wind tunnel and is rotationally connected with the hard refueling rod, so that the hard refueling rod has pitching and yawing degrees of freedom; the servo control surface is movably connected with the hard type oiling rod and is used for controlling the pitching and the yawing of the hard type oiling rod; the oil receiving machine model is movably connected with the bottom of the wind tunnel and can move relative to the bottom of the wind tunnel.
Preferably, the hard fueling rod comprises an outer fueling rod rotatably coupled with the pitch-yaw assembly and an inner fueling rod at least partially disposed within the outer fueling rod and retractable relative to the outer fueling rod.
Preferably, the system further comprises a control system which is in signal connection with the servo control surface and/or the oil receiving machine model and/or the hard type oil filling rod.
Preferably, the device further comprises an image sensor, wherein the image sensor is arranged on the hard oil filling rod and is in signal connection with the control system.
Preferably, the oil receiving machine further comprises a guide rail, and the oil receiving machine model moves relative to the wind tunnel through the guide rail.
Preferably, the wind tunnel further comprises a mounting plate arranged on the top wall of the wind tunnel, and the pitching-yawing assembly is fixedly connected or hinged with the mounting plate.
Preferably, the number of the servo control surfaces is two, and the servo control surfaces are in a V shape.
The invention also provides another technical scheme for solving the technical problems, and the simulation method is realized by the simulation device and comprises the following steps: adjusting the wind tunnel to wind up to the test wind speed; the gesture of the hard type oiling rod is controlled through the servo control surface; controlling the motion of the oil receiving machine model according to a preset first instruction; and controlling the hard oil filling rod to be in butt joint with the oil receiving machine model according to a preset second instruction.
Preferably, controlling the docking of the hard fueling rod with the fueling receiving model according to the preset second instruction comprises the following steps: acquiring the relative position information of the hard type oiling rod and the oil receiving machine model through an image sensor, transmitting the position information to a control system, and adjusting the gesture of a servo control surface according to the position information by the control system so as to adjust the position of the hard type oiling rod; and when the relative distance between the hard fueling rod and the fueling receiving machine model is smaller than a preset first threshold value, entering a docking procedure.
Preferably, the docking procedure comprises the steps of: the control system controls the end point of the oiling inner rod to approach the oil receiving port, and meanwhile, the image sensor collects the relative position information of the oiling inner rod and the oil receiving port and transmits the relative position information to the control system so as to adjust the relative position of the oiling inner rod; when the relative distance between the end point of the oil filling inner rod and the oil receiving port is smaller than a preset second threshold value, the control system sends a telescopic instruction to the hard oil filling rod, so that the oil filling inner rod stretches into the oil receiving port.
Compared with the prior art, the invention has at least the following advantages:
1. the invention can simulate the hard type aerial refueling docking process, and realize a hard type refueling docking wind tunnel flight test so as to verify the rationality and effectiveness of a hard type autonomous refueling overall scheme, a hard type refueling rod stability increasing control law and a hard type autonomous docking control law.
2. The simulation model established based on the simulation method is mainly used for the design and optimization of the early-stage system, and can be used for carrying out multi-round optimization and improvement on the design scheme relatively quickly, so that the design is not blind, and the cost of the early-stage design stage in various aspects such as time, manpower, material resources, financial resources and the like is saved.
3. Compared with the existing control surface, the V-shaped servo control surface is simple in structure and more accurate in control of the hard oil filling rod.
Drawings
Fig. 1 is a schematic structural diagram of an analog device according to a first embodiment of the present invention.
Fig. 2 is a schematic flow chart of a simulation method according to a second embodiment of the present invention.
The attached drawings are used for identifying and describing:
1. a pitch-yaw assembly; 2. a hard filler rod; 3. a servo control surface; 4. an oil receiving machine model; 5. a mounting plate; 6. a control system; 7. an image sensor; 8. a guide rail;
20. an oiling outer rod; 21. an oiling inner rod; 40. an oil receiving port identification belt;
210. the inner rod identifies the point.
Detailed Description
For the purpose of making the technical solution and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and examples of implementation. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that the terms "first" and "second" and the like in the description and the claims of the present invention are used for distinguishing between different objects and not for describing a particular sequential order.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present invention and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present invention will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "mounted," "disposed," "configured," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
At present, the ground static test still cannot comprehensively, objectively and truly reflect various characteristics of the flight state of the aircraft in actual flight. The flight test can comprehensively detect the actual effect of the whole system, and the system is optimally designed aiming at the problems in flight. But the flight test has high cost, long period and high risk; an iterative optimization strategy of flight test-system optimization is adopted, and the cost effectiveness is too low. Therefore, finding a research means that is not only close to the actual flight state, but also has advantages in cost control in all aspects is a technical problem that needs to be solved at present.
The wind tunnel simulation test is still an important means for verifying the accuracy of theoretical analysis and the reliability of simulation results at present, and is also one of the ground simulation means closest to the actual flight state. The test technology is established, and has very important significance for verifying the rationality and effectiveness of the overall scheme of hard type autonomous refueling, the stability-increasing control law of the hard type refueling rod and the autonomous docking control law of the hard type refueling.
Referring to fig. 1, a first embodiment of the present invention provides a simulation apparatus for virtual flight of a hard type air refueling docking wind tunnel, which includes a pitching-yawing assembly 1, a hard type refueling rod 2, a servo control surface 3, and an oil receiving machine model 4; the pitching-yawing assembly 1 is arranged on the top wall of the wind tunnel and is in rotary connection with the hard type refueling rod 2, so that the hard type refueling rod 2 has the degrees of freedom of pitching and yawing; the servo control surface 3 is movably connected with the hard type oiling rod 2, and the servo control surface 3 can rotate relative to the hard type oiling rod 2 and is used for controlling the pitching and the yawing of the hard type oiling rod 2; the oil receiving machine model 4 is movably connected with the bottom of the wind tunnel and can move relative to the bottom of the wind tunnel.
The simulation device can simulate the air refueling process, wherein the hard type refueling rod 2 and the oil receiving machine model 4 are designed according to the same shrinkage ratio, and the appearance, the mass center and the rotational inertia of the hard type refueling rod 2 and the oil receiving machine model are similar to those of the real hard type refueling rod 2 and the oil receiving machine model, so that the consistency of the appearance and the dimension of the hard type refueling rod and the oil receiving machine model in a wind tunnel test is ensured.
Further, the hard filler rod 2 comprises an outer filler rod 20 and an inner filler rod 21, the outer filler rod 20 being rotatably connected to the pitch-yaw assembly 1, the inner filler rod 21 being at least partially arranged in the outer filler rod 20 and being telescopic with respect to the outer filler rod 20.
Preferably, the hard filler rod 2 is provided with a servo motor (not shown) for controlling the extension and retraction of the filler neck 21.
Further, the simulation device further comprises a mounting plate 5 arranged on the top wall of the wind tunnel, and the pitching-yawing assembly 1 is fixedly connected or hinged with the mounting plate 5. It will be appreciated that when the simulation device is built into the wind tunnel, the pitch-yaw assembly 1 is more convenient to mount to the wind tunnel roof by the mounting plate 5, and the stability of the pitch-yaw assembly 1 is better during wind tunnel test after mounting.
In some embodiments, the simulation apparatus further comprises a control system 6, wherein the control system 6 is in signal connection with the servo control surface 3 and/or the oil receiving machine model 4 and/or the hard filler rod 2.
In some embodiments, the simulation device further comprises an image sensor 7, the image sensor 7 being arranged on the hard filler rod 2 and being in signal connection with the control system 6.
It will be appreciated that the image sensor 7 may acquire image data of the hard filler rod 2 and the oil receiving machine model 4, from which the control system 6 may calculate the relative distance between the hard filler rod 2 and the oil receiving machine model 4 and based thereon feedback adjust the attitude of the hard filler rod 2 to align the oil receiving machine.
Preferably, the image sensor 7 is disposed at one end of the fueling external rod 20 close to the pitch-yaw assembly 1, the inner rod identification point 210 is attached to one end of the fueling internal rod 21 far from the pitch-yaw assembly 1, the oil receiving port identification band 40 is disposed at the oil receiving port of the oil receiving machine model 4, and the image sensor 7 acquires distance data between the hard fueling rod 2 and the oil receiving machine model 4 by identifying the inner rod identification point 210 and the oil receiving port identification band 40.
Specifically, the image sensor 7 is a CCD camera, and the CCD camera can transmit back image data of the hard fueling rod 2 and the oil receiving machine model 4 in real time, so that the control system 6 can perform feedback adjustment on the hard fueling rod 2 in real time.
In some embodiments, the simulation apparatus further comprises a guide rail 8, by which the oil receiving machine model 4 is moved relative to the wind tunnel.
It should be understood that, in the simulation process of the simulation device provided by the present invention, the hard fueling rod 2 is adjusted to align the fueling receiver, and the fueling receiver only needs to maintain a normal flight, but the air flow will also affect the fueling receiver that is in normal flight, so that, in order to truly simulate the process of air hard fueling, the control system 6 will also have a relatively slight disturbance on the fueling receiver model 4 itself during the process of approaching the hard fueling rod 2 to the fueling receiver model 4 via the image sensor 7. Namely, the oil receiving machine model 4 can slightly shake on the guide rail 8 back and forth and left and right relative to the hard oil filling rod 2 according to a preset program, so that the simulation process is more similar to the real situation.
In some embodiments, the number of the servo control surfaces 3 is two, and the shape between the two servo control surfaces 3 is V-shaped. Each servo control surface 3 is independently controlled to rotate around the hard oil filling rod 2 through a servo steering engine (not shown). Alternatively, the plane shape of the servo control surface 3 is rectangular, trapezoidal or triangular. Preferably, the plane shape of the servo control surface 3 is rectangular.
Referring to fig. 1 and 2, a second embodiment of the present invention further provides an analog method implemented by the analog device provided in the first embodiment, including the following steps:
adjusting the wind tunnel to wind up to the test wind speed;
the gesture of the hard type oiling rod 2 is controlled through the servo control surface 3;
controlling the motion of the oil receiving machine model 4 according to a preset first instruction;
and controlling the hard oil filling rod 2 to be in butt joint with the oil receiving machine model 4 according to a preset second instruction.
Further, controlling the docking of the hard fueling rod 2 with the fueling receiving model 4 according to the preset second instruction comprises the following steps:
acquiring the relative position information of the hard type fueling rod 2 and the fueling receiving machine model 4 through the image sensor 7, transmitting the position information to the control system 6, and adjusting the gesture of the servo control surface 3 by the control system 6 according to the position information so as to adjust the position of the hard type fueling rod 2;
and when the relative distance between the hard fueling rod 2 and the fueling receiving machine model 4 is smaller than a preset first threshold value, entering a docking procedure.
In some embodiments, the docking procedure includes the steps of:
the control system 6 controls the end point of the oil filling inner rod 21 to approach the oil receiving port, and meanwhile, the image sensor 7 collects the relative position information of the oil filling inner rod 21 and the oil receiving port and transmits the relative position information to the control system 6 so as to adjust the relative position of the oil filling inner rod 21;
when the relative distance between the end point of the oil filling inner rod 21 and the oil receiving port is smaller than a preset second threshold value, the control system 6 sends a telescopic instruction to the hard oil filling rod 2 so that the oil filling inner rod stretches into the oil receiving port.
It should be appreciated that the control system 6 adjusts the relative position of the hard filler rod 2 by controlling the attitude of the servo control surface 3, and the specific manner in which the servo control surface 3 controls the hard filler rod 2 is as follows:
the control system 6 generates control surface driving instructions in real time according to the relative position signals between the end point of the oiling inner rod 21 and the oil receiving port, which are transmitted by the image sensor 7 in real time, wherein the included angles between the left and right servo control surfaces 3 and the rod body reference surface of the hard oiling rod 2 are respectively recorded as followsδ L 、δ R The method comprises the steps of carrying out a first treatment on the surface of the When the end point of the oiling inner rod 21 is too high, the control surface driving command is increased simultaneouslyδ L 、δ R So as to reduce the horizontal projection area of the servo control surface 3, reduce the total lifting force and sink the tail end of the hard oiling rod 2; when the end point of the oiling inner rod 21 is too low, the control surface driving command is reduced simultaneouslyδ L 、δ R， So as to increase the horizontal projection area of the servo control surface 3, increase the total lifting force and increase the tail end of the hard type oiling rod 2; when the end point of the oiling inner rod 21 is deviated to the left, the control surface driving command is increasedδ L Reduction ofδ R So that the horizontal component of the lifting force generated by the left servo control surface 3 is larger than that of the lifting force generated by the right servo control surface 3, and the tail end of the hard oiling rod 2 moves rightwards; when the end point of the oiling inner rod 21 is deviated to the right, the control surface driving command is reducedδ L Increase in sizeδ R So that the horizontal component of the lift force generated by the left servo control surface 3 is smaller than the horizontal component of the lift force generated by the right servo control surface 3, and the tail end of the hard fueling rod 2 moves leftwards.
It should be understood that the simulation device and the simulation method provided by the embodiment of the invention can realize the simulation of the virtual flight of the hard air refueling docking wind tunnel, and verify the rationality and the effectiveness of the hard autonomous refueling overall scheme, the stability-increasing control law of the hard refueling rod 2 and the hard autonomous docking control law through the data obtained in the simulation process. The overall scheme of hard autonomous refueling mainly comprises the length, the outer diameter and the inner diameter of the outer refueling rod 20 and the inner refueling rod 21, as well as the plane shape, the wing profile, the chord length and the span length of the servo control surface 3, and the hard refueling rods 2 with different sizes can be simulated by changing different outer refueling rods 20 and different inner refueling rods 21 so as to obtain optimal solutions;
the damping of the hard type oiling rod 2 is very small, the air posture is greatly affected by air flow, and the integral posture of the hard type oiling rod 2 is controlled mainly by adjusting the servo control surface 3.
The verification of the rationality and effectiveness of the autonomous docking control law for hard fueling is performed by specific data acquired during the simulation, for example, when the end point of the fueling rod 21 is offset to the right by X cm, the control surface driving command is reducedδ L To the point ofδ L Increase in sizeδ R To the point ofδ R So that the horizontal component of the lift force generated by the left servo control surface 3 is smaller than the lift force generated by the right servo control surface 3According to the deviation distance, the adjustment angle and the adjustment effect, the rationality and the effectiveness of the autonomous docking control law of the hard fueling can be verified.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the invention, but any modifications, equivalents, improvements, etc. within the principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A simulation device for virtual flight of a hard type air refueling docking wind tunnel is characterized in that: comprises a pitching-yawing assembly, a hard oiling rod, a servo control surface and an oil receiving machine model;
the pitching-yawing assembly is arranged on the top wall of the wind tunnel and is rotationally connected with the hard refueling rod, so that the hard refueling rod has pitching and yawing degrees of freedom;
the servo control surface is movably connected with the hard type oiling rod and is used for controlling the pitching and the yawing of the hard type oiling rod;
the oil receiving machine model is movably connected with the bottom of the wind tunnel and can move relative to the bottom of the wind tunnel.
2. The simulation apparatus according to claim 1, wherein: the hard fueling rod comprises a fueling outer rod and a fueling inner rod, wherein the fueling outer rod is rotationally connected with the pitching-yawing assembly, and the fueling inner rod is at least partially arranged in the fueling outer rod and can stretch and retract relative to the fueling outer rod.
3. The simulation apparatus according to claim 2, wherein: the control system is in signal connection with the servo control surface and/or the oil receiving machine model and/or the hard type oiling rod.
4. A simulation device according to claim 3, wherein: the system also comprises an image sensor, wherein the image sensor is arranged on the hard type fueling rod and is in signal connection with the control system.
5. The simulation apparatus according to claim 4, wherein: the oil receiving machine model moves relative to the wind tunnel through the guide rail.
6. The simulation apparatus according to claim 1, wherein: the pitch-yaw assembly is fixedly connected or hinged with the mounting plate.
7. The simulation apparatus according to claim 1, wherein: the number of the servo control surfaces is two, and the servo control surfaces are in a V shape.
8. A simulation method, characterized in that: the simulation device according to any of the claims 1-7, comprising the steps of:
adjusting the wind tunnel to wind up to the test wind speed;
the gesture of the hard type oiling rod is controlled through the servo control surface;
controlling the motion of the oil receiving machine model according to a preset first instruction;
and controlling the hard oil filling rod to be in butt joint with the oil receiving machine model according to a preset second instruction.
9. The simulation method according to claim 8, wherein: controlling the docking of the hard fueling rod and the fueling receiving machine model according to a preset second instruction comprises the following steps:
acquiring the relative position information of the hard type oiling rod and the oil receiving machine model through an image sensor, transmitting the position information to a control system, and adjusting the gesture of a servo control surface according to the position information by the control system so as to adjust the position of the hard type oiling rod;
and when the relative distance between the hard fueling rod and the fueling receiving machine model is smaller than a preset first threshold value, entering a docking procedure.
10. The simulation method according to claim 9, wherein: the butt joint process comprises the following steps:
the control system controls the end point of the oiling inner rod to approach the oil receiving port, and meanwhile, the image sensor collects the relative position information of the oiling inner rod and the oil receiving port and transmits the relative position information to the control system so as to adjust the relative position of the oiling inner rod;
when the relative distance between the end point of the oil filling inner rod and the oil receiving port is smaller than a preset second threshold value, the control system sends a telescopic instruction to the hard oil filling rod, so that the oil filling inner rod stretches into the oil receiving port.
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